WO2018121617A1 - Detection method for positioning accuracy, electronic device and computer storage medium - Google Patents

Abstract

A detection method for positioning accuracy, an electronic device and a computer storage medium, the method comprising: controlling a target device to move according to a preset route (101); while the target device moves, detecting first location parameters of the target device by using a first positioning system in the target device, and detecting second location parameters of the target device by using a second positioning system (102); comparing the first location parameters and the second location parameters, and determining positioning accuracy of the first positioning system according to a comparison result (103).

Description

Detection method for positioning accuracy and electronic device, computer storage medium

Cross-reference to related applications

The present application is based on a Chinese patent application filed on Jan. 27, 2016, the entire disclosure of which is hereby incorporated by reference.

Technical field

The present invention relates to positioning technologies, and in particular, to a method for detecting positioning accuracy, an electronic device, and a computer storage medium.

Background technique

The robot can position the robot in real time through multiple sensors. The multi-sensor includes: two-dimensional (2D) camera, three-dimensional (3D) camera, Inertial Measurement Unit (IMU), etc. Multi-sensor is also called synchronous positioning and mapping. (SLAM, Simultaneous Localization and Mapping) positioning system. The SLAM positioning system can support many upper-layer applications of the robot and provide positioning functions for many applications. However, when positioning, the SLAM positioning system relies on the internal parameters of the sensors (referred to as internal parameters) and external parameters (referred to as external parameters). If these internal and external parameters are incorrectly calibrated, it is likely to result in The positioning accuracy of the SLAM positioning system is reduced.

Summary of the invention

To solve the above technical problem, an embodiment of the present invention provides a method for detecting positioning accuracy, an electronic device, and a computer storage medium.

The method for detecting the positioning accuracy provided by the embodiment of the present invention includes:

Control the target device to move according to a preset path;

In the process of moving the target device, detecting a first location parameter of the target device by using a first positioning system in the target device, and detecting a second location parameter of the target device by using a second positioning system;

Comparing the first location parameter and the second location parameter, and determining a positioning accuracy of the first positioning system according to the comparison result.

In the embodiment of the present invention, the first location parameter and the second location parameter are compared, and the positioning accuracy of the first positioning system is determined according to the comparison result, including:

And sending the first position parameter and the second position parameter to a comparator, wherein the comparator is configured to compare the proximity of the first position parameter with the second position parameter;

Comparing the proximity of the output of the comparator with a preset first threshold, and if the proximity is greater than or equal to the first threshold, determining that the positioning accuracy of the first positioning system is up to standard; if the proximity is If the degree is less than the first threshold, it is determined that the positioning accuracy of the first positioning system is not up to standard.

In the embodiment of the present invention, the target device is placed on a mobile bearer, and the mobile bearer is configured to carry the target device to move;

The detecting, by the first positioning system in the target device, the first location parameter of the target device, in the process of moving the target device, includes:

And detecting, by the SLAM positioning system in the target device, a first position parameter of the target device during the moving process, in a process that the target device moves on the preset rail with the mobile carrying device;

The detecting, by the second positioning system, the second location parameter of the target device includes:

Determining a second positional parameter of the target device during the movement according to a geometric parameter of the guide rail and a motion parameter of the mobile carrying device on the guide rail.

In the embodiment of the present invention, the target device has a driving component, and the driving component is configured to provide a driving force for the target device to enable the target device to generate a displacement;

The detecting, by the first positioning system in the target device, the first location parameter of the target device, in the process of moving the target device, includes:

During a process of controlling the target device to move according to a preset path by using a driving component of the target device, detecting, by using a SLAM positioning system in the target device, a first position parameter of the target device during a moving process;

The detecting, by the second positioning system, the second location parameter of the target device includes:

Collecting an image of a label within a field of view, the number of the labels being at least one, and the label is disposed on at least one side of the preset path;

Determining location information of the target device relative to the tag according to an image of the tag;

Determining a second location of the target device during the movement process based on location information of each of the tags collected during the moving of the target device, and location information of the target device relative to the corresponding tag when each tag is collected parameter.

In the embodiment of the present invention, the label is one of the following: a two-dimensional code label, a barcode label.

