Mapping site identification method and device, electronic equipment and medium
By using wireless network fingerprint information and angle calculation methods in indoor service robot mapping, the problems of low efficiency and large error in mapping construction in large scenarios are solved, and more accurate and efficient map closure is achieved.
Patent Information
- Application Number
- CN202310814567.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-07-05
- Publication Date
- 2025-01-07
AI Technical Summary
In the process of indoor service robot mapping, especially in large scenarios such as 500-meter circular corridors, there are problems of low efficiency and large errors, resulting in large differences between the built map and the actual environment.
By constructing the current environment map and collecting wireless network fingerprint information, building the fingerprint map according to the preset resolution, calculating the angle between the current position fingerprint and the fingerprint in the fingerprint map, determining the position corresponding to the minimum angle, and the minimum angle is smaller than the second Close the map when a preset threshold is set, reducing errors and improving efficiency.
It effectively reduces errors during the map construction process, improves efficiency, enables the robot to close the map more accurately, and enhances the reliability of navigation and positioning.
Smart Images
Figure CN119268666A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of intelligent robot mapping technology, and in particular to a method, device, electronic device and medium for identifying a mapping location. Background Art
[0002] For indoor service robots, deployment and mapping is an important task, and mapping efficiency directly affects deployment efficiency. For particularly large scenes, such as a circular corridor with a circumference of 500 meters, the machine starts mapping from the starting point and returns to the starting point along the corridor. Due to factors such as the carpet, the robot's current position is very different from the starting point of mapping, resulting in a large difference between the constructed map and the actual map.
[0003] There are usually two methods to solve the above problem in the existing technology: the first is to directly search the entire map with laser until the starting point is found; the second is to place a unique identifier such as a QR code at the starting point. When the robot builds a map along the corridor and returns to the starting point, it recognizes the QR code again, which can generate a strong constraint to close the map.
[0004] Both of the above two methods of finding the starting point for building a map have disadvantages: the first method searches the entire map, which is inefficient; the second method requires manual pasting of QR codes, which has errors and low efficiency. Summary of the invention
[0005] The present invention provides a method, device, electronic device and medium for identifying a location for mapping, including: constructing a current environment map and collecting wireless network fingerprint information; constructing a fingerprint map according to a preset resolution; calculating the angle between the current location fingerprint and each fingerprint in the fingerprint map, and determining that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; when the minimum angle is less than a first preset threshold, closing the map. Compared with the prior art, the present invention uses a wireless network to collect fingerprint information, and by calculating the angle between the current location fingerprint and each fingerprint in the fingerprint map, determines that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; when the minimum angle is less than the first preset threshold, closes the map, thereby reducing errors and improving efficiency.
[0006] In order to achieve the above objectives, the present invention adopts the following technical solutions:
[0007] A first aspect of the present disclosure provides a method for identifying a location for mapping, comprising:
[0008] Build a map of the current environment and collect wireless network fingerprint information.
[0009] Construct a fingerprint map according to the preset resolution.
[0010] The angle between the current position fingerprint and each fingerprint in the fingerprint map is calculated, and the position corresponding to the minimum angle is determined as the position of the current fingerprint in the fingerprint map.
[0011] When the minimum angle is less than a first preset threshold, the map is closed.
[0012] Furthermore, the method for identifying a location for mapping, after closing the map when the minimum angle is less than a first preset threshold, further comprises:
[0013] Use current sensor data for data registration verification.
[0014] Furthermore, the mapping location recognition method, before calculating the angle between the current location fingerprint and each fingerprint in the fingerprint map and determining the position corresponding to the minimum angle as the position of the current fingerprint in the fingerprint map, further includes:
[0015] The fingerprints in the fingerprint map whose distance from the current position is less than a second preset threshold are eliminated.
[0016] Furthermore, the mapping location recognition method calculates the angle between the current location fingerprint and each fingerprint in the fingerprint map, and determines the position corresponding to the minimum angle as the position of the current fingerprint in the fingerprint map, including:
[0017] The angle θ between the current position fingerprint and each fingerprint in the fingerprint map is calculated by the cosine formula:
[0018]
[0019] Wherein, ω1 represents the fingerprint in the fingerprint map, and ω represents the current position fingerprint.
[0020] Furthermore, the mapping location identification method constructs a current environment map and collects wireless network fingerprint information, including:
[0021] A current environment map is constructed and wireless network hotspot information in the environment is collected through a wireless network card, wherein the wireless network hotspot information includes a service set identifier and strength information.
