baber/WOPTO huggingface dataset:
Patent WO-2021017858-A1 (WO)
Title: Electronic pressure switch having delay closing electromagnetic unloading valve
Inventor: CHEN JUNLI
IPC: F04B49/06
Filed: 2020-07-16
Abstract: An electronic pressure switch, which belongs to the technical field of mechanical and electronic control of fluid and and relates to management in a fluid system of the operation of a fluid device, of the flow distribution of a fluid medium and of the pressure regulation of the fluid medium. By providing a pressure relay (2) to regulate the connection and disconnection of a motor operating relay (1), and by providing an electromagnetic valve delay absorption circuit (5) to control the absorption behavior of an unloading electromagnetic valve (4): in one respect, the start and stop behavior of a prime mover in a controlled fluid system may be effectively managed from pressure logic, so that the start and stop reaction may be more accurately and quickly carried out; and in the other respect, a back pressure condition of the prime mover in the controlled fluid system may be effectively managed from sequential logic, so that the prime motor may be helped to start smoothly, and achieve energy conservation. Compared to a traditional mechanical control device, the electronic pressure switch has a better control effect, and has the advantages not only of being able to quickly, accurately and reliably regulate the operation situation of the prime mover in the fluid system, but also of being more energy efficient and having a small volume.
Patent WO-2022016309-A1 (WO)
Title: Methods for preparing substituted chromanone derivatives
Inventor: BIAN GAOFENG
IPC: C07D311/22
Filed: 2020-07-20
Abstract: The present disclosure relates to a method for preparing a compound of formula (I). In the compound of formula (I), n may be 0 to 5 and each of R 1 , R 2 , R 3 , and R 4  may be independently selected from the group consisting of H, -O-Alkyl, halo, alkyl, -CN, or -NO 3 .
Patent WO-2021217905-A1 (WO)
Title: 一种包层组分优化的大有效模面积低损耗光纤
Inventor: WANG LONGFEI
IPC: G02B6/036
Filed: 2020-07-20
Abstract: 一种包层组分优化的大有效模面积低损耗光纤，包括芯层和包层，包层从内向外包括第一下陷层，第二下陷层，任选的第三下陷层，和外包层。通过在光纤包层中进行磷和铝共掺，在玻璃中形成[AlPO4]四面体，在有效降低包层折射率的同时，可优化包层粘度，且不会导致氢损的增加，工艺简单，可重复性强。
Patent WO-2022000616-A1 (WO)
Inventor: ZHOU SHANG
IPC: H01L27/32
Filed: 2020-07-21
Abstract: 本申请实施例公开了一种显示面板、显示屏及电子设备，其中，该显示面板包括：非共用像素阵列包括多个非共用像素行和多个非共用像素列；共用像素阵列包括多个共用像素行和多个共用像素列；多条数据线，所述非共用像素列及与该非共用像素列相邻的共用像素列对应一数据线。
Patent WO-2021023130-A1 (WO)
Inventor: HUANG WENWEN
IPC: H04W72/12
Filed: 2020-07-31
Abstract: Embodiments of the present application disclose a communication transmission method and a device. The method comprises: a terminal device receiving a scheduled minimum slot offset indicated by a network device; the terminal device receiving indication information sent by the network device, or sending indication information to the network device, wherein the indication information is used to determine a first reception state of the terminal device when performing PDCCH detection; and if the scheduled minimum slot offset is greater than 0, the terminal device performing PDCCH detection using the first reception state. The method enables the network device to adjust a PDCCH to be transmitted to the terminal device after the terminal device has turned off a portion of antennas, but before the network device has transmitted the PDCCH to the terminal device, thus ensuring that the terminal device can normally receive the PDCCH transmitted by the network device even after a portion of the antennas have been turned off to reduce power consumption.
