Indoor positioning system, method, device and electronic device using a shared end

Abstract

The present disclosure provides a system for indoor positioning, a method, an apparatus, and an electronic device using a shared terminal. The specific implementation solution is as follows: The indoor positioning system includes: a user terminal, configured to generate a user request based on an interaction operation with a receiving device disposed in an indoor space when a vehicle enters the indoor space; a cloud, configured to determine a target shared terminal placed in the receiving device in response to the user request; a handling device, disposed in the indoor space, configured to place the target shared terminal on the vehicle according to an installation instruction from the cloud; and a target shared terminal, configured to perform indoor positioning on the vehicle in the indoor space based on visual SLAM technology when the target shared terminal is placed on the vehicle, and send the obtained positioning information to the user terminal or the vehicle. According to the solution of the present disclosure, indoor positioning of a vehicle in an indoor space can be achieved by renting a target shared terminal that can be installed on the vehicle, without the need for the vehicle to be pre-installed with positioning equipment or for positioning equipment to be installed in the indoor space.

Description

Technical Field

[0001] The present disclosure relates to the field of indoor positioning technology, and particularly to a system for indoor positioning, a method, a device, and an electronic device using a shared terminal. Background Art

[0002] Vehicle indoor positioning technology refers to the technology of accurately positioning the vehicle position in an indoor environment where traditional global positioning system signals cannot be used. This technology is particularly important in parking lots, garages, and other enclosed or semi-enclosed spaces. The development of vehicle indoor positioning technology will provide important support for fields such as intelligent transportation, autonomous driving, and vehicle networking. Summary of the Invention

[0003] The present disclosure provides a system for indoor positioning, a method, a device, and an electronic device using a shared terminal to solve or alleviate one or more technical problems in the prior art.

[0004] On the one hand, the present disclosure provides a system for indoor positioning, including:

[0005] A user terminal, configured to generate a user request based on an interaction operation with a receiving device provided in an indoor space when a vehicle enters the indoor space;

[0006] A cloud, configured to determine a target shared terminal placed in the receiving device in response to the user request;

[0007] A handling device, provided in the indoor space, configured to place the target shared terminal on the vehicle according to an installation instruction from the cloud; and

[0008] A target shared terminal, configured to perform indoor positioning on the vehicle in the indoor space based on visual SLAM technology when placed on the vehicle, and send the obtained positioning information to the user terminal or the vehicle.

[0009] On the other hand, the present disclosure provides a method of using a shared terminal, including:

[0010] Determining a target shared terminal placed in a receiving device provided in the indoor space in response to a user request from a user terminal corresponding to a vehicle entering the indoor space; and

[0011] Controlling a handling device provided in the indoor space to place the target shared terminal on the vehicle, where the target shared terminal is configured to perform indoor positioning on the vehicle in the indoor space based on visual SLAM technology.

[0012] On the other hand, the present disclosure provides a method of using a shared terminal, including:

[0013] When a vehicle enters an indoor space, a user request is sent to the cloud based on an interaction operation with a receiving device provided in the indoor space, where the user request is used to cause the cloud to control a handling device in the indoor space to place a target sharing end in the receiving device on the vehicle; and

[0014] Receive the positioning information obtained by the target sharing end for indoor positioning of the vehicle based on visual SLAM technology.

[0015] On the other hand, the present disclosure provides a device using a sharing end, including:

[0016] A determination module, configured to determine a target sharing end placed in a receiving device provided in the indoor space in response to a user request of a user terminal corresponding to a vehicle entering the indoor space; and

[0017] A control module, configured to control a handling device provided in the indoor space to place the target sharing end on the vehicle, where the target sharing end is used to perform indoor positioning on the vehicle in the indoor space based on visual SLAM technology.

[0018] On the other hand, the present disclosure provides a device using a sharing end, including:

[0019] A sending module, configured to send a user request to the cloud based on an interaction operation with a receiving device provided in the indoor space when the vehicle enters the indoor space, where the user request is used to cause the cloud to control a handling device in the indoor space to place a target sharing end in the receiving device on the vehicle; and

[0020] A receiving module, configured to receive the positioning information obtained by the target sharing end for indoor positioning of the vehicle based on visual SLAM technology.

[0021] On the other hand, the present disclosure provides an electronic device, including:

[0022] At least one processor. And

[0023] A memory communicatively connected to the at least one processor. Wherein,

[0024] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method of any embodiment in the present disclosure.

[0025] On the other hand, the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to cause the computer to execute the method of any embodiment in the present disclosure.

[0026] On the other hand, the present disclosure provides a computer program product, including a computer program which, when executed by a processor, implements the method according to any one of the embodiments in the present disclosure.

[0027] According to the solution of the present disclosure, by renting a target sharing end that can be installed on a vehicle, indoor positioning of the vehicle in an indoor space can be achieved, without the need for the vehicle to be pre-installed with a positioning device or for a positioning device to be installed in the indoor space.

[0028] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In the drawings, unless otherwise specified, the same reference numerals throughout the several views denote the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings merely depict some embodiments provided by the present disclosure and should not be regarded as limiting the scope of the present disclosure.

[0030] Figure 1 is a schematic diagram of a system for indoor positioning according to an embodiment of the present disclosure.

[0031] Figure 2 is an application schematic diagram according to an embodiment of the present disclosure.

[0032] Figure 3 is a flowchart of a method for using a sharing end according to an embodiment of the present disclosure.

[0033] Figure 4 is a flowchart of a method for using a sharing end according to an embodiment of the present disclosure.

[0034] Figure 5 is a schematic diagram of a device for using a sharing end according to an embodiment of the present disclosure.

