A scene-based random walk method and system

Abstract

The application is suitable for the technical field of millimeter wave communication, and provides a scene-based random walking method and system. A scene three-dimensional map is established first, then a position where a random walking device itself is located is taken as a starting point in the scene three-dimensional map, and a plurality of walking paths available for movement are created according to a randomly selected direction and an activity range, then any number is randomly extracted in the walking path number set, that is, the walking path corresponding to the number is the path to be walked by the random walking device this time, then a unit moving distance and a single walking number are randomly selected, that is, the sum of the two is a walking distance, and whether the walking distance exceeds the length of the walking path is judged. Only when the walking distance is less than or equal to the length of the walking path, the walking is executed, so that the random walking device moves along the selected walking path for the walking distance this time, and the next movement is the same, until the stopping.

Description

Technical Field

[0001] This invention belongs to the field of millimeter-wave communication technology, and particularly relates to a scene-based random walk method and system. Background Technology

[0002] Design and development of a 3D channel model for a millimeter-wave communication system. For millimeter-wave channels, in indoor environments, furniture and human bodies significantly obstruct millimeter waves. Therefore, establishing a cluster blocking model influenced by the density of human bodies and spatial objects is a crucial foundation for accurately depicting millimeter-wave obstruction. The obstruction effect of the human body on millimeter waves can be characterized using a dynamic human body obstruction model, primarily simulated through a random walking model and a human body scattering model. While the random walking model used is relatively simple, it differs significantly from real-world human walking phenomena.

[0003] For indoor propagation environments, a scenario-based random walking model is proposed. This model overcomes the significant error that arises between traditional random walking models generating a few fixed paths in complex scenarios and the actual random walking of a person. Summary of the Invention

[0004] This invention provides a scene-based random walking system, which aims to solve the problem of large errors between the traditional random walking model generating a few fixed paths in complex scenes and the actual random walking of a human body.

[0005] This invention is implemented as follows: a scene-based random walking method, comprising the following steps: Step S1: Obtain a 3D map of the scene. The processor communicates with the control terminal through the communication module to obtain a map of the entire scene, or it can actually search the entire scene using cameras and radar to create a 3D map of the scene. Step S2: Establish walking paths. The path establishment module in the processor establishes several walking paths based on the scene's 3D map and numbers them. Step S3: Select a walking path. The random selection module in the processor forms a set of numbers for several walking paths, and selects a random number from the set corresponding to the numbers, which indicates that the path is selected. Step S4: Select walking distance. The random selection module in the processor selects random numbers from the unit movement distance set and the single walking number set in the processor's movement parameter library. It selects one random number from each set as the unit movement distance and the single walking number, and combines the two numbers to obtain the walking distance. Step S5: Check if the walking distance value is appropriate. The comparison module in the processor compares whether the length of the walking distance is within the range of the walking path length. If it is, then proceed; if not, then reselect the walking distance until it is appropriate. Step S6: Execute walking. The execution module in the processor moves along the selected walking path according to the selected unit movement distance and the number of single walks, and moves to the set walking distance. Step S7: Does the movement stop? Does the stop module in the processor issue a stop command? If the stop module issues a stop command, the movement is stopped according to the settings; if the stop module does not issue a stop command, the process jumps to step S2, and so on until the stop module issues a stop command.

[0006] Preferably, step S1, obtaining the 3D map of the scene, includes the following specific steps: Step S11: The processor communicates with the control terminal through the communication module to obtain a map of the entire scene. The control terminal obtains the map through manual import or by transmission from other devices. Step S12: The processor determines whether to proceed to the next step based on whether it has obtained the scene map from the control terminal. If obtained, proceed directly to step S2; If not obtained, the processor uses cameras and radar, along with the movement of the device, to actually search the entire scene and build a 3D map of the scene.

[0007] Preferably, step S2, which establishes the walking path, includes the following specific steps: Step S21: Take the location of the device as the starting point; Step S22: The processor retrieves the orientation library from the movement parameter library, and the random selection module in the processor randomly selects an orientation from the orientation library; Step S23: The processor retrieves the active range library from the movement parameter library, and the random selection module in the processor randomly selects an active range; Step S24: The path creation module in the processor generates several walking paths based on the scene's 3D map, according to the starting point, direction, and activity range. Step S25: The numbering module in the processor numbers each walking path.

