Spatial region division method and device, electronic equipment and storage medium

Abstract

The invention provides a space region division method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a region track corresponding to a space region based on an inertial navigation technology; acquiring the signal intensity of wireless access point signals in the spatial area in real time in the process of acquiring the area track; based on the signal intensity, obtaining segmentation points of the regional trajectory; and dividing the spatial region based on the segmentation points and the region trajectory. On the premise of not increasing extra cost generated by sensor hardware and the like, the indoor space area can be accurately divided, so that a foundation is laid for accurately generating an indoor map.

Description

Technical Field

[0001] The present invention relates to the field of area perception technology, and in particular to a method, device, electronic device and storage medium for dividing a space area. Background Art

[0002] With the rapid development of science and technology and the rapid popularization of smart phones, indoor and outdoor navigation and high-precision positioning have gradually become important services that are indispensable in people's lives.

[0003] However, compared with more mature outdoor positioning and navigation technologies, such as GPS technology or Beidou system, indoor positioning and navigation technologies still have inaccuracies. In order to improve the accuracy of indoor positioning, it is necessary to accurately generate indoor maps. It is known from related technologies that before generating indoor maps, it is of great significance to accurately divide indoor space areas. Summary of the invention

[0004] The present invention provides a spatial area division method, device, electronic device and storage medium, which can accurately divide indoor spatial areas while reducing costs, thereby laying a foundation for accurately generating indoor maps.

[0005] The present invention provides a method for dividing a space region, the method comprising: obtaining a region trajectory corresponding to the space region based on an inertial navigation technology; collecting in real time the signal strength of a wireless access point signal in the space region during the process of obtaining the region trajectory; obtaining a division point of the region trajectory based on the signal strength; and dividing the space region based on the division point and the region trajectory.

[0006] According to a spatial area division method provided by the present invention, the area trajectory includes multiple step nodes, and a first collection moment of the step node and a second collection moment of the signal strength have a time sequence correspondence relationship; the division point of the area trajectory is obtained based on the signal strength, specifically including: according to the collection timing of the second collection moment, calling a specified sliding window to sequentially filter the signal strength of the wireless access point signal to obtain a signal strength jump moment, wherein the signal strength jump moment is the second collection moment when the signal strength suddenly changes; based on the signal strength jump moment and the time sequence correspondence, determining a jump step node corresponding to the signal strength jump moment on the area trajectory; based on the jump step node, obtaining the division point of the area trajectory.

[0007] According to a spatial area division method provided by the present invention, the signal strength of the wireless access point signal is sequentially screened by calling a designated sliding window according to the collection timing of the second collection moment to obtain a signal strength jump moment, specifically comprising: based on the signal strength, according to the collection timing of the second collection moment, sequentially calculating the signal strength variance of multiple signal strengths in the designated sliding window; when the signal strength variance is greater than or equal to a variance threshold, obtaining the signal strength jump moment based on multiple second collection moments corresponding to multiple signal strengths in the designated sliding window.

[0008] According to a spatial area division method provided by the present invention, when the wireless access point signal is a plurality of wireless access point signals, the signal strength variance of the plurality of signal strengths in the designated sliding window is calculated in sequence based on the signal strength according to the collection timing of the second collection timing, specifically including: based on the signal strength of each wireless access point signal, in sequence according to the collection timing of the second collection timing, the signal strength variance of the plurality of signal strengths of each wireless access point signal in the designated sliding window is calculated in sequence; the signal strength jump time is obtained based on the plurality of second collection times corresponding to the plurality of signal strengths in the designated sliding window, specifically including: when there is a preset number of wireless access point signals whose signal strength variance is greater than or equal to a variance threshold, the signal strength jump time is obtained based on the plurality of second collection times corresponding to the plurality of signal strengths of any wireless access point signal in the designated sliding window.

[0009] According to a spatial area division method provided by the present invention, the signal strength jump moment is obtained based on multiple second acquisition moments corresponding to the multiple signal strengths in the specified sliding window, specifically including: determining the arrangement order of the multiple signal strengths in the specified sliding window according to the acquisition timing of the second acquisition moment; obtaining the second acquisition moment of the signal strength located in the middle position of the arrangement order; and determining the signal strength jump moment based on the second acquisition moment of the signal strength located in the middle position of the arrangement order.

