| CPC G01S 5/02955 (2020.05) [G01S 5/0242 (2013.01); H04W 64/003 (2013.01); G01S 2205/02 (2020.05)] | 8 Claims |
|
1. A spatial positioning method, comprising the following steps:
dividing, by a space dividing component, an activity space into a plurality of activity regions, wherein a plurality of base station candidate positions in the activity space or within a distance range of the activity space;
analyzing, by a spatial state analyzing component, spatial state information of the activity space;
predicting, by a connection state evaluating component, according to the spatial state information of the activity space, connection states between a plurality of base stations that are assumed to be disposed respectively at some ones of the plurality of station candidate positions and a mobile robot moving to each of the plurality of activity regions, and the connection states between the plurality of base stations that are assumed to be disposed respectively at different ones of the plurality of station candidate positions and the mobile robot moving to each of the plurality of activity regions;
predicting, by the connection state evaluating component, which ones of the plurality of activity regions are regions at which the mobile robot is wirelessly connected to the base station being disposed at a same one of the plurality of base station candidate positions;
calculating, by the connection state evaluating component, a number of the plurality of base stations that are wirelessly connected to the mobile robot moving to each of the plurality of activity regions, as a previous connection number of each of the plurality of activity regions;
setting, by a weight setting component, a plurality of weight values that are respectively correspond to a plurality of reference connection numbers;
looking up, by a score calculating component, one of the plurality of reference connection numbers that is equal to the previous connection number of each of the plurality of activity regions to obtain one of the plurality of weight values that corresponds to the previous connection number;
calculating, by the score calculating component, a sum of the weight values of the activity regions at which the base stations are assumed to be respectively disposed and are wirelessly connected to the mobile robot being at the same one of the plurality of station candidate positions, as a score of the same one of the plurality of station candidate positions;
selecting, by a space positioning component, some of the plurality of base station candidate positions as a plurality of base station positions respectively of the plurality of base stations, according to the plurality of scores respectively of the plurality of station candidate positions; and
wirelessly connecting to the plurality of base stations of the plurality of base stations that are disposed respectively at the plurality of base station positions, by the mobile robot moving to each of the plurality of activity regions for positioning the mobile robot.
|