[0008] Preferably, step S3, selecting the walking path, includes the following specific steps: Step S31: The processor combines the numbers of several walking paths into a set; Step S32: The processor's random selection module randomly selects a number corresponding to the number in the set, and the path number corresponding to the selected number indicates that the path has been selected.

[0009] Preferably, step S4, selecting the walking distance, includes the following specific steps: Step S41: The processor retrieves the set of unit movement distances and the set of single movement counts from the movement parameter library; Step S42: The processor randomly selects one random number from each of the two sets as the unit movement distance and the number of steps per move; Step S43: The processor combines the two numbers to obtain the walking distance.

[0010] Preferably, step S5 checks whether the walking distance value is appropriate. The comparison module in the processor compares whether the walking distance is within the selected walking path length range; that is, whether the product of the unit movement distance and the number of steps in a single movement is less than or equal to the walking path length. If it exists, then proceed to step S6 for execution; If not, select a new walking distance until a suitable distance is found.

[0011] Preferably, in step S7, whether the process stops, the stop module in the processor issues a stop command. If the stop module issues a stop command, the movement will be stopped according to the settings; If the stop module does not issue a stop command, the process jumps to step S2 to re-establish the walking path, S3 to select the walking path, S4 to select the walking distance, S5 to check if the walking distance value is appropriate, S6 to execute the walking, and step S7 to check if the walking has stopped. This process is repeated until the stop module issues a stop command.

[0012] Preferably, in step S7, the stop module issues a stop command based on the pre-set destination, the pre-set total walking distance, the pre-set time, and the temporary stop command from the control terminal.

[0013] A scene-based random walking system, including The communication module is used to interact with the control terminal and the outside world; Cameras and radar are used to detect the surrounding environment of the randomly walking equipment; The processor is used to handle problems during the operation of the random walking device, including creating a 3D map of the scene, creating multiple walking paths, selecting a unique walking path, selecting the walking distance, judging whether the walking distance is reasonable, executing the walking, and stopping the walking. The movement parameter library is used to store data from random walking devices, including orientation library, activity range library, unit movement distance collection, and single movement count collection.

[0014] Preferably, the processor includes a path creation module, used to create several walking paths based on the established 3D scene map, and number them; The random selection module is used to select any direction from the orientation library and any activity range from the activity range library to assist the path establishment module in creating several walking paths; it selects any number from the set of walking path numbers to select any walking path; it selects any unit movement distance from the set of unit movement distances and any number of single movements from the set of single movement counts to select the walking distance on any selected walking path. The comparison module is used to compare the length of the walking distance with the length of the walking path to determine whether it matches the actual walking situation; The execution module is used to execute the walking process, causing the random walking device to move a selected walking distance along the selected walking path. The stop module is used to control whether the walking device continues to move.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention provides a scene-based random walking method and system, which first establishes a three-dimensional map of the scene, and then, taking the location of the random walking device itself as the starting point in the three-dimensional map of the scene, creates several movable walking paths according to the randomly selected orientation and activity range. Then, randomly selects any number from the set of walking path numbers, that is, the walking path corresponding to the number is the path to be walked by the random walking device this time. Subsequently, randomly selects a unit movement distance and a single walking number, that is, the sum of the two is the walking distance, and determines whether the walking distance exceeds the walking path length. Only when the walking distance is less than or equal to the walking path length is walking executed, so that the random walking device moves along the selected walking path this time. Similarly, the next movement is the same until it stops. Since each path is set based on the scene's 3D map, the path will be different depending on the scene. Furthermore, the path creation and selection are all done randomly, not pre-set. At the same time, the walking distance is also generated randomly, resulting in the movement of the entire random walking device being random. This is more in line with the phenomenon of random human walking in real-world scenarios, thus improving the existing millimeter-wave channel model in indoor scenes. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the method flow of the present invention; Figure 2 This is a schematic diagram of the module composition of the present invention; In the diagram: 100, Communication Module; 201, Camera; 202, Radar; 300, Processor; 301, Path Establishment Module; 302, Random Selection Module; 303, Comparison Module; 304, Execution Module; 305, Stop Module; 400, Movement Parameter Library. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0018] This invention provides a technical solution: Please see Figure 1 A scene-based random walk method includes the following steps: Step S1: Obtain a 3D map of the scene. The processor 300 communicates with the control terminal through the communication module 100 to obtain a map of the entire scene, or uses the camera 201 and radar 202 to actually search the entire scene to establish a 3D map of the scene. Step S2: Establish walking paths. The path establishment module 301 in the processor 300 establishes several walking paths based on the scene 3D map and numbers them. Step S3: Select a walking path. The random selection module 302 in the processor 300 forms a set of numbers for several walking paths, and selects a random number corresponding to the number in the set, which indicates that the path is selected. Step S4: Select walking distance. The random selection module 302 in the processor 300 randomly selects a set of unit movement distances and a set of single walking times from the movement parameter library 400 of the processor 300. A random number is selected from each of the two sets as the unit movement distance and the single walking times. The two numbers are combined to obtain the walking distance. Step S5: Check if the walking distance value is appropriate. The comparison module 303 in the processor 300 compares whether the length of the walking distance is within the range of the walking path length. If it is, then proceed; if not, then reselect the walking distance until it is appropriate. Step S6: Perform walking. The execution module 304 in the processor 300 moves along the selected walking path according to the selected unit movement distance and the number of single walks, and moves to the set walking distance. Step S7: Whether the movement has stopped. Whether the stop module 305 in the processor 300 has issued a stop command. If the stop module 305 issues a stop command, the movement will be stopped according to the settings. If the stop module 305 does not issue a stop command, the process will jump to step S2. This process will repeat until the stop module 305 issues a stop command.