[0010] According to a spatial region division method provided by the present invention, the obtaining of the segmentation point of the regional trajectory based on the jump step node specifically includes: respectively obtaining a first signal strength jump moment corresponding to a first jump step node and a second signal strength jump moment corresponding to a second jump step node, wherein the first jump step node and the second jump step node are adjacent jump step nodes; determining a signal strength corresponding to a first re-judgment moment, wherein the first re-judgment moment is the second acquisition moment located in the same specified sliding window as the first signal strength jump moment; determining a signal strength corresponding to a second re-judgment moment, wherein the second re-judgment moment is the second acquisition moment located in the same specified sliding window as the second signal strength jump moment; determining a first signal strength average value within the specified sliding window based on the signal strength corresponding to the first re-judgment moment and the signal strength corresponding to the first signal strength jump moment; determining a second signal strength average value within the specified sliding window based on the signal strength corresponding to the second re-judgment moment and the signal strength corresponding to the second signal strength jump moment; and obtaining the segmentation point of the regional trajectory based on the first signal strength average value and the second signal strength average value.

[0011] According to a spatial area division method provided by the present invention, when the second signal strength jump moment is later than the first signal strength jump moment, the dividing point of the regional trajectory is obtained based on the first signal strength average value and the second signal strength average value, specifically including: obtaining the average value difference based on the first signal strength average value and the second signal strength average value; when the average value difference is less than the difference threshold, using the second jump step node corresponding to the second signal strength average value as the dividing point of the regional trajectory; when the average value difference is greater than or equal to the difference threshold, using the first jump step node corresponding to the first signal strength average value and the second jump step node corresponding to the second signal strength average value as the dividing points of the regional trajectory.

[0012] According to a spatial region division method provided by the present invention, the spatial region is divided based on the dividing point and the region trajectory, specifically comprising: obtaining position information of the dividing point in the region trajectory; determining the spatial dividing point in the spatial region based on the position information and the correspondence between the region trajectory and the spatial region; and dividing the spatial region based on the spatial dividing point.

[0013] The present invention also provides a spatial region division device, which includes: an acquisition module, which is used to acquire a regional trajectory corresponding to the spatial region based on inertial navigation technology; a collection module, which is used to collect in real time the signal strength of the wireless access point signal in the spatial region during the process of acquiring the regional trajectory; a processing module, which is used to obtain the cutting point of the regional trajectory based on the signal strength; and a division module, which is used to divide the spatial region based on the cutting point and the regional trajectory.

[0014] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a spatial area division method as described above is implemented.

[0015] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the spatial region division method as described in any one of the above is implemented.

[0016] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the spatial region division method as described in any one of the above is implemented.

[0017] The spatial region division method, device, electronic device and storage medium provided by the present invention obtain the regional trajectory corresponding to the spatial region based on inertial navigation technology, and then collect the signal strength of the wireless access point signal in the spatial region in real time during the process of obtaining the regional trajectory; the segmentation point of the regional trajectory is obtained by using the signal strength, and the spatial region is divided based on the segmentation point and the regional trajectory. It is achieved that the indoor spatial region can be accurately divided without increasing the sensor hardware and generating additional costs, thereby laying the foundation for accurately generating indoor maps. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the flow of the spatial region division method provided by the present invention;

[0020] Figure 2 It is a schematic diagram of a process of obtaining the segmentation points of the regional trajectory based on the signal strength provided by the present invention;

[0021] Figure 3It is a schematic diagram of the distribution of AP signals in different rooms provided by the present invention;

[0022] Figure 4 It is a schematic diagram of a process of obtaining the segmentation points of the regional trajectory based on the jump step number node provided by the present invention;

[0023] Figure 5 It is a schematic diagram of a process of dividing a spatial region based on a segmentation point and a region trajectory provided by the present invention;

[0024] Figure 6 It is a schematic diagram of an application scenario of the spatial region division method provided by the present invention;

[0025] Figure 7 It is a structural schematic diagram of the space region division device provided by the present invention;

[0026] Figure 8 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] The spatial area division method provided by the present invention, without adding hardware such as sensors, utilizes the existing inertial navigation modules (such as accelerometers, gyroscopes, etc.) in home appliances to divide the indoor spatial areas, so as to obtain the house structure, relative position and room size information of the indoor spatial areas, thereby laying the foundation for generating a more accurate indoor map.