Patent WO-2022007072-A1 (WO)
Inventor: WANG TIANHONG
IPC: G02F1/1345
Filed: 2020-08-04
Abstract: 本申请公开了一种阵列基板及显示装置。本申请通过采用以DD+G方式进行走线的翻转像素架构，且GOA电路设于源极驱动侧设计；由于两条数据线相邻并行进入AA区，栅极扇出引线与两条数据线平行但不相邻的进入AA区，防止栅极扇出引线与数据线信号间耦合。通过使用2个像素单元的宽度进行一级GOA电路布局的方式，更利于窄边框的实现。
Patent WO-2022027725-A1 (WO)
Title: Mechanical-hydraulic composite transmission device involving double hydraulic transmission mechanisms
Inventor: CHEN LONG
IPC: F16H47/10
Filed: 2020-08-14
Abstract: A mechanical-hydraulic composite transmission device involving double hydraulic transmission mechanisms, comprising an input component, a second hydraulic transmission mechanism (3), a rear planetary gear mechanism (4), an output component, a first hydraulic transmission mechanism (6), a front planetary gear mechanism (8), a clutch component, and a brake component. The input component is connected to the front planetary gear mechanism (8), the second hydraulic transmission mechanism (3), and the first hydraulic transmission mechanism (6) separately by means of the clutch component; an output end of the first hydraulic transmission mechanism (6) is connected to the front planetary gear mechanism (8); the rear planetary gear mechanism (4) is connected to an output end of the second hydraulic transmission mechanism (3) and the front planetary gear mechanism (8) separately; an output end of the rear planetary gear mechanism (4) is connected to the output component; the clutch component and the brake component are used for providing a continuous transmission ratio between the input component and the output component. Therefore, while the fault-tolerance performance of a system is improved, the degree of freedom of adjustment is increased, the speed regulation range is expanded, and the transmission efficiency is improved.
Patent WO-2021120677-A1 (WO)
Title: 一种仓储模型训练方法、装置、计算机设备及存储介质
Inventor: He Anxun
IPC: G06F16/23
Filed: 2020-08-26
Abstract: 一种仓储模型训练方法、装置、计算机设备及存储介质，涉及人工智能领域的机器学习技术，所述方法通过构建共享仓储模型，并将共享仓储模型发送到仓储服务器；通过仓储服务器的数据库中的本地训练数据集对共享仓储模型进行模型训练，得到本地仓储模型；然后通过聚合本地仓储模型，得到初始仓储模型；利用云端服务器数据库中的检测样本数据集进行模型检测；并根据模型检测结果对初始仓储模型进行迭代更新，最后输出符合标仓储模型。此外，该方法还涉及区块链技术，其中的隐私信息本地训练数据集可存储于区块链中。该方法降低了仓储服务器与云端服务器之间的网络传输的压力，同时保证了本地仓储货物数据的隐秘性和安全性。
Patent WO-2021037091-A1 (WO)
Inventor: LU XIANPING
IPC: A61P35/00
Filed: 2020-08-27
Abstract: 一种西达本胺药物组合物及其制备方法和用途。所述药物组合物包括西达本胺和作为载体的药用肠溶辅料，组合物中西达本胺作为客体分子，药用肠溶辅料为载体分子，通过动物口服药代试验证明了西达本胺和药用肠溶辅料组合物的生物利用度有大幅提高，同时降低药物在胃肠道造成的不良反应，在保持疗效的情况下，可降低服用剂量，较市售西达本胺片具有更重要的临床意义。
Patent WO-2022032735-A1 (WO)
Title: Dispositif d'affichage et procédé de fabrication de dispositif d'affichage
Inventor: YU WENQIANG
IPC: G09F9/00
Filed: 2020-08-28
Abstract: L'invention concerne un dispositif d'affichage et son procédé de fabrication. Le dispositif d'affichage comprend : un panneau d'affichage, le panneau d'affichage comprenant une région d'affichage, la région d'affichage comprenant une région de montage, et la région de montage étant conçue pour y monter un ensemble prédéfini ; un module de rétroéclairage, le module de rétroéclairage étant disposé à l'opposé du panneau d'affichage, et le module de rétroéclairage étant pourvu d'un trou traversant au niveau de la position opposée à la région de montage ; une colonne de transmission de lumière, la colonne de transmission de lumière étant disposée dans le trou traversant ; et une première couche de protection contre la lumière, la première couche de protection contre la lumière étant disposée sur le côté de la colonne de transmission de lumière qui est à l'opposé du module de rétroéclairage.