[0019] In this embodiment, as can be seen from the above steps, since the path is set based on the scene's 3D map each time, the path will be different depending on the scene. Furthermore, the establishment and selection of the path are all done by random creation and selection, and are not set. At the same time, the walking distance is also generated randomly, resulting in the movement of the entire random walking device being random, which is more in line with the phenomenon of random human walking in actual scenes, thereby improving the existing millimeter-wave channel model in indoor scenes.

[0020] The specific implementation examples are as follows; Step S1 involves obtaining a 3D map of the scene, including the following specific steps: Step S11: The processor 300 communicates with the control terminal through the communication module 100 to obtain a map of the entire scene. The control terminal obtains the map through manual import or by transmission from other devices. Step S12: The processor 300 determines whether to proceed to the next step based on whether it has obtained the scene map from the control terminal. If obtained, proceed directly to step S2; If not obtained, the processor 300 uses the camera 201 and radar 202, along with the movement of the device, to actually search the entire scene and build a 3D map of the scene.

[0021] Step S2 establishes the walking path, including the following specific steps: Step S21: Take the location of the device as the starting point; Step S22: The processor 300 retrieves the orientation library from the movement parameter library 400, and the random selection module 302 in the processor 300 randomly selects an orientation from the orientation library; Step S23: The processor 300 retrieves the active range library from the movement parameter library 400, and the random selection module 302 in the processor 300 randomly selects an active range. In step S24, the path creation module 301 in the processor 300 generates several walking paths based on the scene's 3D map and according to the starting point, direction, and activity range. Step S25: The numbering module in processor 300 numbers each walking path.

[0022] Step S3 involves selecting a walking path, which includes the following specific steps: Step S31: The processor 300 forms a set of numbers for several walking paths; In step S32, the random selection module 302 of the processor 300 randomly selects a number corresponding to the number in the set, and the path number corresponding to the selected number indicates that the path is selected.

[0023] Step S4 involves selecting the walking distance, which includes the following specific steps: Step S41: The processor 300 retrieves the set of unit movement distances and the set of single movement counts from the movement parameter library 400; Step S42: The processor 300 randomly selects one random number from each of the two sets as the unit movement distance and the number of steps in a single move; Step S43: The processor 300 combines the two numbers to obtain the walking distance.

[0024] Step S5 checks whether the walking distance value is appropriate. The comparison module 303 in the processor 300 compares whether the length of the walking distance is within the selected walking path length range, that is, whether the product of the unit movement distance and the number of steps in a single movement is less than or equal to the walking path length. If it exists, then proceed to step S6 for execution; If not, select a new walking distance until a suitable distance is found.

