WO2018171628A1

WO2018171628A1 - Positioning method, apparatus and system for exoskeleton

Info

Publication number: WO2018171628A1
Application number: PCT/CN2018/079836
Authority: WO
Inventors: 刘若鹏; 杨珊妍
Original assignee: 深圳光启合众科技有限公司
Priority date: 2017-03-24
Filing date: 2018-03-21
Publication date: 2018-09-27
Also published as: CN108924472A

Abstract

Disclosed are a positioning method, apparatus and system for an exoskeleton. The method comprises: where a positioning module fails to acquire position information about a target object, acquiring image data within a pre-set range, wherein the image data comprises picture data within the pre-set range and obtained by means of photographing; determining position information about the target object according to the image data, wherein the target object is any object within the pre-set range; and feeding the position information about the target object back to the target object and/or objects other than the target object. The present invention solves the technical problem in the prior art of using a GPS mounted on an exoskeleton to realize the positioning of a target object resulting in position information about the target object and/or an associated object having an association relationship with the target object being unable to be obtained when the GPS cannot communicate.

Description

Positioning method, device and system for exoskeleton

Technical field

The present invention relates to the field of robots, and in particular to a method, apparatus and system for positioning exoskeleton.

Background technique

At present, in addition to the application of the exoskeleton, the exoskeleton is used more in the military and the military. Knowing yourself and the position of your teammates is especially important in the course of your operations. In order to meet the needs of auxiliary operations, the exoskeleton needs to have a positioning function.

technical problem

However, in existing exoskeletons, it is common to use GPS in the exoskeleton (Global Positioning System (GPS) positioning module to achieve positioning function, using such exoskeleton, can make players know their position information, but each team member is difficult to know the specific location information of his teammates, which is very unfavorable for combat, and the geography of combat The position is usually relatively vague, and it is difficult to ensure that the GPS module in the exoskeleton can communicate normally. Once the GPS module fails or cannot communicate, the player cannot know its own position information.

The problem of realizing the positioning of the target object by the GPS installed on the exoskeleton in the prior art is solved, and the problem of the location information of the target object and/or the associated object having the association relationship with the target object cannot be obtained when the GPS cannot communicate, No effective solution has yet been proposed.

Technical solution

Embodiments of the present invention provide a method, apparatus, and system for positioning an exoskeleton to solve at least the positioning of a target object by using a GPS mounted on an exoskeleton in the prior art, resulting in failure to obtain a target when the GPS cannot communicate. A technical problem of location information of an object and/or an associated object having an association relationship with the target object.

According to an aspect of the embodiments of the present invention, a method for positioning an exoskeleton includes: acquiring image data within a preset range in a case where the location module acquires location information of the target object is invalid, wherein the image data The image data of the preset range obtained by the shooting is included; the position information of the target object is determined according to the image data, wherein the target object is any object within a preset range; and the position information of the target object is fed back to the target object and/or Other than the target object.

According to another aspect of the present invention, a positioning device for an exoskeleton is further provided, including: a first acquiring module, configured to acquire a preset range if the positioning module acquires the location information of the target object is invalid. Image data, wherein the image data includes image data of a preset range obtained by photographing; and a determining module configured to determine position information of the target object according to the image data, wherein the target object is any object within a preset range a first feedback module, configured to feed back location information of the target object to the target object and/or other objects than the target object.

According to another aspect of the present invention, a positioning system for an exoskeleton is further provided, including: a drone, configured to acquire a preset range if the location module acquires the location information of the target object is invalid. Image data; terrain assisted positioning system, communicating with the drone, obtaining the position information of the target object according to the image data acquired by the drone; exoskeleton, communicating with the terrain assisted positioning system, acquiring the target object obtained by the terrain assisted positioning system location information.

Beneficial effect

It can be seen from the above that the method of the present application acquires the image data in the preset range when the location module acquires the location information of the target object, wherein the image data includes the preset range of image data obtained by the shooting, according to the image data. Determining location information of the target object, wherein the target object is any object within a preset range, and the location information of the target object is fed back to the target object and/or other objects than the target object. The above solution of the present application realizes the positioning of the object when the positioning module cannot be located, and realizes the technical object of not only knowing the position information of the target object but also the position information of the player, which not only solves the problem in the prior art. The GPS installed on the exoskeleton realizes the positioning of the target object, which causes the technical problem that the target object and/or the position information of the associated object associated with the target object cannot be obtained when the GPS cannot communicate, and the exoskeleton is also highly efficient. Assist in the technical effects of combat.