Patent WO-2022041129-A1 (WO)
Title: 一种动物行为学记录三维捕捉装置、方法、系统及应用
Inventor: CHEN KE
IPC: G03B35/08
Filed: 2020-08-28
Abstract: 一种动物行为学记录三维捕捉装置，包括摄像头（101）、固定框（102）、笼具（103）；笼具（103）设置在固定框（102）内；多个摄像头（101）分别设置在固定框（102）的多个位置。一种动物行为学记录三维捕捉方法，包括：对多个摄像头（101）进行定标；控制多个摄像头（101）同步拍摄动物得到动物的多个二维骨架点；再把每帧中的多个二维骨架点组合形成二维骨架序列；使用三角算法将二维骨架序列映射到三维空间中计算得到三维骨架；将三维骨架之间连成线，并在屏幕上逐帧显示。动物行为学记录三维捕捉装置、方法、系统及应用能够完整同步地拍摄动物的多种身体动作，能够稳定追踪并自定义动物身体的二维骨架，能够从多个二维骨架点中稳定重建出三维骨架点，并在三维空间中可视化表示出来。
Patent WO-2021043250-A1 (WO)
Title: Bluetooth communication method, and related device
Inventor: ZHU YUHONG
IPC: H04W4/80
Filed: 2020-09-04
Abstract: A Bluetooth communication method, pertaining to the technical field of short-range wireless communications. The method comprises: a terminal receiving a playback operation of a user for first audio data; if a service type of the first audio data is a first service type, the terminal sending first instruction information to a Bluetooth apparatus, the first instruction information being used to enable the Bluetooth apparatus to configure a buffer duration of the audio data as a first duration; the Bluetooth apparatus receiving the first audio data sent by the terminal via Bluetooth, and buffering the first audio data; and if a buffered duration of the first audio data reaches the first duration, the Bluetooth apparatus starting to play the buffered first audio data. In this way, the invention enables terminals to have customized time delay control for audio data playback of a Bluetooth apparatus in different application scenarios.
Patent WO-2021057457-A1 (WO)
Title: Matériau actif d'électrode positive pour batterie sodium-ion, batterie sodium-ion fabriquée à partir d'un matériau actif, module de batterie, batterie et appareil
Inventor: HUANG LITING
IPC: H01M4/505
Filed: 2020-09-07
Abstract: La présente invention concerne un matériau actif d'électrode positive pour une batterie sodium-ion, une batterie sodium-ion fabriquée à partir du matériau actif, un module de batterie, une batterie et un appareil. Spécifiquement, le matériau actif d'électrode positive pour une batterie sodium-Ion contient principalement de l'oxyde métallique en couches de phase O3, et l'oxyde métallique en couches de phase O3 a la formule moléculaire suivante : dans la formule I : NaaMbNicFedMneO2±δ (formule I), M possède des cations métalliques différents de ceux de Ni, Fe et Mn; 0,67<a<1,1; 0<b<0.25, optionnellement 0,05<b<0,15; 0<c<0,3, optionnellement 0,05<c<0,25; 0<b+c<0,55; 0,45<d+e<1; b+c+d+e=1; et 0≤δ≤0,1. Les cations métalliques représentent au moins un élément choisi parmi Li +, Cu2+, Zn2+, Co2+, et Ti4+.
Patent WO-2021047480-A1 (WO)
Inventor: YU HAO
IPC: B01D46/24
Filed: 2020-09-07
Abstract: Provided in the present invention is a hand-held hair dryer, comprising a main body part and a hand-held part. The main body part comprises an air cylinder, and the hand-held part comprises a first inner shell and a second inner shell, at least one of the first inner shell and the second inner shell being clamped onto the air cylinder, the first inner shell and the second inner shell being fixed to one another. The air cylinder of the hand-held hair dryer of the present invention can first be mounted and fixed relative to one of the first inner shell or the second inner shell, and then the first inner shell and the second inner shell can be fixed to one another, thus making assembly and disassembly both more convenient.
Patent WO-2021052500-A1 (WO)
Title: Video image transmission method, sending device, and video call method and device
Inventor: ZHOU XUSHENG
IPC: H04N19/58
Filed: 2020-09-21
Abstract: The embodiments of the present application provide a video image transmission method, a sending device, and a video call method and device. The video image above comprises a plurality of video frames. In the video image transmission method, the plurality of video frames are encoded to obtain an encoded code stream, the code stream at least comprising information representing an inter-frame reference relationship. In the present application, each of N frames preceding the current frame refers to a forward LTR frame closest to the present frame in terms of temporal distance, and the forward LTR frame above is an encoded video frame which is marked as an LTR frame by a sending end device, that is, in this embodiment, when the sending end device marks the LTR frame, there is no need to wait for feedback from a receiving end device, and therefore a plurality of LTR frames can be marked within one RTT, thereby greatly shortening a inter-frame reference distance, and improving the encoding quality of a video image.