[0035] Figure 6 is a schematic diagram of a device for using a sharing end according to an embodiment of the present disclosure.

[0036] Figure 7 is a block diagram of an electronic device for implementing the method of using a sharing end according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] The present disclosure will be described in further detail below with reference to the drawings. The same reference numerals in the drawings denote components or elements with the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0038] In addition, for a better illustration of the present disclosure, numerous specific details are given in the following specific implementation manners. Those skilled in the art should understand that the present disclosure can be implemented without some specific details. In some instances, methods, means, elements, and circuits well-known to those skilled in the art are not described in detail to highlight the gist of the present disclosure.

[0039] As Figure 1 shown, an indoor positioning system provided by an embodiment of the present disclosure includes:

[0040] A user terminal, configured to generate a user request based on an interaction operation with a receiving device disposed in an indoor space when a vehicle enters the indoor space.

[0041] A cloud, configured to determine a target sharing terminal placed in the receiving device in response to the user request.

[0042] A handling device, disposed in the indoor space, configured to place the target sharing terminal on the vehicle according to an installation instruction from the cloud. And

[0043] A target sharing terminal, configured to perform indoor positioning on the vehicle in the indoor space based on visual SLAM (Simultaneous Localization and Mapping) technology when the target sharing terminal is placed on the vehicle, and send the obtained positioning information to the user terminal or the vehicle.

[0044] According to an embodiment of the present disclosure, it should be noted that:

[0045] The user terminal can be understood as a mobile terminal of any occupant in the vehicle entering the indoor space.

[0046] The indoor space can be understood as any enclosed or semi-enclosed indoor environment. For example, an underground garage, a factory, etc.

[0047] The receiving device can be any device such as a cabinet, a rack, etc., which can accommodate multiple sharing terminals and enable the handling device to carry the sharing terminals therefrom.

[0048] The handling device can be a drone, a robotic arm, a conveyor belt, etc., and is not specifically limited herein.

[0049] The accommodation device and the handling device can be set at any position in the indoor space, and it is possible to take the target shared end from among the multiple shared ends placed in the accommodation device and place it on the vehicle. For example, the accommodation device and the handling device can be placed at the entrance of the indoor space. When the vehicle enters the indoor space, the user can place the target shared end on the vehicle according to the demand, so that the vehicle can know its indoor positioning information after entering the indoor space, and then make further autonomous driving decisions in the indoor space.

[0050] The target shared end can be understood as the shared end selected from among the multiple idle shared ends placed in the accommodation device and to be placed on the vehicle. The shared end at least includes a camera, a storage unit, a processor, a communication module, and an inertial measurement unit (IMU, Inertial Measurement Unit). Among them, the storage unit is used to store the SLAM positioning map pre-constructed based on the indoor space. The camera and the inertial measurement unit are used to collect data of the indoor space. The processor is used to determine the indoor positioning information of itself and / or the vehicle based on the data collected by the camera and the inertial measurement unit and the SLAM positioning map.

[0051] The interaction operation between the user terminal and the accommodation device can be understood as establishing an association between the user terminal and the accommodation device, so that the cloud can identify which accommodation device in which indoor space, facilitating the cloud to control the handling device to take the target shared end. The ways of interaction operation include but are not limited to the user terminal scanning the code of the accommodation device.

[0052] In the prior art, the method of pre-installing indoor positioning devices on vehicles not only increases the production and development costs of vehicles, but also it is difficult to coordinate and implement the problem of pre-constructing SLAM maps for different indoor spaces. And the method of pre-installing indoor positioning devices in indoor spaces in the prior art will additionally increase the engineering costs of indoor space construction and will have a certain impact on the design of indoor spaces, so it is not easy to implement. However, the technology of the embodiments of the present disclosure does not require the transformation of vehicles or indoor spaces. Only by deploying rentable shared ends with indoor positioning functions in the indoor space can the indoor positioning of vehicles be achieved. The shared ends with indoor positioning functions exist as shared rental devices in the indoor space. Therefore, any vehicle entering the indoor space with an indoor positioning requirement can temporarily install the target shared end on the vehicle through this system, thereby achieving the indoor positioning of the vehicle, and then enabling the vehicle to perform driving behaviors such as autonomous driving or automatic valet parking in the indoor space according to the indoor positioning information generated by the target shared end. Compared with the method of pre-installing indoor positioning devices on vehicles or the method of pre-installing indoor positioning devices at different positions in the indoor space to achieve indoor vehicle positioning, the development cost and engineering cost are lower, and any vehicle and indoor space at any position can conveniently and quickly achieve the ability to perform indoor positioning.

[0053] In one embodiment, the target sharing end is configured to:

[0054] When placed on a vehicle, in response to a positioning instruction, perform indoor positioning on the vehicle in an indoor space based on visual SLAM technology, and send the obtained positioning information to the user end or the vehicle.

[0055] Wherein, the positioning instruction is generated by any one of the user end, the cloud end, or itself.

[0056] According to the embodiments of the present disclosure, it should be noted that:

[0057] Itself is the target sharing end.

[0058] The positioning instruction is generated by any one of the user end, the cloud end, or itself, which can be understood as one of the following situations:

[0059] After the target sharing end is placed on the vehicle and the handling device is detached from the target sharing end, the user end can actively send a positioning instruction to the target sharing end to enable the target sharing end to start and perform indoor positioning of the vehicle;

[0060] After the target sharing end is placed on the vehicle and the handling device is detached from the target sharing end, the user end can actively send a request to the cloud end, and the cloud end sends a positioning instruction to the target sharing end based on the request to enable the target sharing end to start and perform indoor positioning of the vehicle;

[0061] After the target sharing end is placed on the vehicle and the handling device is detached from the target sharing end, the handling device sends the detached information to the cloud end, and the cloud end sends a positioning instruction to the target sharing end based on the detached information to enable the target sharing end to start and perform indoor positioning of the vehicle;

[0062] After the target sharing end is placed on the vehicle and the handling device is detached from the target sharing end, the handling device sends the detached information to the target sharing end, and the target sharing end sends a positioning instruction to itself based on the detached information to enable the target sharing end to start and perform indoor positioning of the vehicle by itself.