The electronic device provided by the embodiment of the invention includes:

a control unit configured to control the target device to move according to a preset path;

a first detecting unit, configured to detect a first location parameter of the target device by using a first positioning system in the target device during a process of moving the target device;

a second detecting unit configured to detect a second position parameter of the target device by using a second positioning system;

And a determining unit configured to compare the first location parameter and the second location parameter, and determine a positioning accuracy of the first positioning system according to the comparison result.

In the embodiment of the present invention, the determining unit is further configured to send the first location parameter and the second location parameter to a comparator, where the comparator is configured to compare the first location parameter with the second location parameter The proximity of the output of the comparator is compared with a preset first threshold, and if the proximity is greater than or equal to the first threshold, determining that the positioning accuracy of the first positioning system is up to standard; If the proximity is less than the first threshold, determining that the positioning accuracy of the first positioning system is not up to standard.

In the embodiment of the present invention, the target device is placed on a mobile bearer, and the mobile bearer is configured to carry the target device to move;

The first detecting unit is further configured to detect, when the target device moves with the mobile carrying device on a preset rail, using the SLAM positioning system in the target device to detect that the target device is moving The first positional parameter in the process;

The second detecting unit is further configured to determine a second position parameter of the target device during the moving according to the geometric parameter of the guide rail and the motion parameter of the mobile carrying device on the guide rail.

In the embodiment of the present invention, the target device has a driving component, and the driving component is configured to provide a driving force for the target device to enable the target device to generate a displacement;

The first detecting unit is further configured to detect that the target device is moving by using a SLAM positioning system in the target device during a process of controlling the target device to move according to a preset path by a driving component of the target device. The first positional parameter in the process;

The second detecting unit is further configured to collect an image of a label in a field of view, the number of the labels is at least one, and the label is disposed on at least one side of the preset path; according to the image of the label Determining location information of the target device relative to the tag; determining location information of each of the tags collected during the moving of the target device, and location of the target device relative to the corresponding tag when collecting each tag Information determining a second location parameter of the target device during the movement.

In the embodiment of the present invention, the label is one of the following: a two-dimensional code label, a barcode label.

The computer storage medium provided by the embodiment of the present invention stores a computer program configured to perform the foregoing method for detecting positioning accuracy.

In the technical solution of the embodiment of the present invention, the control target device moves according to the preset path; in the process of moving the target device, the first location system in the target device is used to detect the first location parameter of the target device. And detecting, by the second positioning system, the second position parameter of the target device; comparing the first position parameter and the second position parameter, and determining the positioning accuracy of the first positioning system according to the comparison result. According to the technical solution of the embodiment of the present invention, the position parameter detected by the second positioning system can be used as a reference standard, and then the position parameter detected by the first positioning system is compared with the position parameter detected by the second positioning system, The positioning accuracy of the first positioning system can be determined, and the positioning performance of the first positioning system can be effectively determined.

DRAWINGS

1 is a schematic flowchart of a method for detecting positioning accuracy according to an embodiment of the present invention;

2 is a schematic diagram of a path of a scenario 1 according to an embodiment of the present invention;

3 is a schematic diagram of a label according to an embodiment of the present invention;

4 is a schematic diagram of a path of a scenario 2 in an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

detailed description

The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

The following is an explanation of key terms related to embodiments of the present invention:

2D camera: Acquires image information in the field of view by means of visible light, infrared, etc., combined with normal, wide-angle or fisheye lens.

3D camera: The distance information of different positions in the camera field of view relative to the camera is obtained by means of structured light, time of flight (TOF), binocular vision and the like.

Internal reference: internal parameters of the device, such as the offset of the accelerometer or gyroscope, the scale factor, the focal length of the camera, and the optical center value.

External parameters: External parameters between devices, such as the rotation matrix and displacement of the accelerometer relative to the camera.

Vision tag positioning: Using a QR code or barcode as a visual tag, precise positioning of the camera is achieved using tags observed in a monocular camera.

SLAM: A real-time positioning and mapping scheme, which mainly uses 2D camera, 3D camera and IMU data to calculate the attitude information and position information of the carrier, and obtain the 3D environment data around the carrier.

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

Step 101: Control the target device to move according to a preset path.