Patent WO-2021057797-A1 (WO)
Inventor: JIN KE
IPC: G01C21/20
Filed: 2020-09-23
Abstract: 一种定位方法及定位装置、终端及存储介质，方法包括：根据用于采集待处理图像的图像采集设备所处的当前网络的网络特征信息和预设第一地图，确定图像采集设备所处的目标区域；根据待处理图像的第一图像特征，从目标区域对应的预设第二地图中存储的关键帧图像的图像特征中，匹配出第二图像特征；根据第二图像特征，确定图像采集设备的位姿信息。
Patent WO-2021169318-A1 (WO)
Inventor: HU WUSHENG
IPC: G01S19/07
Filed: 2020-10-14
Abstract: A parabola-based regional tropospheric wet delay calculation method, comprising: 1, acquiring sounding data, the day of year and spatial position data of each sounding station in a target region, and calculating a tropospheric wet delay true value of each sounding station according to the acquired sounding data; 2, establishing a tropospheric wet delay parabola function model; 3, substituting the tropospheric wet delay true values, the days of year, latitude values and altitude values of the sounding stations obtained in step 1 into the tropospheric wet delay parabola function model, determining various coefficients, and obtaining a tropospheric wet delay parabola function model in the target area; and 4, obtaining a latitude value, an altitude value and the day of year of land to be measured in the target area, and obtaining a tropospheric wet delay calculation value of said land according to the tropospheric wet delay parabola function model in the target area. The described method is suitable for a position at which sounding data could not be obtained; in addition, the influence of the seasons is considered, and more accurate tropospheric wet delay may be obtained.
Patent WO-2022077300-A1 (WO)
Title: Planification de services de multidiffusion et de diffusion
Inventor: Kou shuaihua
IPC: H04L5/00
Filed: 2020-10-15
Abstract: Sont ici divulgués des procédés, un appareil et des systèmes qui autorisent des configurations de multidiffusion et de diffusion au niveau de couches supérieures. Selon un aspect donné à titre d'exemple, un procédé de communication sans fil comprend la transmission, par une station de base, d'un premier message de signalisation à un dispositif utilisateur au niveau d'une couche de commande de ressources radio (RRC). Le premier message de signalisation comprend des informations de planification pour un ou plusieurs service(s) de multidiffusion ou de diffusion ou un service de diffusion individuelle. Le procédé comprend également la réalisation, par la station de base, d'une transmission pour au moins l'un du/des service(s) de multidiffusion ou de diffusion ou du service de diffusion individuelle au dispositif utilisateur sur la base des informations de planification dans le premier message de signalisation.
Patent WO-2021147415-A1 (WO)
Inventor: SUN RAN
IPC: H04M1/03
Filed: 2020-10-26
Abstract: 本申请提供了一种实现立体声输出的方法及终端。该终端包括：三个出音单元和设置于终端四边的出音孔；第一出音单元分别与左出音孔和上出音孔相连通；第二出音单元分别与右出音孔和上出音孔相连通；第三出音单元与下出音孔相连通；终端还包括处理单元；当终端用于竖屏播放立体声时，处理单元控制第一出音单元和第二出音单元播放不同侧声道，并从左出音孔和右出音孔发声；当终端用于横屏播放立体声时，处理单元控制第一出音单元和/或第二出音单元播放一侧声道，并从左出音孔、右出音孔和上出音孔中的至少一个出音孔发声，处理单元控制第三出音单元播放另一侧声道。上述技术方案能够使终端在横屏使用和竖屏使用都能够实现立体声输出，提升用户体验。
Patent WO-2022104859-A1 (WO)
Inventor: ZHOU FUZHEN
IPC: F21Y115/10
Filed: 2020-11-25
Abstract: 一种发光范围可调节的LED灯，包括调节筒（7）、灯座（8）和灯座固定杆（9）；调节筒（7）顶部安装有控制箱（6）；控制箱（6）通过第一固定管（5）连通安装壳（3）；安装壳（3）和控制箱（6）之间安装有固定架（4）；安装壳（3）的顶部安装有调节罩（1）；调节罩（1）上安装有聚光镜（2）；灯座（8）的底端安装有灯座固定杆（9）；灯座（8）的顶端设有若干LED灯；灯座固定杆（9）的底端伸入调节筒（7）内部；调节筒（7）内部对应灯座固定杆（9）设有调节机构；调节罩（1）和安装壳（3）相连通成为角度调节腔；角度调节腔上设有反光罩调节机构。能够很好的调节LED灯的照明范围。
Patent WO-2021110046-A1 (WO)