[0022] Furthermore, in the method for identifying a location for mapping, the preset resolution includes:
[0023] The preset resolution is 1 meter × 1 meter.
[0024] Furthermore, in the method for identifying a location for mapping, the first preset threshold value includes:
[0025] The first preset threshold is θ threshold .
[0026] Furthermore, in the method for identifying a location for mapping, the second preset threshold value includes:
[0027] The second preset threshold is 5 meters.
[0028] Furthermore, the method for identifying a location for mapping, when the minimum angle is less than a first preset threshold, closing the map, includes:
[0029] When the minimum angle is smaller than a first preset threshold, the current location fingerprint is pulled together with the fingerprint in the fingerprint map to close the map.
[0030] Furthermore, the mapping location recognition method uses current sensor data to perform data registration verification, including:
[0031] Use the current sensor data to verify that the current location environment is the same as the starting point environment.
[0032] A second aspect of the present disclosure provides a mapping location recognition device, comprising:
[0033] The collection unit is used to construct a current environment map and collect wireless network fingerprint information.
[0034] The construction unit is used to construct a fingerprint map according to a preset resolution.
[0035] The calculation unit is used to calculate the angle between the current position fingerprint and each fingerprint in the fingerprint map, and determine the position corresponding to the minimum angle as the position of the current fingerprint in the fingerprint map.
[0036] A closing unit is used to close the map when the minimum angle is less than a first preset threshold.
[0037] Furthermore, the mapping location recognition device further includes:
[0038] The verification unit is used to perform data registration verification using the current sensor data.
[0039] Furthermore, the mapping location recognition device further includes:
[0040] The elimination unit is used to eliminate fingerprints in the fingerprint map whose distance from the current position is less than a second preset threshold.
[0041] A third aspect of the present disclosure provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.
[0042] A fourth aspect of the present disclosure provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.
[0043] The present invention provides a method, device, electronic device and medium for identifying a location for mapping, including: constructing a current environment map and collecting wireless network fingerprint information; constructing a fingerprint map according to a preset resolution; calculating the angle between the current location fingerprint and each fingerprint in the fingerprint map, and determining that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; when the minimum angle is less than a first preset threshold, closing the map. Compared with the prior art, the present invention uses a wireless network to collect fingerprint information, and by calculating the angle between the current location fingerprint and each fingerprint in the fingerprint map, determines that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; when the minimum angle is less than the first preset threshold, closes the map, thereby reducing errors and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0045] Figure 1 A schematic diagram of a method for identifying a location for mapping in an embodiment of the present disclosure;
[0046] Figure 2 A schematic diagram of another method for identifying a location for mapping in an embodiment of the present disclosure;
[0047] Figure 3 A schematic diagram of a fingerprint map in an embodiment of the present disclosure;
[0048] Figure 4 A schematic diagram of the structure of a mapping location recognition device in an embodiment of the present disclosure;
[0049] Figure 5 It is a schematic diagram of the structure of another device for identifying a location for mapping in an embodiment of the present disclosure;
[0050] Figure 6 The present invention is a schematic diagram of the structure of an electronic device for mapping location recognition in an embodiment of the present invention. DETAILED DESCRIPTION
[0051] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.
[0052] Unless otherwise defined, all technical and scientific terms used in the present disclosure have the same meanings as those commonly understood by technicians in the field of the present disclosure; the terms used in the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the terms "including" and "having" and any variations thereof in the specification and claims of the present disclosure and the above-mentioned drawings, and are intended to cover non-exclusive inclusions.
[0053] In the description of the embodiments of the present disclosure, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present disclosure, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.
[0054] In the description of the embodiments of the present disclosure, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.
[0055] In the description of the embodiments of the present disclosure, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).
[0056] In the description of the embodiments of the present disclosure, the orientations or positional relationships indicated by technical terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", and "circumferential" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description. They do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the embodiments of the present disclosure.
[0057] In the description of the embodiments of the present disclosure, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to the specific circumstances.
[0058] Example 1
[0059] The present disclosure provides a method for identifying a location for mapping. Figure 1 As shown, including:
[0060] 101. Build a current environment map and collect wireless network fingerprint information.
[0061] Among them, for indoor robots, deployment and mapping is an important task. Specifically, mapping is the process of using the sensor data on the robot to establish a spatial model of its surrounding environment. This map will be used for the robot's positioning and navigation.