[0063] In one embodiment, the cloud end is configured to:

[0064] In response to a user request, determine the sharing end that is placed in the accommodating device and is in an idle state.

[0065] According to a preset rule, determine the target sharing end from the sharing ends in the idle state.

[0066] According to the embodiments of the present disclosure, it should be noted that:

[0067] Preset rules can be adjusted according to requirements. For example, the preset rules are to use the sharing end with the most power as the target sharing end, the sharing end closest to the handling device as the target sharing end, etc.

[0068] In one embodiment, the handling device is further configured to:

[0069] When it is determined that the vehicle is at the recycling position in the indoor space, in response to the removal instruction, remove the target sharing end from the vehicle and place it in the accommodating device.

[0070] Wherein, the removal instruction is generated by the user terminal or the cloud.

[0071] According to the embodiments of the present disclosure, it should be noted that:

[0072] The recycling position can be understood as the position where the target sharing end can be removed from the vehicle by the handling device. As Figure 2 shown, the position near the entrance of the indoor space can be the installation position of the target sharing end, and the position near the exit of the indoor space can be the recycling position of the target sharing end.

[0073] The removal instruction is generated by the user terminal or the cloud, which can be understood as one of the following situations:

[0074] After the vehicle arrives at the recycling position, the user terminal can actively send a removal instruction to the handling device to enable the handling device to remove the target sharing end;

[0075] After the vehicle arrives at the recycling position, the user terminal can actively send a request to the cloud, and the cloud sends a removal instruction to the handling device based on the request to enable the handling device to remove the target sharing end;

[0076] After the cloud recognizes that the vehicle has arrived at the recycling position, the cloud sends a removal instruction to the handling device to enable the handling device to remove the target sharing end.

[0077] According to the technology of the embodiments of the present disclosure, it is possible to remove the target sharing end without the vehicle using indoor positioning, so that the vehicle entering the indoor space subsequently can continue to rent and use it.

[0078] In one example, Figure 2The application scenario of the indoor positioning system according to the embodiments of the present disclosure is shown. The indoor space shown in the figure is a basement or a vehicle off-line storage plant. The figure includes vehicle A corresponding to the user terminal, accommodation device 40, shared terminal 20 in an idle state, target shared terminal 21, handling device 10, and idle parking space 30. The process of vehicle A driving from the entrance of the indoor space to the idle parking space 30 is shown by the dashed line in the figure. The process of vehicle A driving out from the idle parking space 30 to the exit of the indoor space is shown by the dotted line. Each vehicle A on the dashed line and the dotted line represents the position where vehicle A travels at different time nodes during the vehicle driving process. Among them, the specific application process includes:

[0079] After vehicle A drives into the indoor space, the user terminal corresponding to vehicle A performs a scanning interaction operation on the accommodation device 40 at the entrance of the indoor space, and sends the generated user request to the cloud;

[0080] In response to the user request, the cloud determines the target shared terminal 21 from multiple shared terminals 20 in an idle state in the accommodation device 40, and sends an installation instruction to the handling device 10 (robotic arm or drone);

[0081] According to the installation instruction, the handling device 10 takes the target shared terminal 21 from the accommodation device 40 and places it on the roof of vehicle A;

[0082] After the target shared terminal 21 is placed on the roof of vehicle A, the target shared terminal 21 is started. During the driving process of vehicle A, the target shared terminal 21 uses its own camera and inertial measurement unit to collect data on the indoor space environment around vehicle A, and combines the pre-constructed SLAM map of the indoor space stored in itself to calculate the position of the target shared terminal 21 in the indoor space, so as to obtain the positioning information of the vehicle in the indoor space, and then sends the positioning information to the user terminal or vehicle A;

[0083] Based on the positioning information and the map data of the indoor space, vehicle A realizes automatic valet parking and automatically parks in the idle parking space 30.

[0084] When vehicle A is ready to drive out of the indoor space, vehicle A first drives to the recovery position near the exit of the indoor space, then the handling device 10 removes the target shared terminal 21, and then vehicle A can drive out of the indoor space. The removed target shared terminal 21 is placed in the accommodation device 40 to continue providing indoor positioning services for other vehicles entering from the entrance of the indoor space.

[0085] As Figure 3 shown, the embodiments of the present disclosure provide a method using a shared terminal, which is applied to the cloud and includes:

[0086] Step S301: In response to a user request from a client corresponding to a vehicle driving into an indoor space, determine a target sharing terminal placed in a receiving device provided in the indoor space. And

[0087] Step S302: Control a handling device provided in the indoor space to place the target sharing terminal on the vehicle, where the target sharing terminal is used to perform indoor positioning of the vehicle in the indoor space based on visual SLAM technology.

[0088] According to the embodiments of the present disclosure, it should be noted that:

[0089] The client can be understood as a mobile terminal of any occupant in the vehicle driving into the indoor space.

[0090] The indoor space can be understood as any enclosed or semi-enclosed indoor environment. For example, an underground garage, a factory, etc.

[0091] The receiving device can be any device such as a cabinet, a rack, etc., which can realize the placement of multiple sharing terminals and enable the handling device to carry the sharing terminal from it.