[0029] Figure 1 It is a flow chart of the spatial region division method provided by the present invention.

[0030] The following will be combined Figure 1 The process of the spatial region division method is explained.

[0031] In an exemplary embodiment of the present invention, Figure 1 It can be seen that the spatial region division method may include steps 110 to 140, and each step will be introduced below.

[0032] In step 110, based on the inertial navigation technology, a regional trajectory corresponding to the spatial region is obtained.

[0033] In one embodiment, the regional trajectory corresponding to the spatial region can be obtained based on inertial navigation technology, such as an inertial sensor built into a smart mobile terminal. The regional trajectory is a trajectory formed from the starting end of the spatial region to the ending end of the spatial region. During the application process, the user can start from the initial position of the spatial region and obtain the regional trajectory corresponding to the spatial region in real time while walking indoors.

[0034] In another embodiment, dynamic sensors such as accelerometers and gyroscopes can detect steps, estimate step lengths, and solve headings using the PDR algorithm to locate a person's walking trajectory without the need for additional hardware, thereby obtaining a regional trajectory.

[0035] In step 120, the signal strength of the wireless access point signal in the spatial area is collected in real time during the process of acquiring the regional trajectory.

[0036] Continuing to use the above embodiment as an example, in the process of obtaining the regional trajectory corresponding to the spatial area in real time during indoor walking or collecting the built-in inertial sensor data of the mobile terminal in real time, a listener is registered at the same time to scan and listen to the WiFi signal in the environment to obtain the WLAN scan list. In other words, the signal strength of the wireless access point signal (also known as AP signal) in the spatial area during the process of obtaining the regional trajectory is collected in real time. In another example, the type of wireless access point signal can be one or more.

[0037] In step 130 , the segmentation points of the regional trajectory are obtained based on the signal strength.

[0038] In step 140 , the spatial region is divided based on the segmentation points and the region trajectory.

[0039] In another embodiment, the division point of the regional trajectory can be obtained according to the signal strength of the AP signal. In the application process, the available AP signals can be screened out based on the signal strength of the AP signal and the signal can be divided. The series of division points obtained by the division are used to distinguish different areas. Among them, the available AP signal is an AP signal with a signal strength within a preset time. Furthermore, the division of the spatial area can be realized based on the division point and the regional trajectory.

[0040] In this embodiment, the generation of a spatial perception map (corresponding to the spatial area division) based on the fusion of WiFi positioning and inertial navigation is realized. WiFi positioning is achieved by using the signal strength of the existing AP signal of the indoor building to reduce the system deployment cost; inertial navigation uses inertial sensors (such as accelerometers and gyroscopes) to measure the changes in the movement of objects to achieve positioning. The combination of these two methods can effectively improve the accuracy of indoor space area division, and then improve the accuracy of indoor map generation, providing users with better personalized services, and also providing technical support and guarantee for smart homes and security monitoring.

[0041] The spatial area division method provided by the present invention obtains the regional trajectory corresponding to the spatial area based on inertial navigation technology, and then collects the signal strength of the wireless access point signal in the spatial area in real time during the process of obtaining the regional trajectory; the segmentation point of the regional trajectory is obtained by using the signal strength, and the spatial area is divided based on the segmentation point and the regional trajectory. It is achieved that the indoor spatial area can be accurately divided without increasing the sensor hardware and generating additional costs, thereby laying the foundation for accurately generating indoor maps.

[0042] Figure 2 It is a schematic diagram of a process of obtaining the segmentation points of the regional trajectory based on the signal strength provided by the present invention.

[0043] In order to further introduce the spatial region division method provided by the present invention, Figure 2 Provide explanation.