[0062] Wireless network: refers to any form of radio computer network, which is generally combined with telecommunication networks and can link nodes to each other without cables. For example: Bluetooth, WiFi, etc. It should be noted here that: the present disclosure uses WiFi as the wireless network, but the protection scope of the present disclosure is not limited to this. In other embodiments, the implementer can select according to actual needs.
[0063] 102. Construct a fingerprint map according to a preset resolution.
[0064] Specifically, the collected WiFi fingerprint information is used to construct a fingerprint map according to a preset resolution, wherein the preset resolution can be selected according to the actual situation. For example, in this embodiment, a fingerprint map is constructed with a resolution of 1 meter × 1 meter, but the protection scope of the present disclosure is not limited thereto. In other embodiments, the implementer can select according to their own needs or actual situation. The fingerprint map is a map composed of the collected WiFi fingerprints.
[0065] 103. Calculate the angle between the current position fingerprint and each fingerprint in the fingerprint map, and determine the position corresponding to the minimum angle as the position of the current fingerprint in the fingerprint map.
[0066] The angle θ between the current position fingerprint and each fingerprint in the fingerprint map is calculated by the cosine formula:
[0067]
[0068] Wherein, ω1 represents the fingerprint in the fingerprint map, and ω represents the current position fingerprint.
[0069] Thus, the position corresponding to the minimum angle is determined as the position of the current fingerprint in the fingerprint map.
[0070] 104. When the minimum angle is less than a first preset threshold, close the map.
[0071] Among them, the first preset threshold is θ threshold , that is, when the minimum angle is less than θ threshold When θ threshold It is an empirical value and needs to be determined based on the experience of relevant staff during specific implementation. There is no restriction here.
[0072] It should be noted here that the detailed description of each component in this embodiment can refer to other embodiments and will not be repeated here.
[0073] The present invention provides a method for identifying a location through mapping, comprising: constructing a current environment map and collecting wireless network fingerprint information; constructing a fingerprint map according to a preset resolution; calculating the angle between a current location fingerprint and each fingerprint in the fingerprint map, and determining that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; when the minimum angle is less than a first preset threshold, closing the map. Compared with the prior art, the present invention uses a wireless network to collect fingerprint information, and by calculating the angle between the current location fingerprint and each fingerprint in the fingerprint map, determines that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; when the minimum angle is less than the first preset threshold, closes the map, thereby reducing errors and improving efficiency.
[0074] Example 2
[0075] The present disclosure provides a method for identifying a location for mapping. Figure 2 As shown, including:
[0076] 201. Build a current environment map and collect wireless network fingerprint information.
[0077] Specifically, the current environment map is constructed and the WiFi hotspot information in the environment is collected through the wireless network card. The WiFi hotspot information includes the service set identifier and strength information. The service set identifier (SSID) is set by setting different SSIDs for multiple wireless access points (APs) and requiring wireless workstations to present the correct SSID to access the AP, so that users from different groups can be allowed to access and the rights to access resources can be restricted differently.
[0078] 202. Construct a fingerprint map according to a preset resolution.
[0079] Specifically, a fingerprint map is constructed according to the preset resolution of 1 meter × 1 meter, that is, fingerprints are collected every one meter. Assume that their numbers are w1...wn, as shown in Table 1, and the fingerprints are w1:{s1: 0.8, s4: 0.3, s7: 0.5...}...wn:{s3: 0.7, s4: 0.55, s6: 0.43...}. All SSIDs in the fingerprint map are sorted by size, that is, (s1, s2, s3, s4...), and the fingerprint map of the corridor is constructed as follows: Figure 3 shown.
[0080] s1 s2 s3 s4 S5 s6 s7 ... w1 0.8 0 0 0.3 0 0 0.5 ... ... ... wn 0 0 0.7 0.55 0 0.43 0 ...
[0081] Table 1 Fingerprint Table
[0082] 203. Eliminate fingerprints in the fingerprint map whose distance from the current position is less than a second preset threshold.
[0083] It should be noted here that: in order to avoid interference from several fingerprints collected recently, this embodiment eliminates fingerprints in the fingerprint map whose distance from the current position is less than a second preset threshold, where the second threshold is 5 meters, that is, fingerprints in the fingerprint map whose distance from the current position is less than 5 meters are eliminated, which reduces the amount of calculation while ensuring the accuracy of the calculation results.
[0084] 204. Calculate the angle between the current position fingerprint and each fingerprint in the fingerprint map, and determine the position corresponding to the minimum angle as the position of the current fingerprint in the fingerprint map.