In the embodiment of the present invention, the target device may be a robot or a mobile terminal (such as a mobile phone, a tablet computer, etc.). The target device has a first positioning system built therein. Specifically, the first positioning system may be a SLAM positioning system. The SLAM positioning system is composed of a 2D camera, a 3D camera, and an IMU, and the collected data can locate the target device. .

However, the result of the positioning of the first positioning system depends on the internal and external parameters of the acquisition device. If the calibration of the internal and external parameters is inaccurate, the acquisition result is not accurate. Based on this, the positioning accuracy of the first positioning system needs to be detected. .

In the embodiment of the present invention, the moving path is planned for the target device in advance. In an embodiment, the target device may be placed on the mobile carrying device, such as the pan/tilt of the guide rail, and the specific line of the guide rail is moved by the target device. path. In another embodiment, the path can be designed by means of a map, and the target device is driven by the control command to move according to the designed path.

Step 102: In the process of moving the target device, detecting a first location parameter of the target device by using a first positioning system in the target device, and detecting a second location of the target device by using a second positioning system parameter.

In the embodiment of the present invention, the second positioning system can be used as a reference standard of the first positioning system, and the target device is positioned by using the first positioning system and the second positioning system in the process of moving the target device, that is, using the first The positioning system detects a first position parameter of the target device and detects a second position parameter of the target device by using the second positioning system.

In an embodiment, the target device moves on a two-dimensional plane, based on which the first position parameter and the second position parameter are two-dimensional position coordinates, and the first position parameter can be represented by (x1, y1), the second position The parameter can be represented by (x2, y2), where x1 and x2 are the abscissa and y1 and y2 are the ordinate.

In another embodiment, the target device moves in a three-dimensional space, based on which the first position parameter and the second position parameter are three-dimensional position coordinates, and the first position parameter may be represented by (x1, y1, z1), and second The positional parameter can be represented by (x2, y2, z2), where x1 and x2 are the abscissa, y1 and y2 are the ordinates, and z1 and z2 are the ordinates.

In the embodiment of the present invention, in a process of moving the target device, a first location system in the target device is used to detect a first location parameter of the target device, and a second location system is used to detect the target device. The second position parameter can be detected by, but not limited to, the following:

Manner 1: The target device is placed on a mobile carrying device, and the mobile carrying device is configured to carry the target device to move; in the process that the target device moves with the mobile carrying device on a preset rail Determining, by the SLAM positioning system in the target device, a first position parameter of the target device during the moving process; determining, according to the geometric parameter of the guide rail and the motion parameter of the mobile carrying device on the guide rail The second position parameter of the target device during the movement.

Here, when the mobile carrying device moves on the guide rail, the speed of movement can be controlled; in the case of known speed and rail geometry, the positional parameters of the mobile carrying device at various times can be calculated. Specifically, the integral of the speed versus time is displaced, and the position of the mobile carrier on the rail is determined by the displacement. Since the target device is placed on the mobile carrier, the location of the mobile carrier represents the location of the target device.

Manner 2: the target device has a driving component, the driving component is configured to provide a driving force for the target device to enable the target device to generate a displacement; and the target device is controlled by the driving component of the target device In the process of the path movement, the SLAM positioning system in the target device is used to detect the first position parameter of the target device during the movement; and the image of the label in the field of view is collected, the number of the labels is at least one. And the label is disposed on at least one side of the preset path; determining location information of the target device relative to the label according to an image of the label; based on each location collected during the moving of the target device Determining the location information of the tag and the location information of the target device relative to the corresponding tag when the tags are collected, and determining a second location parameter of the target device during the moving process. Wherein, the label is one of the following: a two-dimensional code label, a barcode label.

Here, the detection station is pre-positioned on both sides or one side of the path planned by the target device, and the tag is attached to the detection station. During the movement of the target device along the path, at least one tag can be collected in the field of view of the camera in the target device. . Use the visual tag positioning method to observe the tag to achieve accurate positioning of the target device.

Step 103: Compare the first location parameter and the second location parameter, and determine positioning accuracy of the first positioning system according to the comparison result.

In the embodiment of the present invention, the first position parameter and the second position parameter are sent to a comparator, and the comparator is configured to compare the proximity between the first position parameter and the second position parameter; Comparing the proximity of the output of the device with a preset first threshold, if the proximity is greater than or equal to the first threshold, determining that the positioning accuracy of the first positioning system is up to standard; if the proximity is less than the The first threshold determines that the positioning accuracy of the first positioning system is not up to standard.