[0044] In an exemplary embodiment of the present invention, the regional trajectory may include multiple step nodes, and the first acquisition moment of the step node and the second acquisition moment of the signal strength have a time-series correspondence. In other words, in the process of forming the regional trajectory based on the step node in real time, the signal strength of the AP signal is also collected in real time. It can be understood that the first acquisition moment and the second acquisition moment can be the same moment, but these two moments can be used to respectively represent the moment of forming the step node and the moment of collecting the signal strength of the AP signal.

[0045] Combination Figure 2 It can be seen that obtaining the segmentation points of the regional trajectory based on the signal strength may include steps 210 to 230, and each step will be introduced below.

[0046] In step 210, according to the collection sequence of the second collection moment, the designated sliding window is called to sequentially screen the signal strengths of the wireless access point signals to obtain the signal strength jump moment.

[0047] The signal strength jump moment is the second acquisition moment when the signal strength suddenly changes.

[0048] Figure 3 It is a schematic diagram of the distribution of AP signals in different rooms provided by the present invention.

[0049] The signal strength (RSSI also known as RSS) of the AP signal in different rooms can be used as a basis for judging different areas of space. Figure 3 It can be seen that AP1 and AP2 both jump from room 1 to room 2 and reach stability within a certain period of time in the same room. Therefore, in the data collection stage of the invention, not only the data of the mobile phone inertial sensor when the person walks is collected in real time, but also the strength of the AP signal during the person's walking process is monitored. Figure 3 In the figure, RSS represents signal strength; RoomI represents room one, RoomII represents room two; Time represents time.

[0050] During the application process, the signal can be divided into multiple different segments based on the obvious jumps in the signal strength of some APs when entering and exiting the room. When the APs are divided into regions individually, some room information may be lost. For example, AP signals are arranged in three relatively closed rooms. Analyzing any AP signal individually can only draw conclusions about one room, because the AP signal is only sensitive to entering and exiting the room where it is located, and the AP signal cannot be received in the other two rooms. In one example, the statistical characteristics of multiple AP signals can be used to segment the screened AP signals at the same time within a certain period of time. As long as one AP signal has an obvious jump, all AP signals are segmented once. After multiple segmentations, it is determined whether the signal means of two adjacent areas are similar, and similar areas are merged and the segmentation points are recorded. Further, the inertial navigation data is combined to divide different rooms.

[0051] In one embodiment, signal segmentation, in other words, determining the signal strength jump time of the AP signal can be achieved by specifying a sliding window. In one example, the AP signal can be screened in sequence with a sliding window of a window size of 3-5 signal strengths corresponding to the second acquisition time, so as to obtain the signal strength jump time when the signal strength suddenly changes.

[0052] In step 220, based on the corresponding relationship between the signal strength jump moment and the timing, a jump step number node corresponding to the signal strength jump moment is determined on the regional trajectory.

[0053] In step 230, the segmentation points of the regional trajectory are obtained based on the jump step number nodes.

[0054] In one embodiment, since there is a time sequence correspondence between the first acquisition moment and the second acquisition moment, a jump step number node corresponding to the signal strength jump moment can be determined on the regional trajectory based on the signal strength jump moment and the time sequence correspondence. Further, based on the jump step number node, the segmentation point of the regional trajectory is obtained.

[0055] In an exemplary embodiment of the present invention, the above-mentioned embodiment is continued as an example for explanation. According to the collection timing of the second collection moment, the signal strength of the wireless access point signal is sequentially screened by calling a designated sliding window to obtain the signal strength jump moment, which can be implemented in the following manner:

[0056] Based on the signal strength, according to the collection timing of the second collection moment, the signal strength variance of multiple signal strengths in the specified sliding window is calculated in sequence;

[0057] When the signal strength variance is greater than or equal to the variance threshold, the signal strength jump time is obtained based on multiple second acquisition time points corresponding to multiple signal strengths in the designated sliding window.

[0058] In one embodiment, the designated sliding window is screened for signal strength in sequence according to the acquisition sequence of the second acquisition moment. In one example, the window size of the designated sliding window may be 3. Then, if the signal strength in the designated sliding window of the current round may be the signal strength corresponding to the time slots 1, 2, and 3 of the second acquisition moment, then the signal strength in the designated sliding window of the next round may be the signal strength corresponding to the time slots 2, 3, and 4 of the second acquisition moment.