[0085] The angle θ between the current position fingerprint and each fingerprint in the fingerprint map is calculated by the cosine formula:
[0086]
[0087] Wherein, ω1 represents the fingerprint in the fingerprint map, and ω represents the current position fingerprint.
[0088] Specifically, let the WiFi fingerprint w of the current location be {s1: 0.3, s2: 0.6, s6: 0.4}, converted to the coordinates in the fingerprint map, the vector form is [0.3, 0.6, 0, 0, 0, 0.4, 0], and the angle between w and the fingerprint map {w1...wn} is calculated by the cosine formula, that is:
[0089]
[0090] Wherein, ω1 represents the fingerprint in the fingerprint map, and ω represents the current position fingerprint.
[0091] Traverse from w1 to wn, and the one with the smallest angle is the most likely position of the current w.
[0092] 205. When the minimum angle is less than a first preset threshold, close the map.
[0093] Among them, the first preset threshold is θ threshold , that is, when the minimum angle is less than θ threshold When θ threshold It is an empirical value and needs to be determined based on the experience of relevant staff during specific implementation. There is no restriction here.
[0094] Specifically, when closing the map, the current location fingerprint is pulled together with the fingerprint in the fingerprint map to close the map.
[0095] 206. Use current sensor data to perform data registration verification.
[0096] Use the current sensor data to verify whether the current location environment is the same as the starting environment, that is, use the current sensor data to verify whether it is at w1. Intuitively speaking, if a chair and a door have been seen at w1, then the current sensor must also be able to see the chair and the door. If the verification passes and the sensor point cloud data is aligned, that is, the task successfully finds a closed loop, then w and w1 are closed together.
[0097] The present invention provides a method for identifying a location through mapping, comprising: constructing a current environment map and collecting wireless network fingerprint information; constructing a fingerprint map according to a preset resolution; calculating the angle between a current location fingerprint and each fingerprint in the fingerprint map, and determining that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; when the minimum angle is less than a first preset threshold, closing the map. Compared with the prior art, the present invention uses a wireless network to collect fingerprint information, and by calculating the angle between the current location fingerprint and each fingerprint in the fingerprint map, determines that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; when the minimum angle is less than the first preset threshold, closes the map, thereby reducing errors and improving efficiency.
[0098] In addition, this embodiment removes fingerprints whose distance from the current position in the fingerprint map is less than a second preset threshold, which further reduces the workload and improves work efficiency.
[0099] Finally, this embodiment uses the current sensor data to perform data registration verification, further improving the accuracy of mapping.
[0100] Example 3
[0101] The present disclosure provides a device for identifying a location for mapping. Figure 4 As shown, including:
[0102] The collection unit 31 is used to construct a current environment map and collect wireless network fingerprint information.
[0103] The construction unit 32 is used to construct a fingerprint map according to a preset resolution.
[0104] The calculation unit 33 is used to calculate the angle between the current position fingerprint and each fingerprint in the fingerprint map, and determine the position corresponding to the minimum angle as the position of the current fingerprint in the fingerprint map.
[0105] The closing unit 34 is configured to close the map when the minimum angle is less than a first preset threshold.
[0106] It should be noted here that the detailed description of each component in this embodiment can refer to other embodiments and will not be repeated here.
[0107] The present disclosure provides a mapping location identification device, comprising: a collection unit, used to build a current environment map and collect wireless network fingerprint information; a construction unit, used to build a fingerprint map according to a preset resolution; a calculation unit, used to calculate the angle between the current position fingerprint and each fingerprint in the fingerprint map, and determine that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; a closing unit, used to close the map when the minimum angle is less than a first preset threshold. Compared with the prior art, the present disclosure uses a wireless network to collect fingerprint information, and by calculating the angle between the current position fingerprint and each fingerprint in the fingerprint map, determines that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map. When the minimum angle is less than the first preset threshold, the map is closed, thereby reducing errors and improving efficiency.
[0108] Example 4
[0109] The present disclosure provides a device for identifying a location for mapping. Figure 5 As shown, including:
[0110] The collection unit 41 is used to construct a current environment map and collect wireless network fingerprint information.
[0111] The construction unit 42 is used to construct a fingerprint map according to a preset resolution.
[0112] The elimination unit 43 is used to eliminate fingerprints in the fingerprint map whose distance from the current position is less than a second preset threshold.