如果D越大，则表明接近度越小，如果D越小，则表明接近度越大。 In an embodiment, the first positional parameter may be represented by (x1, y1), and the second positional parameter may be represented by (x2, y2), where x1 and x2 are abscissas, and y1 and y2 are ordinates. The distance D between the first position parameter and the second position parameter is:

If D is larger, it indicates that the closer the degree is, the smaller the D is, the larger the proximity is.

如果D越大，则表明接近度越小，如果D越小，则表明接近度越大。 In another embodiment, the first positional parameter may be represented by (x1, y1, z1), and the second positional parameter may be represented by (x2, y2, z2), where x1 and x2 are abscissas, y1 and Y2 is the ordinate, and z1 and z2 are the ordinates. The distance D between the first position parameter and the second position parameter is:

If D is larger, it indicates that the closer the degree is, the smaller the D is, the larger the proximity is.

The technical solutions of the embodiments of the present invention are further described in detail below with reference to specific application scenarios.

scene one:

The target device is placed on the mobile bearer, and the mobile bearer is used to carry the target device to move. Wherein, the target device is a robot, and the mobile carrying device is a pan/tilt of the guide rail.

1. Fix the robot to be tested on the gimbal of a guide rail, as shown in Figure 2. The pan/tilt is driven by a motor and controls the speed of movement of the device on the rail. The route formed by the guide rail is shown in Figure 2.

2. The gimbal returns to the starting point, opens the detection module on the robot, and starts running the SLAM positioning system.

3. The pan/tilt moves along the guide rail. During the movement, the detection module records the position estimate of the output of the SLAM positioning system at each moment. After reaching the end point, close the SLAM positioning system.

4. Compare the output value of SLAM positioning system with the geometry of the guide rail and the motor movement speed, and comprehensively judge the position estimation accuracy of the SLAM positioning system in motion. Determine whether the requirements are met, and if they are met, pass the test. Otherwise it needs to be re-tested until it passes the test.

Scene 2:

The target device has a drive component for providing a driving force to the target device to enable the target device to generate a displacement; wherein the target device is a wheeled robot.

1. Place the wheeled robot to be tested at the starting point, open the detection module, and run the SLAM positioning system and the visual tag detection algorithm. The visual tag detection algorithm can detect the two-dimensional code tag as shown in FIG. 3 and locate the position and rotation matrix of the robot relative to the tag.

2. Pre-post the tag to each location of the test station to ensure that at least one tag can be seen along the robot test track, as shown in Figure 4. The location of the Tag is also pre-calibrated, and the Tag knows the positional relationship between each other.

3. Use the visual tag to locate the robot's position information (can reach centimeter-level accuracy), and then control the robot to move along the route according to the pre-designed route.

4. During the robot motion, the detection module records the position estimation value output by the SLAM positioning system at each moment, and the position of the visual tag positioning. After reaching the end point, the SLAM positioning system and the visual tag positioning system are turned off.

5. Compare the output value of the SLAM positioning system with the output value of the visual tag positioning system to determine the position estimation accuracy of the SLAM positioning system during motion. It is judged whether the requirement is met, and if it is satisfied, the test passes. Otherwise it needs to be re-tested until it passes the test.

According to the technical solution of the embodiment of the present invention, the automatic control robot automatically moves according to the test trajectory by means of a guide rail or a visual tag, thereby detecting the positioning accuracy of the SLAM positioning system.

FIG. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. As shown in FIG. 5, the electronic device includes:

The control unit 51 is configured to control the target device to move according to a preset path;

The first detecting unit 52 is configured to detect, by using a first positioning system in the target device, a first location parameter of the target device during the moving of the target device;

The second detecting unit 53 is configured to detect the second position parameter of the target device by using the second positioning system;

The determining unit 54 is configured to compare the first position parameter and the second position parameter, and determine a positioning accuracy of the first positioning system according to the comparison result.