DRAWINGS

The drawings described herein are intended to provide a further understanding of the invention, and are intended to be a part of the invention. In the drawing:

1 is a flow chart of a method for positioning an exoskeleton according to a first embodiment of the present invention;

2 is a schematic diagram of an optional ground monitoring system for collecting information according to a first embodiment of the present invention;

3 is a schematic diagram of an optional positioning method for an exoskeleton according to a first embodiment of the present invention;

4 is a schematic structural view of an optional embedded drone according to a first embodiment of the present invention;

FIG. 5 is a schematic diagram of a positioning device for an exoskeleton according to a first embodiment of the present invention; FIG.

6 is a schematic diagram of an optional positioning device for an exoskeleton according to a first embodiment of the present invention;

7 is a schematic diagram of an optional positioning device for an exoskeleton according to a first embodiment of the present invention;

8 is a schematic diagram of an optional positioning device for an exoskeleton according to a first embodiment of the present invention;

9 is a schematic structural view of a positioning system for an exoskeleton according to a first embodiment of the present invention.

Embodiments of the invention

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is an embodiment of the invention, but not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of the present invention.

It is to be understood that the terms "first", "second" and the like in the specification and claims of the present invention are used to distinguish similar objects, and are not necessarily used to describe a particular order or order. It is to be understood that the data so used may be interchanged where appropriate, so that the embodiments of the invention described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

Embodiment 1

In accordance with an embodiment of the present invention, a method embodiment for a method of positioning an exoskeleton is provided, it being noted that the steps illustrated in the flowchart of the figures may be in a computer system such as a set of computer executable instructions The steps shown and described may be performed in a different order than the ones described herein, although the logical order is shown in the flowchart.

FIG. 1 is a flowchart of a method for positioning an exoskeleton according to a first embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:

In step S102, if the location information of the target object is invalid, the image data in the preset range is acquired, wherein the image data includes the preset range of image data obtained by the shooting.

Specifically, in the foregoing step, the location module fails to obtain the location information of the target object, which may be caused by multiple reasons, for example, the location module is damaged, the location module fails to communicate, and the method provided by the application is not limited to any one of the causes. The location failed. The image data includes images within a preset range, and may also include noise dot patterns, temperature field data, and the like within a preset range.

It should be noted that the execution body for acquiring the image data in the preset range may be an unmanned aerial vehicle system, and the unmanned aerial vehicle system may include multiple unmanned aerial vehicles, and the preset range may be that the unmanned aerial vehicle system can The monitored area, or the preset combat area of our team members.

In an optional embodiment, taking the exoskeleton applied to the combat scene as an example, the positioning module cannot communicate normally because the operational environment is malicious, and the player cannot know its own location information. In the above case, the drone passes. The camera captures a picture of the preset range.

Step S104, determining location information of the target object according to the image data, wherein the target object is any one object within a preset range.

Specifically, in the foregoing steps, the device capable of determining the location information of the target object according to the image data may be a ground-assisted positioning system, and the specific location information of the target object may be analyzed according to the image within the preset range captured by the drone. .

In step S106, the location information of the target object is fed back to the target object and/or other objects than the target object.

In the above steps, the object capable of receiving the position information of the target object may be all objects within the preset range.

When it is necessary to describe here, in the case where the preset range includes a plurality of objects (corresponding to our players in the embodiment), if the positioning module of the individual player fails to be used, the player who has failed the positioning module uses The method provided by the foregoing embodiment performs positioning, and the remaining normal positioning module can still use the positioning module for positioning, but the positioning mode of the remaining normal positioning module is still different from the positioning method in the prior art. The difference is that the normal player of the positioning module can not only know its own location information, but also obtain the location information of other players.

Optionally, in the foregoing embodiment, after the location information of the target object is sent to the corresponding target object and/or other objects than the target object, the method further includes:

Step S108, the target object receives location information of the target object and/or location information of other objects.

In step S1010, the received location information is displayed through the data display of the target object.

It should be noted here that the location information displayed on the data display of the target object can be set according to the specific needs of the player, that is, the player can choose to accept or not accept the information of other players, and can also choose whether to read other players. information. The above embodiment of the present application provides a method for the player to accept and display the location information of other players, but is not limited to the specific use of the player in the combat process.