Title: 灯具
Inventor: WANG XIAOLEI
IPC: F21V19/00
Filed: 2020-12-02
Abstract: 一种灯具，其包括灯体(200)、柔性光源(300)和柔性面罩(400)，灯体(200)为环状结构，灯体(200)具有内腔和开口，柔性光源(300)安装于内腔，柔性面罩(400)安装于开口，且柔性光源(300)的出射光朝向柔性面罩(400)。灯具中设置有柔性光源(300)，不易在运输和安装过程中发生碎裂的情况，进而不会提升产品的综合成本，也不会对工作人员的人身安全产生威胁。
Patent WO-2021115384-A1 (WO)
Inventor: SUI ZHONGHUA
IPC: F21V21/14
Filed: 2020-12-10
Abstract: An illuminating lamp, which comprises a lamp post (20), a lamp head (30) and a self-locking device (10), wherein the self-locking device (10) comprises a shell (100), an adjustment button (200), an elastic member (300) and a steel ball (400); the shell (100) comprises a control groove (111), and the cross-sectional area of the control groove (111) gradually increases along the direction from a first end of the shell (100) to a second end thereof; the adjustment button (200) is in sliding fit with the first end of the shell (100); a first end of the adjustment button (200) is located in the control groove (111); the adjustment button (200) is provided with a second through hole (210) used for installing the lamp post (20); the steel ball (400) is installed at the first end of the adjustment button (200); the steel ball (200) abuts against the lamp post (20); the control groove (111) can press the steel ball (400) such that the steel ball (400) can move relative to the adjustment button (200) in the radial direction of the adjustment button (200), so as to control the pressing force between the steel ball (400) and the lamp post (20); and the elastic member (300) makes the adjustment button (200) have a tendency to move towards the first end of the shell (100). With regard to the illuminating lamp, the height of the lamp head (30) can be adjusted merely by pressing the adjustment button (200), self-locking can be achieved after the adjustment button (200) is released so as to complete fixing, and the structure is simple and the operation is easy.
Patent WO-2021121304-A1 (WO)
Inventor: WEI GANG
IPC: H01J37/248
Filed: 2020-12-17
Abstract: A control circuit (1012), a pulse power source system, and a semiconductor processing device. The control circuit (1012) comprises a switch circuit (3), wherein a first end (31) and a second end (32) thereof serve as input ends of a direct-current signal; a third end (33) and a fourth end (34) thereof serve as output ends of a pulse signal; a first control end (35) and a second control end (36) thereof are used for receiving a first signal and a second signal to control the output of the pulse signal; when the first control end (35) and the second control end (36) receive the first signal, the third end (33) and the fourth end (34) output the pulse signal; and when the first control end (35) and the second control end (36) receive the second signal, the third end (33) and the fourth end (34) stop outputting the pulse signal. The control circuit (1012) further comprises an energy storage module (4), wherein the two ends thereof are respectively connected to the first end (31) and the second end (32) of the switch circuit (3), and are used for storing the remaining electric energy in the switch circuit (3) when the switch circuit (3) does not output the pulse signal. The control circuit (1012) reduces the oscillation produced by a voltage at the end of each pulse, and improves the control precision of the energy and density of plasmas in a semiconductor process.