[0113] The calculation unit 44 is used to calculate the angle between the current position fingerprint and each fingerprint in the fingerprint map, and determine the position corresponding to the minimum angle as the position of the current fingerprint in the fingerprint map.
[0114] The closing unit 45 is used to close the map when the minimum angle is less than a first preset threshold.
[0115] The verification unit 46 is used to perform data registration verification using the current sensor data.
[0116] It should be noted here that the detailed description of each component in this embodiment can refer to other embodiments and will not be repeated here.
[0117] The present disclosure provides a mapping location identification device, comprising: a collection unit, used to build a current environment map and collect wireless network fingerprint information; a construction unit, used to build a fingerprint map according to a preset resolution; a calculation unit, used to calculate the angle between the current position fingerprint and each fingerprint in the fingerprint map, and determine that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; a closing unit, used to close the map when the minimum angle is less than a first preset threshold. Compared with the prior art, the present disclosure uses a wireless network to collect fingerprint information, and by calculating the angle between the current position fingerprint and each fingerprint in the fingerprint map, determines that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map. When the minimum angle is less than the first preset threshold, the map is closed, thereby reducing errors and improving efficiency.
[0118] In addition, the elimination unit of this embodiment is used to eliminate fingerprints in the fingerprint map whose distance from the current position is less than a second preset threshold, which further reduces the workload and improves the work efficiency.
[0119] Finally, the verification unit of this embodiment is used to perform data registration verification using the current sensor data, thereby further improving the accuracy of mapping.
[0120] Example 5
[0121] The present disclosure provides an electronic device for identifying a location for mapping, such as Figure 6 As shown, it includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned mapping location recognition method are implemented.
[0122] A processing device (e.g., a central processing unit, a graphics processing unit, etc.) 51 can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 52 or a program loaded from a storage device 58 into a random access memory (RAM) 53. Various programs and data required for the operation of the electronic device are also stored in the RAM 53. The processing device 51, the ROM 52, and the RAM 53 are connected to each other via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.
[0123] Typically, the following devices may be connected to the I / O interface 55: input devices 56 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 57 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 508 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 59. The communication device 59 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 6 An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead. Figure 6 Each block shown in the figure may represent one device, or may represent multiple devices as required.
[0124] In particular, according to some embodiments of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, some embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In some such embodiments, the computer program can be downloaded and installed from the network through the communication device 59, or installed from the storage device 58, or installed from the ROM 52. When the computer program is executed by the processing device 51, the above-mentioned functions defined in the method of some embodiments of the present disclosure are executed.
[0125] The present disclosure provides a map-building location recognition electronic device, comprising: constructing a current environment map and collecting wireless network fingerprint information; constructing a fingerprint map according to a preset resolution; calculating the angle between the current location fingerprint and each fingerprint in the fingerprint map, and determining that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; when the minimum angle is less than a first preset threshold, closing the map. Compared with the prior art, the present disclosure uses a wireless network to collect fingerprint information, and by calculating the angle between the current location fingerprint and each fingerprint in the fingerprint map, determines that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; when the minimum angle is less than the first preset threshold, closes the map, thereby reducing errors and improving efficiency.
[0126] In addition, this embodiment removes fingerprints whose distance from the current position in the fingerprint map is less than a second preset threshold, which further reduces the workload and improves work efficiency.
[0127] Finally, this embodiment uses the current sensor data to perform data registration verification, further improving the accuracy of mapping.
[0128] Example 6
[0129] An embodiment of the present disclosure provides a computer-readable storage medium for identifying a map location. The computer-readable storage medium stores a computer program. When the computer program is executed by one or more processors, the above-mentioned method for identifying a map location is implemented.
[0130] It should be noted that the computer-readable medium in some embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In some embodiments of the present disclosure, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In some embodiments of the present disclosure, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.
[0131] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.
[0132] The computer-readable medium may be included in the device; or it may exist independently without being installed in the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: constructs a current environment map and collects wireless network fingerprint information; constructs a fingerprint map according to a preset resolution; calculates the angle between the current position fingerprint and each fingerprint in the fingerprint map, and determines that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; when the minimum angle is less than a first preset threshold, closes the map.
[0133] Computer program code for performing the operations of some embodiments of the present disclosure may be written in one or more programming languages or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).