It can be seen from the above that the target object of the above step of the present application receives the location information of the target object and/or the location information of other objects, and displays the received location information through the data display screen of the target object. The above solution realizes the technical effect that the player reads the position information of the player or other players, and solves the problem that the target object is positioned by the GPS installed on the exoskeleton in the prior art, and the target object cannot be obtained when the GPS cannot communicate. / or technical problem of the location information of the associated object having an association with the target object.

Optionally, according to the foregoing embodiment of the present application, the foregoing method further includes:

In step S1012, if the location module acquires the location information of the target object successfully, the location information of the target object is obtained by the positioning module.

In step S1014, the location information of the target object is uploaded to the ground monitoring system.

In step S1016, the ground monitoring system feeds back the location information of the target object to the target object and/or other objects than the target object.

Specifically, the ground monitoring system may be deployed in the cloud by using a cloud management method to acquire location information of all target objects, and feed the integrated information to the target object.

As can be seen from the above, in the case that the positioning module normally communicates, the positioning module acquires the location information of the target object, and uploads the location information of the target object to the ground monitoring system, and the ground monitoring system feeds back the location information of the target object. To the target object and/or other objects than the target object. The above solution solves the problem of installing in the prior art by adding a ground monitoring system in the system, so that each background object can know the location information of each object while the background manager can know the location information of each object. The GPS of the exoskeleton realizes the positioning of the target object, which leads to the technical problem that the target object and/or the position information of the associated object having the association relationship with the target object cannot be obtained when the GPS cannot communicate, and the combat efficiency is further improved.

Optionally, according to the above embodiment of the present application, the target object displays location information of the target object and/or other objects through the data display.

Optionally, according to the foregoing embodiment of the present application, the location information includes: latitude and longitude information, a bitmap, and/or a distance between any target object and other objects, wherein the bitmap is used to represent between the target objects in the preset range. Relative position.

Specifically, in the above steps, the bitmap may mark the specific position of the player in a point or other easily identifiable manner by using a preset range of maps, and mark the player's name or code to facilitate the player to know in combat. The specific location of the companion in the area.

In another optional embodiment, the location information obtained in the foregoing embodiment may also include only the latitude and longitude information of the target object, and other various relative information or bitmaps can be combined with the latitude and longitude information of the multiple objects. .

It should be noted that the error between the location information and the actual location information provided by the present application depends on the device model actually used. In an optional embodiment, the maximum tolerance is 8 m, that is, when the target object is located. When the information differs from the actual position of the target object by more than 8m, the device needs to be debugged to ensure the accuracy of the position data.

As can be seen from the above, the foregoing embodiment of the present application provides data that the location information can include. The one or more data included in the location information can enable the player to know the location information of the teammate and the teammate through the exoskeleton, thereby solving the existing information. In the technology, the positioning of the target object is achieved by the GPS installed on the exoskeleton, resulting in a technical problem that the location information of the target object and/or the associated object having an association relationship with the target object cannot be obtained when the GPS cannot communicate, thereby improving the combat efficiency. .

Optionally, according to the foregoing embodiment of the present application, the method further includes:

Step S1018: Acquire environmental data by one or more sensors of the target object, and upload the environmental data to the ground monitoring system, wherein the one or more sensors include: a smoke sensor, a pressure sensor, a temperature and humidity sensor, a distance sensor, and an image sensor , infrared sensors, lidar sensors and / or light sensors.

Specifically, one or more of the above sensors may be mounted on the exoskeleton.

In the above steps, the environmental data of the target object is used to provide the combat environment of the player, such as smoke concentration, environmental humidity, etc. In an alternative embodiment, the exoskeleton applied to the battle is still taken as an example. Players can make their own plans and deployments based on their own environmental data.

In step S1020, the ground monitoring system summarizes the environmental data acquired by one or more sensors to obtain summary data.

Specifically, in the foregoing steps, the summary data does not limit the data format, and the type may be a visual representation of the environmental data or a table for displaying the environmental data, or may be obtained by calculating the operational decision data. The method of aggregation is determined according to the purpose of summary, and is not limited here.

In step S1022, the ground monitoring system feeds back the summary data to the target object and/or other objects than the target object.

In an alternative embodiment, the exoskeleton applied to the combat scenario is still taken as an example. In the above steps, the summary data can be used for combat trend analysis or storage.