[0092] The handling device can be a drone, a robotic arm, a conveyor belt, etc., and is not specifically limited here.

[0093] The receiving device and the handling device can be set at any position in the indoor space, and can realize taking the target sharing terminal from the multiple sharing terminals placed in the receiving device and placing it on the vehicle. For example, the receiving device and the handling device can be placed at the entrance of the indoor space. When the vehicle enters the indoor space, the user can place the target sharing terminal on the vehicle according to the needs, so that the vehicle can know its indoor positioning information after entering the indoor space, and then make further autonomous driving decisions in the indoor space.

[0094] The target sharing terminal can be understood as the sharing terminal to be placed on the vehicle selected from multiple idle sharing terminals placed in the receiving device. The sharing terminal at least includes a camera, a storage unit, a processor, a communication module, and an inertial measurement unit (IMU, Inertial Measurement Unit). Among them, the storage unit is used to store the SLAM positioning map pre-constructed based on the indoor space, the camera and the inertial measurement unit are used to collect data of the indoor space, and the processor is used to determine the indoor positioning information of itself and / or the vehicle based on the data collected by the camera and the inertial measurement unit and the SLAM positioning map.

[0095] The interaction operation between the client and the accommodation device can be understood as establishing an association between the client and the accommodation device, so that the cloud can identify which accommodation device is in which indoor space, facilitating the cloud to control the handling device to perform the operation of taking the target sharing end. The interaction operation methods include, but are not limited to, the client scanning the code of the accommodation device.

[0096] In the prior art, the method of pre-installing indoor positioning devices in vehicles not only increases the production and development costs of vehicles, but also the problem of pre-building SLAM maps for different indoor spaces is difficult to coordinate and achieve. And the method of pre-installing indoor positioning devices in indoor spaces in the prior art will additionally increase the engineering costs of indoor space construction and will have a certain impact on the design of indoor spaces, so it is not easy to implement. However, the technology of the embodiments of the present disclosure does not require the transformation of vehicles or indoor spaces. Only by deploying a sharable and indoor positioning function-enabled sharing end in the indoor space can the indoor positioning of vehicles be realized. The sharing end with indoor positioning function exists as a shared rental device in the indoor space. Therefore, any vehicle entering the indoor space that has an indoor positioning requirement can temporarily install the target sharing end on the vehicle through this system, thereby realizing the indoor positioning of the vehicle, and further enabling the vehicle to perform driving behaviors such as autonomous driving or automatic valet parking in the indoor space according to the indoor positioning information generated by the target sharing end. Compared with the method of pre-installing indoor positioning devices in vehicles or pre-installing indoor positioning devices at different positions in the indoor space to achieve indoor vehicle positioning, the development cost and engineering cost are lower, and any vehicle and indoor space at any location can conveniently and quickly achieve the ability to perform indoor positioning.

[0097] In one embodiment, the method of using the sharing end in the embodiments of the present disclosure includes step S301 and step S302, where step S301: In response to a user request of a client corresponding to a vehicle driving into an indoor space, determine a target sharing end placed in an accommodation device set in the indoor space, including:

[0098] In response to a user request of a client corresponding to a vehicle driving into an indoor space, determine a sharing end in an idle state placed in an accommodation device set in the indoor space, where the user request is generated based on the interaction operation between the client and the accommodation device.

[0099] Determine the target sharing end from the sharing ends in the idle state according to a preset rule.

[0100] According to the embodiments of the present disclosure, it should be noted that:

[0101] The preset rule can be adjusted according to requirements. For example, the preset rule is to use the sharing end with the most power as the target sharing end, the sharing end closest to the handling device as the target sharing end, etc.

[0102] In one embodiment, the method for using a shared terminal according to the embodiments of the present disclosure includes step S301 and step S302, wherein step S302: controlling a handling device disposed in an indoor space to place a target shared terminal on a vehicle, including:

[0103] When it is determined that the vehicle is located at an installation position in the indoor space, an installation instruction is sent to the handling device disposed in the indoor space.

[0104] Wherein, the installation instruction is used to control the handling device to grab the target shared terminal and place the target shared terminal at a target position on the vehicle.

[0105] According to the embodiments of the present disclosure, it should be noted that:

[0106] The installation position can be understood as a position where the target shared terminal can be placed on the vehicle by using the handling device. As Figure 2 shown, a position near the entrance of the indoor space can be the installation position of the target shared terminal, and a position near the exit of the indoor space can be the recovery position of the target shared terminal.

[0107] The installation instruction can be an instruction automatically generated and sent to the handling device by the cloud when it self-identifies that the vehicle is at the installation position. It can also be an instruction generated and sent to the handling device by the cloud based on a request sent by the user terminal to the cloud.

[0108] In one embodiment, the method for using a shared terminal according to the embodiments of the present disclosure includes step S301 and step S302, and further includes:

[0109] When it is determined that the target shared terminal has been placed on the vehicle, a positioning instruction is sent to the target shared terminal.

[0110] Wherein, the positioning instruction is used to enable the target shared terminal to perform indoor positioning on the vehicle and send the obtained positioning information to the user terminal or the vehicle.

[0111] According to the embodiments of the present disclosure, it should be noted that:

[0112] Sending a positioning instruction to the target shared terminal can be understood as: after the target shared terminal is placed on the vehicle and the handling device disengages from the target shared terminal, the user terminal can actively send a request to the cloud, and the cloud sends a positioning instruction to the target shared terminal based on the request, so that the target shared terminal starts and performs indoor positioning on the vehicle. Or, after the target shared terminal is placed on the vehicle and the handling device disengages from the target shared terminal, the handling device sends information about the disengagement to the cloud, and the cloud sends a positioning instruction to the target shared terminal based on the information about the disengagement, so that the target shared terminal starts and performs indoor positioning on the vehicle.