In the embodiment of the present invention, the determining unit 54 is further configured to send the first position parameter and the second position parameter to a comparator, wherein the comparator is configured to compare the first position parameter with the second position The proximity of the parameter is compared with a preset first threshold, and if the proximity is greater than or equal to the first threshold, determining that the positioning accuracy of the first positioning system is up to standard And if the proximity is less than the first threshold, determining that the positioning accuracy of the first positioning system is not up to standard.

In the embodiment of the present invention, the target device is placed on a mobile bearer, and the mobile bearer is configured to carry the target device to move;

The first detecting unit 52 is further configured to detect, by the SLAM positioning system in the target device, that the target device is in the process of moving the target device along with the mobile carrying device on a preset rail. The first position parameter during the movement;

The second detecting unit 53 is further configured to determine a second position parameter of the target device during the moving according to the geometric parameter of the guide rail and the motion parameter of the mobile carrying device on the guide rail.

In the embodiment of the present invention, the target device has a driving component, and the driving component is configured to provide a driving force for the target device to enable the target device to generate a displacement;

The first detecting unit 52 is further configured to detect, by using a SLAM positioning system in the target device, that the target device is in a process of controlling, by the driving component of the target device, the target device to move according to a preset path. The first position parameter during the movement;

The second detecting unit 53 is further configured to collect an image of a label in a field of view, the number of the labels is at least one, and the label is disposed on at least one side of the preset path; according to the label And determining, according to the image, the location information of the target device with respect to the label; the location information of each of the labels collected during the moving of the target device, and the location of the target device relative to the corresponding label when each label is collected The location information determines a second location parameter of the target device during the movement.

In the embodiment of the present invention, the label is one of the following: a two-dimensional code label, a barcode label.

It should be understood by those skilled in the art that the implementation functions of the units in the electronic device shown in FIG. 5 can be understood by referring to the related description of the foregoing method for detecting the positioning accuracy. The functions of the units in the electronic device shown in FIG. 5 can be realized by a program running on a processor, or can be realized by a specific logic circuit.

The functions implemented by each unit in the above electronic device in the embodiments of the present application may be through one or more processors (the processor may include but is not limited to a Micro Controller Unit (MCU) or a Programmable Logic Device (FPGA). It is implemented by a processing device such as Gate Array).

The technical solutions described in the embodiments of the present invention can be arbitrarily combined without conflict.

In the several embodiments provided by the present invention, it should be understood that the disclosed method and smart device may be implemented in other manners. The device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, such as: multiple units or components may be combined, or Can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, or direct coupling, or communication connection of the components shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical, mechanical or other forms. of.

The units described above as separate components may or may not be physically separated, and the components displayed as the unit may or may not be physical units, that is, may be located in one place or distributed to multiple network 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 second processing unit, or each unit may be separately used as one unit, 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 hardware plus software functional units.

Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention can take the form of a hardware embodiment, a software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

Correspondingly, an embodiment of the present invention further provides a computer storage medium, wherein a computer program is configured, and the computer program is configured to perform a method for detecting positioning accuracy according to an embodiment of the present invention.

The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention. It should be covered by the scope of the present invention.

Industrial applicability

In the technical solution of the embodiment of the present invention, the control target device is moved according to the preset path; in the process of moving the target device, the first location parameter of the target device is detected by using the first positioning system in the target device, And detecting, by the second positioning system, the second position parameter of the target device; comparing the first position parameter and the second position parameter, and determining the positioning accuracy of the first positioning system according to the comparison result. According to the technical solution of the embodiment of the present invention, the position parameter detected by the second positioning system can be used as a reference standard, and then the position parameter detected by the first positioning system is compared with the position parameter detected by the second positioning system, The positioning accuracy of the first positioning system can be determined, and the positioning performance of the first positioning system can be effectively determined.