[0134] The present disclosure provides a computer-readable storage medium for mapping location identification, including: constructing a current environment map and collecting wireless network fingerprint information; constructing a fingerprint map according to a preset resolution; calculating the angle between the current location fingerprint and each fingerprint in the fingerprint map, and determining that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; when the minimum angle is less than a first preset threshold, closing the map. Compared with the prior art, the present disclosure uses a wireless network to collect fingerprint information, and by calculating the angle between the current location fingerprint and each fingerprint in the fingerprint map, determines that the position corresponding to the minimum angle is the position of the current fingerprint in the fingerprint map; when the minimum angle is less than the first preset threshold, closes the map, thereby reducing errors and improving efficiency.
[0135] In addition, this embodiment removes fingerprints whose distance from the current position in the fingerprint map is less than a second preset threshold, which further reduces the workload and improves work efficiency.
[0136] Finally, this embodiment uses the current sensor data to perform data registration verification, further improving the accuracy of mapping.
[0137] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.
[0138] The units described in some embodiments of the present disclosure may be implemented by software or hardware. The units described may also be set in a processor, for example, it may be described as: a processor includes a receiving unit, an information acquisition unit, a target determination unit, and a distribution unit. The names of these units do not constitute limitations on the units themselves in some cases.
[0139] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.
[0140] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.
[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.
Claims
1. A method for identifying a location for mapping, characterized in that: include: Build a map of the current environment and collect wireless network fingerprint information; Construct a fingerprint map according to the preset resolution; Calculate the angle between the current position fingerprint and each fingerprint in the fingerprint map, and determine the position corresponding to the minimum angle as the position of the current fingerprint in the fingerprint map; When the minimum angle is less than a first preset threshold, the map is closed.
2. The method for identifying a location for mapping according to claim 1, characterized in that: When the minimum angle is less than the first preset threshold, after closing the map, the method further includes: Use current sensor data for data registration verification.
3. The method for identifying a location for mapping according to claim 1, characterized in that: Before calculating the angle between the current position fingerprint and each fingerprint in the fingerprint map and determining the position corresponding to the minimum angle as the position of the current fingerprint in the fingerprint map, the method further includes: The fingerprints in the fingerprint map whose distance from the current position is less than a second preset threshold are eliminated.
4. The method for identifying a location for mapping according to claim 1, characterized in that: Calculating the angle between the current position fingerprint and each fingerprint in the fingerprint map, and determining the position corresponding to the minimum angle as the position of the current fingerprint in the fingerprint map, including: The angle θ between the current position fingerprint and each fingerprint in the fingerprint map is calculated by the cosine formula: Wherein, ω1 represents the fingerprint in the fingerprint map, and ω represents the current position fingerprint.
5. The method for identifying a location for mapping according to claim 1, characterized in that: Build a map of the current environment and collect wireless network fingerprint information, including: A current environment map is constructed and wireless network hotspot information in the environment is collected through a wireless network card, wherein the wireless network hotspot information includes a service set identifier and strength information.
6. The method for identifying a location for mapping according to claim 1, characterized in that: The preset resolutions include: The preset resolution is 1 meter × 1 meter.
7. The method for identifying a location for mapping according to claim 1, characterized in that: The first preset threshold includes: The first preset threshold is θ threshold .
8. The method for identifying a location for mapping according to claim 1, characterized in that: The second preset threshold includes: The second preset threshold is 5 meters.
9. The method for identifying a location for mapping according to claim 1, characterized in that: When the minimum angle is less than a first preset threshold, closing the map includes: When the minimum angle is smaller than a first preset threshold, the current location fingerprint is pulled together with the fingerprint in the fingerprint map to close the map.
10. The method for identifying a location for mapping according to claim 2, characterized in that: Use current sensor data to perform data registration verification, including: Use the current sensor data to verify that the current location environment is the same as the starting point environment.
11. A mapping location recognition device, characterized in that: include: A collection unit, used to construct a current environment map and collect wireless network fingerprint information; A construction unit, used to construct a fingerprint map according to a preset resolution; A calculation unit, used to calculate the angle between the current position fingerprint and each fingerprint in the fingerprint map, and determine the position corresponding to the minimum angle as the position of the current fingerprint in the fingerprint map; A closing unit is used to close the map when the minimum angle is less than a first preset threshold.
12. The mapping location recognition device according to claim 11, characterized in that: Also includes: The verification unit is used to perform data registration verification using the current sensor data.
13. The mapping location recognition device according to claim 11, characterized in that: Also includes: The elimination unit is used to eliminate fingerprints in the fingerprint map whose distance from the current position is less than a second preset threshold.
14. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 10 are implemented.
15. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.