[0113] In one embodiment, the method for using a shared end according to the embodiments of the present disclosure includes step S301 and step S302, and further includes:

[0114] When it is determined that the vehicle is at the recycling position in the indoor space, a removal instruction is sent to the handling device.

[0115] Wherein, the removal instruction is used to control the handling device to remove the target shared end from the vehicle and place it in the accommodating device.

[0116] According to the embodiments of the present disclosure, it should be noted that:

[0117] Sending a removal instruction to the handling device can be understood as after the vehicle reaches the recycling position, the user side can actively send a request to the cloud, and the cloud sends a removal instruction to the handling device based on the request, so that the handling device removes the target shared end. Or, after the cloud recognizes that the vehicle has reached the recycling position, the cloud sends a removal instruction to the handling device, so that the handling device removes the target shared end.

[0118] According to the technology of the embodiments of the present disclosure, it is possible to remove the target shared end without the vehicle using indoor positioning, so that subsequent vehicles entering the indoor space can continue to rent and use it.

[0119] In one example, Figure 2 The following shows an application scenario when the method for using a shared end according to the embodiments of the present disclosure is applied to the cloud. The indoor space shown in the figure is a basement or a factory building for storing off-line vehicles. The figure includes vehicle A corresponding to the user side, accommodating device 40, shared end 20 in an idle state, target shared end 21, handling device 10, and idle parking space 30. The dotted line shown in the figure is the process of vehicle A driving from the entrance of the indoor space to the idle parking space 30. The dash-dotted line shown in the figure is the process of vehicle A driving out of the idle parking space 30 to the exit of the indoor space. Each vehicle A on the dotted line and the dash-dotted line represents the position where vehicle A travels at different time nodes during the vehicle driving process. Among them, the specific application process includes:

[0120] After vehicle A drives into the indoor space, the user side corresponding to vehicle A performs a scanning interaction operation on the accommodating device 40 at the entrance of the indoor space, and sends the generated user request to the cloud;

[0121] In response to the user request, the cloud determines the target shared end 21 from the multiple shared ends 20 in the accommodating device 40 in an idle state, and sends an installation instruction to the handling device 10 (robotic arm or drone);

[0122] According to the installation instruction, the handling device 10 takes the target shared end 21 from the accommodating device 40 and places it on the roof of vehicle A;

[0123] After the target sharing end 21 is placed on the roof of vehicle A and then starts, during the driving process of vehicle A, the target sharing end 21 uses its own camera and inertial measurement unit to collect data on the indoor space environment around vehicle A, and combines with the pre-constructed SLAM map of the indoor space stored in itself to calculate the position of the target sharing end 21 in the indoor space, so as to obtain the positioning information of the vehicle in the indoor space, and then sends the positioning information to the user terminal or vehicle A;

[0124] Based on the positioning information and the map data of the indoor space, vehicle A realizes automatic valet parking and automatically parks into the idle parking space 30.

[0125] When vehicle A is about to drive out of the indoor space, vehicle A first drives to the recovery position near the exit of the indoor space, and then the handling device 10 removes the target sharing end 21, and then vehicle A can drive out of the indoor space. The removed target sharing end 21 is placed in the accommodating device 40 to continue to provide indoor positioning services for other vehicles entering from the entrance of the indoor space.

[0126] As Figure 4 shown, an embodiment of the present disclosure provides a method using a sharing end, which is applied to a user terminal and includes:

[0127] Step S401: When a vehicle drives into an indoor space, based on an interaction operation with an accommodating device arranged in the indoor space, send a user request to the cloud, where the user request is used to enable the cloud to control a handling device in the indoor space to place a target sharing end in the accommodating device on the vehicle. And

[0128] Step S402: Receive the positioning information obtained by the target sharing end for indoor positioning of the vehicle based on visual SLAM technology.

[0129] According to the embodiment of the present disclosure, it should be noted that:

[0130] The user terminal can be understood as a mobile terminal of any driver or passenger in the vehicle driving into the indoor space.

[0131] The indoor space can be understood as any enclosed or semi-enclosed indoor environment. For example, an underground garage, a factory, etc.

[0132] The accommodating device can be any device such as a cabinet or a rack, which can realize the placement of multiple sharing ends and enable the handling device to carry the sharing end from it.

[0133] The handling device can be a drone, a robotic arm, a conveyor belt, etc., and no specific limitation is made here.

[0134] The accommodation device and the handling device can be set at any position in the indoor space, and it is possible to take the target shared end from multiple shared ends placed in the accommodation device and place it on the vehicle. For example, the accommodation device and the handling device can be placed at the entrance of the indoor space. When the vehicle enters the indoor space, the user can place the target shared end on the vehicle according to the needs, so that the vehicle can know its indoor positioning information after entering the indoor space, and then make further autonomous driving decisions in the indoor space.

[0135] The target shared end can be understood as the shared end selected from multiple idle shared ends placed in the accommodation device and to be placed on the vehicle. The shared end at least includes a camera, a storage unit, a processor, a communication module, and an inertial measurement unit (IMU, Inertial Measurement Unit). Among them, the storage unit is used to store the SLAM positioning map pre-constructed based on the indoor space. The camera and the inertial measurement unit are used to collect data of the indoor space. The processor is used to determine the indoor positioning information of itself and / or the vehicle based on the data collected by the camera and the inertial measurement unit and the SLAM positioning map.