Claims (11)

A method for detecting positioning accuracy, the method comprising: Control the target device to move according to a preset path; In the process of moving the target device, detecting a first location parameter of the target device by using a first positioning system in the target device, and detecting a second location parameter of the target device by using a second positioning system; Comparing the first location parameter and the second location parameter, and determining a positioning accuracy of the first positioning system according to the comparison result. The method for detecting the positioning accuracy according to claim 1, wherein the comparing the first position parameter and the second position parameter, determining the positioning accuracy of the first positioning system according to the comparison result, comprising: And sending the first position parameter and the second position parameter to a comparator, wherein the comparator is configured to compare the proximity of the first position parameter with the second position parameter; Comparing the proximity of the output of the comparator with a preset first threshold, and if the proximity is greater than or equal to the first threshold, determining that the positioning accuracy of the first positioning system is up to standard; if the proximity is If the degree is less than the first threshold, it is determined that the positioning accuracy of the first positioning system is not up to standard. The method for detecting positioning accuracy according to claim 1 or 2, wherein the target device is placed on a mobile carrying device, and the mobile carrying device is configured to carry the target device to move; The detecting, by the first positioning system in the target device, the first location parameter of the target device, in the process of moving the target device, includes: Detecting, by the synchronous positioning and mapping SLAM positioning system in the target device, the first target of the target device during the moving process, in the process that the target device moves on the preset rail with the mobile carrying device Position parameter The detecting, by the second positioning system, the second location parameter of the target device includes: Determining a second positional parameter of the target device during the movement according to a geometric parameter of the guide rail and a motion parameter of the mobile carrying device on the guide rail. The method of detecting positioning accuracy according to claim 1 or 2, wherein the target device has a driving part for providing a driving force to the target device to enable the target device to generate a displacement; The detecting, by the first positioning system in the target device, the first location parameter of the target device, in the process of moving the target device, includes: During a process of controlling the target device to move according to a preset path by using a driving component of the target device, detecting, by using a SLAM positioning system in the target device, a first position parameter of the target device during a moving process; The detecting, by the second positioning system, the second location parameter of the target device includes: Collecting an image of a label within a field of view, the number of the labels being at least one, and the label is disposed on at least one side of the preset path; Determining location information of the target device relative to the tag according to an image of the tag; Determining a second location of the target device during the movement process based on location information of each of the tags collected during the moving of the target device, and location information of the target device relative to the corresponding tag when each tag is collected parameter. The method of detecting positioning accuracy according to claim 4, wherein the label is one of: a two-dimensional code label, a barcode label. An electronic device, the electronic device comprising: a control unit configured to control the target device to move according to a preset path; a first detecting unit, configured to detect a first location parameter of the target device by using a first positioning system in the target device during a process of moving the target device; a second detecting unit configured to detect a second position parameter of the target device by using a second positioning system; And a determining unit configured to compare the first location parameter and the second location parameter, and determine a positioning accuracy of the first positioning system according to the comparison result. The electronic device according to claim 6, wherein the determining unit is further configured to send the first position parameter and the second position parameter to a comparator, the comparator for comparing the first position parameter with The proximity of the second position parameter; comparing the proximity of the comparator output with a preset first threshold, and determining the first positioning system if the proximity is greater than or equal to the first threshold The positioning accuracy is up to standard; if the proximity is less than the first threshold, determining that the positioning accuracy of the first positioning system is not up to standard. The electronic device according to claim 6 or 7, wherein the target device is placed on a mobile carrying device, and the mobile carrying device is configured to carry the target device to move; The first detecting unit is further configured to detect, when the target device moves with the mobile carrying device on a preset rail, using the SLAM positioning system in the target device to detect that the target device is moving The first positional parameter in the process; The second detecting unit is further configured to determine a second position parameter of the target device during the moving according to the geometric parameter of the guide rail and the motion parameter of the mobile carrying device on the guide rail. The electronic device according to claim 6 or 7, wherein the target device has a driving part for providing a driving force to the target device to enable the target device to generate a displacement; The first detecting unit is further configured to detect that the target device is moving by using a SLAM positioning system in the target device during a process of controlling the target device to move according to a preset path by a driving component of the target device. The first positional parameter in the process; The second detecting unit is further configured to collect an image of a label in a field of view, the number of the labels is at least one, and the label is disposed on at least one side of the preset path; according to the image of the label Determining location information of the target device relative to the tag; determining location information of each of the tags collected during the moving of the target device, and location of the target device relative to the corresponding tag when collecting each tag Information determining a second location parameter of the target device during the movement. The electronic device of claim 9, wherein the tag is one of: a two-dimensional code tag, a barcode tag. A computer storage medium having stored therein computer executable instructions configured to perform the method of detecting positioning accuracy according to any one of claims 1 to 5.

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