In an optional embodiment, in combination with the example shown in FIG. 2, when the GPS positioning module can acquire the location information of the target object, the GPS positioning module feeds back the acquired location information to the ground monitoring system; One or more sensors of the bone transfer the environmental data to the embedded drone, and the embedded drone uploads the environmental data to the ground monitoring system via a preset network channel.

In another optional embodiment, in combination with the example shown in FIG. 3, after the image data of the preset range is captured, the drone obtains the position information of the target object by performing information interaction with the ground assisted positioning system. And uploading the location information to the ground monitoring system. After acquiring the plurality of environmental data, the sensor of the exoskeleton cluster is also sent to the ground monitoring system, and the ground monitoring system aggregates and integrates the location information and/or the environmental information, and feedbacks to Exoskeleton cluster, exoskeleton cluster controls the data display installed on the exoskeleton to display location information or environmental information of itself or other objects.

In the above embodiment, the drone may be an embedded drone, combined with the structure diagram of the embedded drone shown in FIG. 4, the embedded drone includes a plurality of sensors, and is collected by an input drive system. The data acquired by the sensor is transmitted to the embedded monitoring system and the positioning system, and the embedded monitoring system and the positioning system of the drone upload the data to the ground monitoring system. After the data is summarized and processed by the ground monitoring system, Feedback to the built-in monitoring system and positioning system, input drive system or output drive system of the drone, the output drive system can receive the instructions of the embedded monitoring system and the positioning system or the ground monitoring system, and send it to the execution body, which is embedded The execution body of the drone is executed.

As can be seen from the above, the above steps of the present application acquire environmental data through one or more sensors of the target object, and upload the environmental data to the ground monitoring system, and the ground monitoring system summarizes the environmental data acquired by one or more sensors to obtain summary data. The ground monitoring system feeds the summary data back to the target object and/or other objects than the target object. The above solution acquires the environmental data of the target object through the sensor, and summarizes the environmental data and sends it to multiple objects, thereby realizing the technical effect of the object acquisition itself and the environmental data of other objects within the preset range, since the environmental data has a guiding effect on the guiding operation. It has a strong indication function, which improves the combat efficiency while knowing the location information of itself and other objects.

The external terminal in communication with the target object and/or the ground monitoring system receives location information and/or summary data, wherein the external terminal includes: a smart terminal, a computer, and/or a peripheral screen.

In an optional embodiment, the exoskeleton applied to the combat scenario is still taken as an example. Since the ground monitoring system can be a management system located in the cloud, in the case where the ground monitoring system is a B/S framework, any intelligent terminal The browser can access the preset domain name to access the ground monitoring system to obtain relevant information of our current team members. In another optional embodiment, any intelligent terminal communicates with the ground monitoring system via a network to obtain information of the player from the ground monitoring system.

It should be noted here that the external device and the target object and/or the ground monitoring system are in a plurality of external devices, including devices having direct communication relationship with the target object and/or the ground monitoring system, and also including the network or other Channel access to the target object and/or equipment of the ground monitoring system.

As can be seen from the above, in the above embodiment of the present application, the external terminal in communication with the target object and/or the ground monitoring system receives location information and/or summary data. Through the above schemes, information sharing during the combat process is realized, and the operational efficiency is further improved.

Embodiment 2

According to an embodiment of the invention, there is also provided a positioning device for an exoskeleton, as shown in FIG. 5, the device comprising:

The first obtaining module 50 is configured to acquire image data in a preset range when the location module acquires the location information of the target object, wherein the image data includes the preset range of the image data obtained by the shooting.

The determining module 52 is configured to determine location information of the target object according to the image data, wherein the target object is any one of the objects within a preset range.

The first feedback module 54 is configured to feed back location information of the target object to the target object and/or other objects than the target object.

As can be seen from the above, the device of the present application obtains the image data in the preset range by using the first acquisition module 50 in the case that the location information of the target object is invalid in the positioning module, wherein the image data includes a preset range obtained by shooting. The image data is determined by the determining module 52 according to the image data, wherein the target object is any one of the objects within the preset range, and the position information of the target object is fed back to the target object by the first feedback module 54 and/ Or other objects than the target object. The above solution of the present application realizes the positioning of the object when the positioning module cannot be located, and realizes the technical object of not only knowing the position information of the target object but also the position information of the player, which not only solves the problem in the prior art. The GPS installed on the exoskeleton realizes the positioning of the target object, which causes the technical problem that the target object and/or the position information of the associated object associated with the target object cannot be obtained when the GPS cannot communicate, and the exoskeleton is also highly efficient. Assist in the technical effects of combat.