[0136] The interaction operation between the user terminal and the accommodation device can be understood as establishing an association between the user terminal and the accommodation device, so that the cloud can identify which accommodation device in which indoor space, facilitating the cloud to control the handling device to take the target shared end. The ways of interaction operation include but are not limited to the user terminal scanning the code of the accommodation device.

[0137] In the prior art, the method of pre-installing indoor positioning devices on vehicles not only increases the production and development costs of vehicles, but also it is difficult to coordinate and implement the problem of pre-constructing SLAM maps for different indoor spaces. And the method of pre-installing indoor positioning devices in indoor spaces in the prior art will additionally increase the engineering costs of indoor space construction and have a certain impact on the design of indoor spaces, so it is not easy to implement either. However, the technology of the embodiments of the present disclosure does not require the transformation of vehicles or indoor spaces. Only by deploying rentable shared ends with indoor positioning functions in the indoor space can the indoor positioning of vehicles be realized. The shared ends with indoor positioning functions exist as shared rental devices in the indoor space. Therefore, any vehicle entering the indoor space as long as it has an indoor positioning requirement can temporarily install the target shared end on the vehicle through this system, so as to realize the indoor positioning of the vehicle, and then enable the vehicle to perform driving behaviors such as autonomous driving or automatic valet parking in the indoor space according to the indoor positioning information generated by the target shared end. Compared with the method of pre-installing indoor positioning devices on vehicles or the method of pre-installing indoor positioning devices at different positions in indoor spaces to realize indoor vehicle positioning, the development cost and engineering cost are lower, and any vehicle and indoor space at any position can conveniently and quickly realize the ability to have indoor positioning.

[0138] In one embodiment, the method for using a shared terminal according to an embodiment of the present disclosure includes step S401 and step S402. Among them, step S401: When the vehicle enters the indoor space, after sending a user request to the cloud based on an interaction operation with a receiving device provided in the indoor space, it further includes:

[0139] When the target shared terminal has been placed on the vehicle, send a start request to the cloud, where the start request is used to cause the cloud to send a positioning instruction to the target shared terminal so that the target shared terminal performs indoor positioning on the vehicle.

[0140] Or

[0141] When the target shared terminal has been placed on the vehicle, send a positioning instruction to the target shared terminal so that the target shared terminal performs indoor positioning on the vehicle.

[0142] In one embodiment, the method for using a shared terminal according to an embodiment of the present disclosure includes step S401 and step S402, and further includes:

[0143] When it is determined that the vehicle is at a recycling position in the indoor space, send a shutdown request to the cloud, where the shutdown request is used to cause the cloud to send a removal instruction to the handling device so that the handling device removes the target shared terminal from the vehicle and places it in the receiving device.

[0144] Or

[0145] When it is determined that the vehicle is at a recycling position in the indoor space, send a removal instruction to the handling device so that the handling device removes the target shared terminal from the vehicle and places it in the receiving device.

[0146] According to the technology of the embodiments of the present disclosure, it is possible to remove the target shared terminal when the vehicle does not need to use indoor positioning, so that subsequent vehicles entering the indoor space can continue to rent and use it.

[0147] In one example, Figure 2 The following shows an application scenario when the method for using a shared terminal according to an embodiment of the present disclosure is applied to a user terminal. The indoor space shown in the figure is a basement or a vehicle off-line storage plant. The figure includes vehicle A corresponding to the user terminal, receiving device 40, shared terminal 20 in an idle state, target shared terminal 21, handling device 10, and idle parking space 30. The dotted line shown in the figure is the process of vehicle A driving from the entrance of the indoor space to the idle parking space 30. The dash-dotted line shown in the figure is the process of vehicle A driving out of the idle parking space 30 to the exit of the indoor space. Each vehicle A on the dotted line and the dash-dotted line represents the position where vehicle A travels at different time nodes during the vehicle driving process. Among them, the specific application process includes:

[0148] After vehicle A enters the indoor space, the user terminal corresponding to vehicle A performs a scanning interaction operation on the accommodation device 40 at the entrance of the indoor space, and sends the generated user request to the cloud.

[0149] In response to the user request, the cloud determines the target sharing end 21 from multiple idle sharing ends 20 in the accommodation device 40, and sends an installation instruction to the handling device 10 (robotic arm or drone).

[0150] According to the installation instruction, the handling device 10 takes the target sharing end 21 from the accommodation device 40 and places it on the roof of vehicle A.

[0151] After the target sharing end 21 is placed on the roof of vehicle A, the target sharing end 21 is activated. During the driving process of vehicle A, the target sharing end 21 uses its own camera and inertial measurement unit to collect data on the indoor space environment around vehicle A, and combines the pre-constructed SLAM map of the indoor space stored in itself to calculate the position of the target sharing end 21 in the indoor space, thereby obtaining the positioning information of the vehicle in the indoor space, and then sending the positioning information to the user terminal or vehicle A.

[0152] Based on the positioning information and the map data of the indoor space, vehicle A realizes automatic valet parking and automatically parks in the idle parking space 30.

[0153] When vehicle A is about to drive out of the indoor space, vehicle A first drives to the recycling position near the exit of the indoor space, then the handling device 10 removes the target sharing end 21, and then vehicle A can drive out of the indoor space. The removed target sharing end 21 is placed in the accommodation device 40 to continue providing indoor positioning services for other vehicles entering from the entrance of the indoor space.

[0154] As Figure 5 shown, the embodiment of the present disclosure provides a device using a sharing end, including:

[0155] A determination module 510, configured to determine a target sharing end placed in an accommodation device arranged in an indoor space in response to a user request of a user terminal corresponding to a vehicle driving into the indoor space. And

[0156] A control module 520, configured to control a handling device arranged in the indoor space to place the target sharing end on the vehicle, where the target sharing end is used to perform indoor positioning on the vehicle in the indoor space based on visual SLAM technology.