[0059] During the application process, the signal strength variance of multiple signal strengths in the specified sliding window can be calculated. When the signal strength variance is greater than or equal to the variance threshold, it means that there is a jump in the multiple signal strengths in the specified sliding window, then the signal strength jump moment can be obtained based on the multiple second acquisition moments corresponding to the multiple signal strengths in the specified sliding window. Through this embodiment, the signal strength jump moment can be accurately, quickly and at low cost determined, thereby laying the foundation for accurately dividing the spatial area.

[0060] In another exemplary embodiment of the present invention, the signal strength jump moment is obtained based on multiple second acquisition moments corresponding to multiple signal strengths in a specified sliding window, which can be implemented in the following manner:

[0061] Determining an arrangement order of multiple signal strengths within a specified sliding window according to a collection timing at a second collection moment;

[0062] Acquire a second acquisition time of the signal strength at the middle position of the arrangement order;

[0063] The signal strength jump time is determined based on the second acquisition time of the signal strength at the middle position of the arrangement sequence.

[0064] In one embodiment, multiple signal strengths in a specified sliding window may be sorted according to the collection timing of their respective second collection moments to obtain a sorting order. Further, the second collection moment of the signal strength located in the middle of the arrangement order may be obtained, and the second collection moment may be used as the signal strength jump moment. In this embodiment, by selecting the second collection moment corresponding to the signal strength located in the middle of the specified sliding window as the signal strength jump moment, inaccurate situations may be effectively eliminated, thereby improving the accuracy of the signal strength jump moment.

[0065] In another exemplary embodiment of the present invention, the wireless access point signal may also be a plurality of wireless access point signals. The above-mentioned embodiment is continued as an example for explanation. Based on the signal strength, according to the acquisition timing of the second acquisition moment, the signal strength variance of the plurality of signal strengths in the specified sliding window is calculated in sequence, which may be implemented in the following manner:

[0066] Based on the signal strength of each wireless access point signal, respectively, and in accordance with the collection timing of the second collection moment, sequentially calculate the signal strength variance of multiple signal strengths of each wireless access point signal within the specified sliding window;

[0067] Further, based on multiple second acquisition moments corresponding to multiple signal strengths in a specified sliding window, the signal strength jump moment is obtained, which can be implemented in the following manner:

[0068] When there are a preset number of wireless access point signals whose signal strength variance is greater than or equal to the variance threshold, a signal strength jump time is obtained based on multiple second collection time instants corresponding to multiple signal strengths of any wireless access point signal in a specified sliding window.

[0069] In one embodiment, when there are multiple types of AP signals, the signal strength of each AP signal can be collected simultaneously. In the process of calculating the signal strength variance of multiple signal strengths of wireless access point signals within a specified sliding window, the signal strength variance of multiple signal strengths of each type of wireless access point signal can be obtained respectively. If the number of types of AP signals whose signal strength variance is greater than or equal to the variance threshold is greater than a preset number, the signal strength jump moment can be obtained based on multiple second collection moments corresponding to multiple signal strengths of any AP signal within the specified sliding window. In this embodiment, there are multiple types of AP signals, so that the accuracy of determining the signal strength jump moment can be improved.

[0070] In this embodiment, the signal strength jump time is obtained according to multiple second acquisition moments corresponding to multiple signal strengths of any AP signal in the specified sliding window, and the signal strength jump time can also be determined according to the second acquisition moment of the signal strength located in the middle of the arrangement order. The sorting order is the arrangement order of multiple signal strengths in the specified sliding window determined according to the acquisition timing of the second acquisition moment.

[0071] Figure 4 It is a flow chart of obtaining the segmentation points of the regional trajectory based on the jump step number nodes provided by the present invention.

[0072] The following will be combined Figure 4 The process of obtaining the segmentation points of the regional trajectory based on the jump step number nodes is explained.

[0073] In an exemplary embodiment of the present invention, Figure 4 It can be seen that obtaining the segmentation points of the regional trajectory based on the jump step number nodes may include steps 410 to 460, and each step will be introduced below.