Patent WO-2022133759-A1 (WO)
Title: Coating thickness detection device for coated fabric
Inventor: LIU YANAN
IPC: G01B7/06
Filed: 2020-12-23
Abstract: A coating thickness detection device for coated fabric, comprising a platform (1), a moving assembly (3), a winding mechanism (4) and a detection mechanism (5). The moving assembly (3) is arranged at the lower end of the platform (1), and the winding mechanism (4) and the detection mechanism (5) are arranged at the upper end of the platform (1). The winding mechanism (4) comprises hydraulic cylinders (9), a material discharging roller (10), a material receiving roller (11), and an intermediate roller (12). The detection mechanism (5) comprises vertical walls (2), a second electric telescopic rod (14), a first extension plate (15), a first detection probe (16), a first marking nozzle (17), a third electric telescopic rod (18), a second extension plate (19), a first fan (20), a bracket (21), an extension beam (22), a second detection probe (23), a second marking nozzle (24) and a second fan (25). The device is able to automatically wind up coated fabric, which conserves manpower and avoids the problem of the coating fabric being stretched out and occupying a large space. The device is also able to simultaneously detect two sides of the coated fabric, thus saving time and increasing efficiency. The device is also able to dry the place marked by paint coating to prevent wet marking paint from being printed and dyed to other places during winding, which would interfere with the detection and marking results.
Patent WO-2022133775-A1 (WO)
Inventor: XU DONGHAO
IPC: G05D1/02
Filed: 2020-12-23
Abstract: A trajectory data processing method, comprising: acquiring trajectory data, road information, and route data of a target vehicle within a preset period of time, and road condition data within a preset distance range from the target vehicle; inputting the trajectory data, the road condition data, the road information, and the route data into a data simulation unit, wherein the data simulation unit comprises a current trajectory planning parameter, and generating a simulated trajectory of the target vehicle according to the trajectory data, the road condition data, the road information, the route data, and the current trajectory planning parameter; performing cost computation on the simulated trajectory to obtain a cost value corresponding to the simulated trajectory; and adjusting the current trajectory planning parameter according to the cost value, using the adjusted trajectory planning parameter as the current trajectory planning parameter, and returning to the step of generating a simulated trajectory of the target vehicle according to the trajectory data, the road condition data, the road information, the route data, and the current trajectory planning parameter until a preset condition is satisfied, and stopping the parameter adjustment to obtain a target trajectory planning parameter.
Patent WO-2022062238-A1 (WO)
Inventor: WANG DONG
IPC: G06T7/13
Filed: 2020-12-28
Abstract: A football detection method and apparatus, and a computer-readable storage medium and a robot, which belong to the technical field of robots. The method comprises: collecting a two-dimensional image and three-dimensional point cloud data of a target area by means of a depth camera of a robot (S101); performing football detection in the two-dimensional image by using a preset deep-learning target detection model, and outputting a football detection box and a confidence (S102); and if the confidence is greater than a preset confidence threshold value, determining a football posture according to three-dimensional point cloud data in the football detection box (S103). By means of the method, on the basis of deep-learning target detection technology and three-dimensional point cloud technology, the advantages of a two-dimensional image and three-dimensional point cloud data are fully combined, such that extremely high accuracy can be achieved even when a lightweight model is used.
Patent WO-2022121017-A1 (WO)
Inventor: XU HONG
IPC: A61B18/12
Filed: 2020-12-28
Abstract: 一种注射泵灌注控制方法、装置、系统及计算机可读存储介质，其中该方法包括：当消融任务被触发时，控制注射泵对消融对象执行灌注操作，并实时获取该消融对象的阻抗值和/或温度值；对获取的阻抗值和/或温度值进行分析，以得到该阻抗值和/或温度值的实时变化信息；根据分析得到的实时变化信息，动态调整该注射泵的灌注量。上述注射泵灌注控制方法、装置、系统及计算机可读存储介质可实现注射泵灌注量的动态调整，提高消融任务执行过程中，液体灌注的及时性和准确性。
Patent WO-2021143778-A1 (WO)
Title: Positioning method based on laser radar
Inventor: WANG XIANYI
IPC: G01C21/30
Filed: 2021-01-14
Abstract: A positioning method based on laser radar, a positioning apparatus based on laser radar, a computer device, a computer-readable storage medium, and an intelligent driving device. The positioning method comprises: acquiring a single-frame scanning point cloud of the current scenario by means of laser radar (110); according to external features of a marker in the current scenario, extracting a marker point cloud from the single-frame scanning point cloud (120); normalizing the marker point cloud in the single-frame scanning point cloud to the same plane (130); according to the coordinates of the marker point cloud, determining one or more center of gravity points of the marker point cloud, randomly collecting a preset number of center of gravity points, and acquiring a polygon constructed using the center of gravity points, and polygon features of the polygon of the marker point cloud (140); according to the polygon features of the polygon, performing matching in a map point cloud (150); and according to a transformation matrix calculated after matching, confirming the current location (160).