[0025] Step S7 determines whether the process has stopped, including whether the stop module 305 in the processor 300 issues a stop command. If the stop module 305 issues a stop command, the movement will be stopped according to the settings; If the stop module 305 does not issue a stop command, the process jumps to step S2 to re-establish the walking path, S3 to select the walking path, S4 to select the walking distance, S5 to check if the walking distance value is appropriate, S6 to execute the walking, and step S7 to check if the walking has stopped. This process is repeated until the stop module 305 issues a stop command. In step S7, the stop module 305 issues a stop command based on the pre-set destination, the pre-set total walking distance, the pre-set time, and a temporary stop command from the control terminal.

[0026] Please see Figure 2 A scene-based random walking system, including The communication module 100 is used to interact with the control terminal and the outside world; Camera 201 and radar 202 are both used to detect the surrounding environment of the randomly walking equipment; The processor 300 is used to handle problems during the operation of the random walking device, including creating a 3D map of the scene, creating multiple walking paths, selecting a unique walking path, selecting a walking distance, judging whether the walking distance is reasonable, executing the walking, and stopping the walking. The processor 300 includes a path creation module 301, which is used to create several walking paths based on the established scene 3D map and number them. The random selection module 302 is used to select any direction from the orientation library and any activity range from the activity range library. The auxiliary path creation module 301 creates several walking paths; selects any number from the set of walking path numbers to select any walking path; selects any unit movement distance from the set of unit movement distances and any number of single movements from the set of single movement counts to select the walking distance on any selected walking path. The comparison module 303 is used to compare the length of the walking distance with the length of the walking path to determine whether it matches the actual walking situation; Execution module 304 is used to execute walking, causing the random walking device to move a selected walking distance along the selected walking path; The stop module 305 is used to control whether the walking device continues to walk.

[0027] The movement parameter library 400 is used to store data from random walking devices, including orientation library, activity range library, unit movement distance collection, and single movement count collection.

[0028] In this embodiment, a 3D map of the scene is first established. Then, starting from the location of the random walking device itself, several movable walking paths are created in the 3D map based on the randomly selected orientation and activity range. Next, any number is randomly selected from the set of walking path numbers, and the walking path corresponding to that number is the path that the random walking device will walk on this time. Then, a unit movement distance and a single movement number are randomly selected, and the sum of the two is the walking distance. It is then determined whether the walking distance exceeds the walking path length. Only when the walking distance is less than or equal to the walking path length is the movement executed, so that the random walking device moves along the selected walking path for this time. The same process is repeated for the next movement until it stops.

[0029] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A scene-based random walk method, characterized in that: The process includes the following steps: Step S1: Obtain a 3D map of the scene. The processor communicates with the control terminal through the communication module to obtain a map of the entire scene, or it can actually search the entire scene using cameras and radar to create a 3D map of the scene. Step S2: Establish walking paths. The path establishment module in the processor establishes several walking paths based on the scene's 3D map by randomly selecting any orientation from the orientation library and any activity range from the activity range library, and then numbering them. Step S3: Select a walking path. The random selection module in the processor forms a set of numbers for several walking paths, and selects a random number from the set corresponding to the numbers, which indicates that the path is selected. Step S4: Select walking distance. The random selection module in the processor selects random numbers from the unit movement distance set and the single walking number set in the processor's movement parameter library. It selects one random number from each set as the unit movement distance and the single walking number, and combines the two numbers to obtain the walking distance. Step S5: Check if the walking distance value is appropriate. The comparison module in the processor compares whether the length of the walking distance is within the range of the walking path length. If it is, then proceed; if not, then reselect the walking distance until it is appropriate. Step S6: Execute walking. The execution module in the processor moves along the selected walking path according to the selected unit movement distance and the number of single walks, and moves to the set walking distance. Step S7: Whether the movement has stopped, whether the stop module in the processor has issued a stop command, if the stop module issues a stop command, then the movement is stopped according to the settings; If the stop module does not issue a stop command, proceed to step S2, and repeat this process until the stop module issues a stop command.