[0157] In one implementation, the determination module is used for:

[0158] In response to a user request from a client corresponding to a vehicle driving into an indoor space, determine a shared end in an idle state placed in a receiving device set in the indoor space, where the user request is generated based on an interaction operation between the client and the receiving device.

[0159] Determine a target shared end from the shared ends in an idle state according to a preset rule.

[0160] In one embodiment, the control module is used for:

[0161] When it is determined that the vehicle is located at an installation position in the indoor space, send an installation instruction to a handling device set in the indoor space.

[0162] Wherein, the installation instruction is used to control the handling device to grab the target shared end and place the target shared end at a target position on the vehicle.

[0163] In one embodiment, the embodiments of the present disclosure provide a device using a shared end, further including:

[0164] A first instruction module, configured to send a positioning instruction to the target shared end when it is determined that the target shared end has been placed on the vehicle.

[0165] Wherein, the positioning instruction is used to enable the target shared end to perform indoor positioning on the vehicle and send the obtained positioning information to the client or the vehicle.

[0166] In one embodiment, the embodiments of the present disclosure provide a device using a shared end, further including:

[0167] A second instruction module, configured to send a removal instruction to the handling device when it is determined that the vehicle is located at a recycling position in the indoor space.

[0168] Wherein, the removal instruction is used to control the handling device to remove the target shared end from the vehicle and place it in the receiving device.

[0169] As Figure 6 shown, the embodiments of the present disclosure provide a device using a shared end, including:

[0170] A sending module 610, configured to, when the vehicle drives into the indoor space, send a user request to the cloud based on an interaction operation with a receiving device set in the indoor space, where the user request is used to enable the cloud to control a handling device in the indoor space to place a target shared end in the receiving device on the vehicle. And

[0171] A receiving module 620, configured to receive positioning information obtained by the target shared end performing indoor positioning on the vehicle based on visual SLAM technology.

[0172] In one embodiment, the sending module is used for:

[0173] When the target sharing end has been placed on the vehicle, send a start request to the cloud, where the start request is used to cause the cloud to send a positioning instruction to the target sharing end so that the target sharing end performs indoor positioning on the vehicle.

[0174] Or

[0175] When the target sharing end has been placed on the vehicle, send a positioning instruction to the target sharing end so that the target sharing end performs indoor positioning on the vehicle.

[0176] In one implementation, the embodiments of the present disclosure provide a device using a sharing end, further including a request module for:

[0177] When it is determined that the vehicle is located at a recycling position in the indoor space, send a shutdown request to the cloud, where the shutdown request is used to cause the cloud to send a removal instruction to the handling device so that the handling device removes the target sharing end from the vehicle and places it in the accommodating device.

[0178] Or

[0179] When it is determined that the vehicle is located at a recycling position in the indoor space, send a removal instruction to the handling device so that the handling device removes the target sharing end from the vehicle and places it in the accommodating device.

[0180] For the specific functions and examples of each module and sub-module of the device in the embodiments of the present disclosure, reference may be made to the relevant descriptions of the corresponding steps in the above method embodiments, which will not be elaborated here.

[0181] In the technical solution of the present disclosure, the acquisition, storage, and application of the user's personal information involved all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0182] Figure 7 It is a structural block diagram of an electronic device according to an embodiment of the present disclosure. As Figure 7 shown, the electronic device includes: a memory 710 and a processor 720. The memory 710 stores a computer program that can run on the processor 720. The number of the memory 710 and the processor 720 can be one or more. The memory 710 can store one or more computer programs. When the one or more computer programs are executed by the electronic device, the electronic device executes the method provided in the above method embodiments. The electronic device may further include: a communication interface 730 for communicating with external devices and performing data interaction and transmission.

[0183] If the memory 710, the processor 720, and the communication interface 730 are implemented independently, the memory 710, the processor 720, and the communication interface 730 can be interconnected via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 only a thick line is used in Figure 7 , but it does not mean that there is only one bus or one type of bus.

[0184] Optionally, in a specific implementation, if the memory 710, the processor 720, and the communication interface 730 are integrated on a single chip, the memory 710, the processor 720, and the communication interface 730 can communicate with each other through an internal interface.

[0185] It should be understood that the above-mentioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. It is worth noting that the processor can be a processor that supports the Advanced RISC Machines (ARM) architecture.

[0186] Further, optionally, the above-mentioned memory may include a read-only memory and a random access memory, and may further include a non-volatile random access memory. The memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may include a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM), and direct rambus random access memory (DR RAM).

[0187] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present disclosure are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or a wireless manner (such as infrared, Bluetooth, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a Digital Versatile Disc (DVD)), or a semiconductor medium (such as a Solid State Disk (SSD)), etc. It should be noted that the computer-readable storage medium mentioned in the present disclosure can be a non-volatile storage medium, in other words, a non-transitory storage medium.

[0188] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above embodiments can be completed by hardware, or can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium, and the storage medium mentioned above can be a read-only memory, a magnetic disk, an optical disc, or the like.

[0189] In the description of the embodiments of the present disclosure, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0190] In the description of the embodiments of the present disclosure, unless otherwise specified, " / " means "or". For example, A / B may represent A or B. "And / or" herein is merely a description of the relationship between associated objects, indicating that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone.

[0191] In the description of the embodiments of the present disclosure, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present disclosure, unless otherwise specified, "a plurality of" means two or more.