Optionally, according to the foregoing embodiment of the present application, as shown in FIG. 6, the foregoing apparatus further includes:

The receiving module 60 is configured to receive, by the target object, location information of the target object and/or location information of other objects;

The display module 62 is configured to display the received location information by using a data display of the target object.

As can be seen from the above, the device of the present application receives the location information of the target object and/or the location information of other objects by the target module of the receiving module 60, and displays the received location information through the data display screen of the target object through the display module 62. The above solution realizes the technical effect that the player reads the position information of the player or other players, and solves the problem that the target object is positioned by the GPS installed on the exoskeleton in the prior art, and the target object cannot be obtained when the GPS cannot communicate. / or technical problem of the location information of the associated object having an association with the target object.

Optionally, according to the foregoing embodiment of the present application, as shown in FIG. 7, the foregoing apparatus further includes:

The second obtaining module 70 is configured to acquire the location information of the target object by using the positioning module if the positioning module acquires the location information of the target object successfully.

The uploading module 72 is configured to upload location information of the target object to the ground monitoring system;

The second feedback module 74 is configured to: the ground monitoring system feeds back the location information of the target object to the target object and/or other objects than the target object.

It can be seen from the above that the foregoing embodiment of the present application obtains the location information of the target object by using the positioning module through the second acquisition module 70, and uploads the location information of the target object to the ground monitoring system through the uploading module 72. The ground monitoring system feeds back the location information of the target object to the target object and/or other objects than the target object through the second feedback module 74. The above solution solves the problem of installing in the prior art by adding a ground monitoring system in the system, so that each background object can know the location information of each object while the background manager can know the location information of each object. The GPS of the exoskeleton realizes the positioning of the target object, which leads to the technical problem that the target object and/or the position information of the associated object having the association relationship with the target object cannot be obtained when the GPS cannot communicate, and the combat efficiency is further improved.

Optionally, according to the foregoing embodiment of the present application, as shown in FIG. 8 , the foregoing apparatus further includes:

The third obtaining device 80 is configured to acquire environmental data by using one or more sensors of the target object, and upload the environmental data to the ground monitoring system, where the one or more sensors include: a smoke sensor, a pressure sensor, a temperature and humidity sensor, Distance sensor, image sensor, infrared sensor, lidar sensor and/or light sensor;

The summary module 82 is configured to collect, by the ground monitoring system, environmental data acquired by one or more sensors to obtain summary data;

The third feedback module 84 is configured by the ground monitoring system to feed back the summary data to the target object and/or other objects than the target object.

As can be seen from the above, the above device of the present application uses the third obtaining device 80 to acquire environmental data through one or more sensors of the target object, and uploads the environmental data to the ground monitoring system, through the summary module 82, the ground monitoring system to the one or more sensors. The acquired environmental data is aggregated to obtain summary data, and the summary data is fed back to the target object and/or other objects than the target object through the third feedback module 84 ground monitoring system. The above solution acquires the environmental data of the target object through the sensor, and summarizes the environmental data and sends it to multiple objects, thereby realizing the technical effect of the object acquisition itself and the environmental data of other objects within the preset range, since the environmental data has a guiding effect on the guiding operation. It has a strong indication function, which improves the combat efficiency while knowing the location information of itself and other objects.

Embodiment 3

According to an embodiment of the invention, a positioning system for an exoskeleton is also provided. As shown in FIG. 9, the system includes:

The drone 90 is configured to acquire image data in a preset range if the location module acquires the location information of the target object.

The terrain assisted positioning system 92 communicates with the drone to obtain location information of the target object according to the image data acquired by the drone;

The exoskeleton 94 communicates with the terrain assisted positioning system to obtain position information of the target object obtained by the terrain assisted positioning system.

Specifically, in the foregoing system, the location module fails to obtain the location information of the target object, which may be caused by multiple reasons, for example, the location module is damaged, the positioning module fails to communicate, and the like, and the method provided by the application is not limited to any one of the causes. The location failed. The image data includes images within a preset range, and may also include noise dot patterns, temperature field data, and the like within a preset range.