2. The scene-based random walking method according to claim 1, characterized in that, Step S1 is to obtain a 3D map of the scene, which includes the following specific steps: Step S11: The processor communicates with the control terminal through the communication module to obtain a map of the entire scene. The control terminal obtains the map through manual import or by transmission from other devices. Step S12: The processor determines whether to proceed to the next step by checking whether it has obtained the scene map of the control terminal. If it has, it jumps directly to step S2. If not obtained, the processor uses cameras and radar, along with the movement of the device, to actually search the entire scene and build a 3D map of the scene.

3. The scene-based random walking method according to claim 1, characterized in that, Step S2 establishes the walking path, including the following specific steps: Step S21, take the location of the equipment as the starting point; Step S22: The processor retrieves the orientation library from the movement parameter library, and the random selection module in the processor randomly selects an orientation from the orientation library; Step S23: The processor retrieves the active range library from the movement parameter library, and the random selection module in the processor randomly selects an active range; Step S24: The path creation module in the processor generates several walking paths based on the scene's 3D map, according to the starting point, direction, and activity range. Step S25: The numbering module in the processor numbers each walking path.

4. The scene-based random walking method according to claim 1, characterized in that, Step S3 selects the walking path, including the following specific steps: Step S31, the processor forms a set of numbers from several walking paths; Step S32: The processor's random selection module randomly selects a number corresponding to the number in the set, and the path number corresponding to the selected number indicates that the path has been selected.

5. The scene-based random walking method according to claim 1, characterized in that, Step S4 selects the walking distance, including the following specific steps: Step S41, the processor retrieves the set of unit movement distances and the set of single walking counts from the movement parameter library; Step S42: The processor randomly selects one random number from each of the two sets as the unit movement distance and the number of steps per move; Step S43: The processor combines the two numbers to obtain the walking distance.

6. The scene-based random walking method according to claim 1, characterized in that, Step S5 checks whether the walking distance value is appropriate. The comparison module in the processor compares whether the length of the walking distance is within the selected walking path length range, that is, whether the product of the unit movement distance and the number of single walks is less than or equal to the walking path length. If it is, then jump to step S6 for execution. If not, select a new walking distance until a suitable distance is found.

7. The scene-based random walking method according to claim 1, characterized in that, Step S7: Whether to stop the movement, including whether the stop module in the processor issues a stop command. If the stop module issues a stop command, the movement is stopped according to the settings. If the stop module does not issue a stop command, the process jumps to step S2 to re-establish the walking path, S3 to select the walking path, S4 to select the walking distance, S5 to check if the walking distance value is appropriate, S6 to execute the walking, and step S7 to check if the walking has stopped. This process is repeated until the stop module issues a stop command.

8. The scene-based random walking method according to claim 1, characterized in that, In step S7, the stop module issues a stop command based on the pre-set destination, the pre-set total walking distance, the pre-set time, and the temporary stop command from the control terminal.

9. A scene-based random walking system for implementing the scene-based random walking method according to any one of claims 1 to 8, characterized in that: include The communication module is used to interact with the control terminal and the outside world; Cameras and radar are used to detect the surrounding environment of the randomly walking equipment; The processor is used to handle problems during the operation of the random walking device, including creating a 3D map of the scene, randomly selecting any orientation from the orientation library, randomly selecting any activity range from the activity range library, creating multiple walking paths and numbering them, selecting any walking path and any walking distance from the set of numbers, judging whether the walking distance is reasonable, executing the walking, and stopping the walking. The movement parameter library is used to store data from random walking devices, including orientation library, activity range library, unit movement distance collection, and single movement count collection.

10. A scene-based random walking system as described in claim 9, characterized in that: The processor includes a path creation module, which is used to create several walking paths based on the established 3D scene map and number them. The random selection module is used to select any direction from the orientation library and any activity range from the activity range library to assist the path establishment module in creating several walking paths; it selects any number from the set of walking path numbers to select any walking path; it selects any unit movement distance from the set of unit movement distances and any number of single movements from the set of single movement counts to select the walking distance on any selected walking path. The comparison module is used to compare the length of the walking distance with the length of the walking path to determine whether it matches the actual walking situation; The execution module is used to execute the walking process, causing the random walking device to move a selected walking distance along the selected walking path. The stop module is used to control whether the walking device continues to move.

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