[0074] In step 410, a first signal strength transition moment corresponding to a first transition step number node and a second signal strength transition moment corresponding to a second transition step number node are respectively acquired.

[0075] In the application process, the segmentation of AP signals can obtain a series of jump step nodes. However, not all jump step nodes can be used to divide different rooms, because when people enter and leave the room, the AP signal does not jump immediately and then remain stable for a long time, but fluctuates before and after the jump. This will result in multiple continuous jump step nodes within a certain range of entering and leaving the room, so continuous jump step nodes need to be screened.

[0076] In one embodiment, a first signal strength jump moment corresponding to a first jump step number node and a second signal strength jump moment corresponding to a second jump step number node may be obtained. The first jump step number node and the second jump step number node are adjacent jump step number nodes. Further, it is necessary to determine again whether the first jump step number node and the second jump step number node are valid step number jump nodes, in other words, to determine again whether the first jump step number node and the second jump step number node are jump step nodes that effectively determine the segmentation point of the regional trajectory.

[0077] In step 420, the signal strength corresponding to the first re-determination time is determined.

[0078] In step 430, the signal strength corresponding to the second re-determination time is determined.

[0079] The first re-determination time is the second collection time located in the same designated sliding window as the first signal strength jump time. The second re-determination time is the second collection time located in the same designated sliding window as the second signal strength jump time.

[0080] In one embodiment, multiple signal strengths corresponding to the first re-determination moment are determined, and multiple signal strengths corresponding to the second re-determination moment are determined. In one example, if the first signal strength jump moment is the second acquisition moment corresponding to the third time slot, then the second acquisition moment corresponding to the second time slot and the second acquisition moment corresponding to the fourth time slot in the same designated sliding window can be used as the first re-determination moment.

[0081] In another example, if the second signal strength jump moment is the second collection moment corresponding to the 6th time slot, then the second collection moment corresponding to the 5th time slot and the second collection moment corresponding to the 7th time slot belonging to the same designated sliding window can be used as the second re-judgment moment.

[0082] In step 440, based on the signal strength corresponding to the first re-determination moment and the signal strength corresponding to the first signal strength jump moment, the first signal strength average value within the specified sliding window is determined.

[0083] In one embodiment, the signal strength corresponding to the first re-judgment moment and the signal strength corresponding to the first signal strength jump moment can be obtained respectively. Continuing to use the above-mentioned embodiment as an example, the signal strength corresponding to the second acquisition moment corresponding to the second time slot, the signal strength corresponding to the second acquisition moment corresponding to the fourth time slot, and the signal strength corresponding to the second acquisition moment corresponding to the third time slot can be obtained respectively. Based on the above signal strengths, the first signal strength average value within the specified sliding window is obtained.

[0084] In step 450, based on the signal strength corresponding to the second re-determination moment and the signal strength corresponding to the second signal strength jump moment, the second signal strength average value within the specified sliding window is determined.

[0085] In one embodiment, the signal strength corresponding to the second re-determination moment and the signal strength corresponding to the second signal strength jump moment can be obtained respectively. Continuing to use the above-mentioned embodiment as an example, the signal strength corresponding to the second acquisition moment corresponding to the 5th time slot, the signal strength corresponding to the second acquisition moment corresponding to the 7th time slot, and the signal strength corresponding to the second acquisition moment corresponding to the 6th time slot can be obtained respectively. Based on the above signal strengths, the second signal strength average value within the specified sliding window is obtained.

[0086] In step 460 , the segmentation points of the regional track are obtained based on the first signal strength average value and the second signal strength average value.

[0087] In one embodiment, the division point of the regional trajectory can be obtained according to the first signal strength average value and the second signal strength average value. Through this embodiment, the adjacent step number jump nodes can be effectively re-judged, in other words, it is judged again whether the first jump step number node and the second jump step number node are jump step number nodes that effectively determine the division point of the regional trajectory.

[0088] Figure 6 It is a schematic diagram of an application scenario of the spatial area division method provided by the present invention.