It can be seen from the above that the above system of the present application obtains the image data in the preset range by the unmanned aerial vehicle in the case that the location information of the target object is invalid, and the terrain assisted positioning system communicated with the drone according to the unmanned The image data acquired by the machine obtains the location information of the target object, and acquires the location information of the target object obtained by the terrain assisted positioning system through the exoskeleton communicating with the terrain assisted positioning system. The above solution of the present application realizes the positioning of the object when the positioning module cannot be located, and realizes the technical object of not only knowing the position information of the target object but also the position information of the player, which not only solves the problem in the prior art. The GPS installed on the exoskeleton realizes the positioning of the target object, which causes the technical problem that the target object and/or the position information of the associated object associated with the target object cannot be obtained when the GPS cannot communicate, and the exoskeleton is also highly efficient. Assist in the technical effects of combat.

Optionally, according to the foregoing embodiment of the present application, the location information acquired by any one of the target objects includes location information of any one of the target objects and/or location information of other objects than the target object.

It can be seen from the above that in the above system of the present application, the location information acquired by any one of the target objects includes: location information of any one of the target objects and/or location information of objects other than the target object, so that the player can not only know the real-time in real time. The location information can also be selected to receive or display the location information of other objects in the same preset range, thereby solving the problem in the prior art that the target object is positioned by the GPS installed on the exoskeleton, resulting in the GPS being unable to communicate. The technical problem of the location information of the target object and/or the associated object associated with the target object cannot be obtained, thereby improving the combat efficiency.

Optionally, according to the foregoing embodiment of the present application, the system further includes:

A positioning module is mounted on each or any of the exoskeleton for positioning each or any of the exoskeleton in the case of normal communication to obtain positional information of each or any of the target objects.

Specifically, in the above system, the positioning module may be a GPS module mounted on the exoskeleton, and the exoskeleton in the system realizes positioning of each object by installing a GPS positioning module, thereby acquiring position information of itself or other objects.

Optionally, according to the above embodiment of the present application, the exoskeleton comprises:

One or more sensors for collecting environmental data of the target object, wherein the one or more sensors include: a smoke sensor, a pressure sensor, a temperature and humidity sensor, a distance sensor, an image sensor, an infrared sensor, a lidar sensor, and/or light Sensor.

Optionally, according to the foregoing embodiment of the present application, the exoskeleton further includes:

a data transceiver module connected to one or more sensors for acquiring environmental data;

The data display is in communication with the data transceiver module for displaying location information and/or summary data according to a preset display manner.

Optionally, according to the foregoing embodiment of the present application, the foregoing system further includes:

The ground monitoring system communicates with the terrain assisted positioning system and the exoskeleton to aggregate the location information of the target object and the environmental data to obtain summary data.

The serial numbers of the embodiments of the present invention are merely for the description, and do not represent the advantages and disadvantages of the embodiments.

In the above-mentioned embodiments of the present invention, the descriptions of the various embodiments are different, and the parts that are not detailed in a certain embodiment can be referred to the related descriptions of other embodiments.

In the several embodiments provided by the present application, it should be understood that the disclosed technical contents may be implemented in other manners. The device embodiments described above are only schematic. For example, the division of the unit may be a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, unit or module, and may be electrical or otherwise.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a read-only memory (ROM), and a random access memory (RAM, Random Access). Memory, removable hard disk, disk or optical disk, etc., which can store program code.

The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. It should be considered as the scope of protection of the present invention.

Claims

A method for positioning an exoskeleton, comprising:

Obtaining, in the case that the location information of the target object is invalid, the image data in the preset range, wherein the image data includes the preset range of image data obtained by shooting;

Determining location information of the target object according to the image data, wherein the target object is any one of the objects within the preset range;

The location information of the target object is fed back to the target object and/or other objects than the target object.
The method according to claim 1, wherein after the location information of the target object is sent to a corresponding target object and/or other objects than the target object, the method further includes:

The target object receives location information of the target object and/or location information of the other object;

The received position information is displayed by the data display of the target object.
The method of claim 1 further comprising:

And acquiring, by the positioning module, location information of the target object, in a case that the positioning module acquires the location information of the target object successfully;

Uploading location information of the target object to a ground monitoring system;