[0192] The foregoing are only exemplary embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A system for indoor positioning, comprising: A user terminal, for generating a user request based on an interactive operation with a receiving device arranged in the indoor space when the vehicle enters the indoor space; A cloud, for determining a target sharing terminal placed in the receiving device in response to the user request; A transport device, disposed in the indoor space, for placing the target sharing terminal on the vehicle according to the installation instruction of the cloud; as well as The target sharing terminal is used to perform indoor positioning of the vehicle in the indoor space based on the visual SLAM technology when the target sharing terminal is placed in the vehicle, and send the obtained positioning information to the user terminal or the vehicle.

2. The system according to claim 1, wherein: The target sharing end is used for: When the vehicle is placed in the vehicle, in response to a positioning instruction, the vehicle is positioned indoors in the indoor space based on visual SLAM technology, and the obtained positioning information is sent to the user terminal or the vehicle; The positioning instruction is generated by any one of the user terminal, the cloud or itself.

3. The system according to claim 1, wherein: The cloud is used for: In response to the user request, determining a shared terminal in an idle state placed in the receiving device; According to a preset rule, a target sharing end is determined from the sharing ends in the idle state.

4. The system according to claim 1, wherein: The transport device is also used for: In the case where it is determined that the vehicle is located at the recovery position in the indoor space, in response to a removal instruction, the target sharing terminal is removed from the vehicle and placed into the receiving device; Wherein, the removal instruction is generated by the user terminal or the cloud.

5. A method for using a shared terminal, applied to a cloud, comprising: In response to a user request of a user terminal corresponding to a vehicle entering the indoor space, determining a target sharing terminal placed in a receiving device arranged in the indoor space; as well as The transport device disposed in the indoor space is controlled to place the target sharing terminal on the vehicle, wherein the target sharing terminal is used to perform indoor positioning of the vehicle in the indoor space based on visual SLAM technology.

6. The method according to claim 5, wherein: In response to a user request of a user terminal corresponding to a vehicle entering an indoor space, determining a target sharing terminal placed in a receiving device arranged in the indoor space includes: In response to a user request of a user terminal corresponding to a vehicle entering an indoor space, determining a shared terminal in an idle state placed in a receiving device set in the indoor space, wherein the user request is generated based on an interaction operation between the user terminal and the receiving device; According to a preset rule, a target sharing end is determined from the sharing ends in the idle state.

7. The method according to claim 5, wherein: Controlling a transport device disposed in the indoor space to place the target sharing terminal on the vehicle includes: When it is determined that the vehicle is located at an installation position in the indoor space, sending an installation instruction to a transport device disposed in the indoor space; The installation instruction is used to control the transport device to grab the target shared end and place the target shared end at a target position on the vehicle.

8. The method according to any one of claims 5 to 7, further comprising: When it is determined that the target sharing terminal has been placed on the vehicle, sending a positioning instruction to the target sharing terminal; The positioning instruction is used to enable the target sharing terminal to perform indoor positioning of the vehicle and send the obtained positioning information to the user terminal or the vehicle.

9. The method according to any one of claims 5 to 7, further comprising: sending a removal instruction to the transport device upon determining that the vehicle is located at a recovery position in the indoor space; The removal instruction is used to control the transport device to remove the target shared end from the vehicle and place it into the receiving device.

10. A method for using a shared terminal, applied to a user terminal, comprising: When the vehicle enters the indoor space, based on the interactive operation with the receiving device set in the indoor space, a user request is sent to the cloud, wherein the user request is used to enable the cloud to control the transport device in the indoor space to place the target shared end in the receiving device to the vehicle; and Receive positioning information obtained by the target sharing end through indoor positioning of the vehicle based on visual SLAM technology.

11. The method according to claim 10, wherein: When the vehicle enters the indoor space, based on the interaction operation with the accommodation device set in the indoor space, after sending the user request to the cloud, the method further includes: When the target sharing terminal has been placed on the vehicle, sending a start request to the cloud, wherein the start request is used to enable the cloud to send a positioning instruction to the target sharing terminal so that the target sharing terminal can perform indoor positioning on the vehicle; or In the case where the target sharing terminal has been placed on the vehicle, a positioning instruction is sent to the target sharing terminal so that the target sharing terminal performs indoor positioning of the vehicle.

12. The method according to claim 10 or 11, further comprising: When it is determined that the vehicle is located at the recovery position in the indoor space, sending a closing request to the cloud, wherein the closing request is used to cause the cloud to send a removal instruction to the transport device, so that the transport device removes the target shared end from the vehicle and puts it into the receiving device; or When it is determined that the vehicle is located at the recovery position in the indoor space, a removal instruction is sent to the transport device, so that the transport device removes the target shared end from the vehicle and places it into the receiving device.

13. A device for using a shared terminal, comprising: a determination module, configured to determine a target sharing terminal placed in a receiving device provided in the indoor space in response to a user request of a user terminal corresponding to a vehicle entering the indoor space; as well as The control module is used to control the transport device arranged in the indoor space to place the target sharing end on the vehicle, wherein the target sharing end is used to perform indoor positioning of the vehicle in the indoor space based on visual SLAM technology.

14. A device for using a shared terminal, comprising: a sending module, configured to send a user request to the cloud based on an interactive operation with a receiving device provided in the indoor space when the vehicle enters the indoor space, wherein the user request is used to enable the cloud to control a transport device in the indoor space to place a target shared terminal in the receiving device on the vehicle; and The receiving module is used to receive the positioning information obtained by the target sharing end through indoor positioning of the vehicle based on the visual SLAM technology.

15. An electronic device, comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 5 to 12.

16. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 5 to 12.

17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 5 to 12.

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