The ground monitoring system feeds back location information of the target object to the target object and/or other objects than the target object.
The method of claim 3 wherein said target object displays location information of said target object and/or said other object via a data display.
The method according to any one of claims 1 to 4, wherein the location information comprises: latitude and longitude information, a bitmap, and/or a distance between any of the target objects and other objects, wherein the points The pattern is used to characterize the relative position between the various target objects within the preset range.
The method according to any one of claims 1 to 4, further comprising:

Acquiring environmental data by one or more sensors of the target object and uploading the environmental data to a ground monitoring system, wherein the one or more sensors comprise: a smoke sensor, a pressure sensor, a temperature and humidity sensor, a distance sensor , image sensor, infrared sensor, lidar sensor and/or light sensor;

The ground monitoring system aggregates the environmental data acquired by the one or more sensors to obtain summary data;

The ground monitoring system feeds back the summary data to the target object and/or other objects than the target object.
The method according to any one of claims 1 to 4, further comprising:

The external terminal in communication with the target object and/or the ground monitoring system receives the location information and/or summary data, wherein the external terminal comprises: a smart terminal, a computer, and/or a peripheral screen.
A positioning device for an exoskeleton, comprising:

a first acquiring module, configured to acquire image data in a preset range, where the positioning data of the target object is invalid, wherein the image data includes image data of a preset range obtained by shooting;

a determining module, configured to determine location information of the target object according to the image data, where the target object is any one of the objects within the preset range;

a first feedback module, configured to feed back location information of the target object to the target object and/or other objects than the target object.
The device according to claim 8, wherein the device further comprises:

a receiving module, configured to receive, by the target object, location information of the target object and/or location information of the other object;

And a display module, configured to display the received location information by using a data display of the target object.
The device according to claim 8, wherein the device further comprises:

a second acquiring module, configured to acquire, by using the positioning module, location information of the target object, in a case that the positioning module acquires the location information of the target object successfully;

An uploading module, configured to upload location information of the target object to a ground monitoring system;

And a second feedback module, configured by the ground monitoring system to feed back location information of the target object to the target object and/or other objects than the target object.
The apparatus according to claim 10, wherein said target object displays location information of said target object and/or said other object through a data display.
The apparatus according to any one of claims 8 to 11, wherein the position information comprises: latitude and longitude information, a dot map, and/or a distance between any of the target objects and other objects, wherein the points The pattern is used to characterize the relative position between the various target objects within the preset range.
The device according to any one of claims 8 to 11, wherein the device further comprises:

a third obtaining device, configured to acquire environmental data by one or more sensors of the target object, and upload the environmental data to a ground monitoring system, wherein the one or more sensors comprise: a smoke sensor, a pressure sensor , temperature and humidity sensor, distance sensor, image sensor, infrared sensor, lidar sensor and/or light sensor;

a summary module, configured by the ground monitoring system to aggregate the environmental data acquired by the one or more sensors to obtain summary data;

And a third feedback module, configured by the ground monitoring system to feed back the summary data to the target object and/or other objects than the target object.
A positioning system for an exoskeleton, comprising:

The drone is configured to acquire image data in a preset range when the location module acquires the location information of the target object.

a terrain assisted positioning system, configured to communicate with the drone, and obtain location information of the target object according to the image data acquired by the drone;

An exoskeleton, in communication with the terrain assisted positioning system, acquiring position information of the target object obtained by the terrain assisted positioning system.
The system according to claim 14, wherein the location information acquired by any one of the target objects includes location information of the arbitrary one of the target objects and/or location information of other objects than the target object.
The system of claim 14 wherein said system further comprises:

A positioning module is mounted on each or any of the exoskeletons for positioning each of the or any exoskeleton in the case of normal communication to obtain positional information of each or any of the target objects.
A system according to any one of claims 14 to 16, wherein the exoskeleton comprises:

One or more sensors for collecting environmental data of the target object, wherein the one or more sensors include: a smoke sensor, a pressure sensor, a temperature and humidity sensor, a distance sensor, an image sensor, an infrared sensor, a lidar sensor And / or light sensor.
The system of claim 17 wherein said exoskeleton further comprises:

a data transceiver module, connected to the one or more sensors, for acquiring the environmental data;

And a data display, configured to communicate with the data transceiver module for displaying location information and/or summary data according to a preset display manner.
The system of claim 18, wherein the system further comprises:

The ground monitoring system is configured to communicate with the terrain assisted positioning system and the exoskeleton to collect location information and environment data of the target object to obtain summary data.