[0089] The following will be combined Figure 6 The process of the spatial region division method is explained.

[0090] Combination Figure 6 It can be seen that Figure 6 0 to 62 in the figure indicate that the regional trajectory includes multiple step nodes. Among them, step nodes of different colors can represent different areas in the spatial region. For example, 0-3 represents an independent area; 4-21 represents an independent area; 22-33 represents an independent area; 34-55 represents an independent area; 56-62 represents an independent area. Among them, the step nodes corresponding to 3 and 4 can represent jump step nodes; 21 and 22 also represent jump nodes that divide different areas; 33 and 34 represent jump nodes that divide different areas; 55 and 56 represent jump nodes that divide different areas. Among them, Figure 6 The trace in represents the step number node.

[0091] Figure 5 It is a schematic diagram of a process for dividing a spatial region based on a segmentation point and a region trajectory provided by the present invention.

[0092] The following will be combined Figure 5 The process of dividing the spatial region based on the segmentation points and the region trajectory is explained.

[0093] In another exemplary embodiment of the present invention, Figure 5 It can be seen that dividing the spatial region based on the segmentation points and the region trajectory may include steps 510 to 530, and each step will be introduced below.

[0094] In step 510, the position information of the segmentation point in the region track is obtained.

[0095] In step 520, based on the position information and the correspondence between the region trajectory and the spatial region, a spatial segmentation point in the spatial region is determined.

[0096] In step 530, the spatial region is divided based on the spatial dividing points.

[0097] In one embodiment, the position information of the dividing point in the regional trajectory can be obtained. Due to the corresponding relationship between the regional trajectory and the spatial area, the spatial dividing point in the spatial area can be obtained based on the position information of the dividing point in the regional trajectory. It can be understood that the spatial dividing point is the dividing point that divides the spatial area. Further, based on the spatial dividing point, the division of the spatial area is realized. Through this embodiment, it is possible to accurately divide the indoor spatial area without increasing the sensor hardware and incurring additional costs, thereby laying the foundation for accurately generating indoor maps.

[0098] According to the above description, the spatial area division method provided by the present invention obtains the regional trajectory corresponding to the spatial area based on inertial navigation technology, and then collects the signal strength of the wireless access point signal in the spatial area in real time during the process of obtaining the regional trajectory; the division point of the regional trajectory is obtained by using the signal strength, and the spatial area is divided based on the division point and the regional trajectory. It is achieved that the indoor space area can be accurately divided without increasing the sensor hardware and generating additional costs, thereby laying the foundation for accurately generating indoor maps.

[0099] Based on the same concept, the present invention also provides a spatial region division device.

[0100] The spatial region division device provided by the present invention is described below. The spatial region division device described below and the spatial region division method described above can be referred to each other.

[0101] Figure 7 It is a structural schematic diagram of the space region division device provided by the present invention.

[0102] In an exemplary embodiment of the present invention, Figure 7 It can be seen that the spatial region division device may include an acquisition module 710, a collection module 720, a processing module 730 and a division module 740, and each module will be introduced below.

[0103] The acquisition module 710 may be configured to acquire a regional trajectory corresponding to the spatial region based on an inertial navigation technology;

[0104] The acquisition module 720 may be configured to acquire signal strengths of wireless access point signals in the spatial region in real time during the process of acquiring the regional trajectory;

[0105] The processing module 730 may be configured to obtain a segmentation point of the area trajectory based on the signal strength;

[0106] The division module 740 may be configured to divide the spatial region based on the segmentation points and the region trajectory.

[0107] In an exemplary embodiment of the present invention, the regional trajectory may include multiple step nodes, and a first acquisition time of the step node and a second acquisition time of the signal strength have a time sequence correspondence relationship; the processing module 730 may obtain the segmentation point of the regional trajectory based on the signal strength in the following manner:

[0108] According to the collection sequence of the second collection moment, calling the designated sliding window to sequentially screen the signal strength of the wireless access point signal to obtain the signal strength jump moment, wherein the signal strength jump moment is the second collection moment when the signal strength suddenly changes;

[0109] Based on the corresponding relationship between the signal strength jump moment and the timing, a jump step number node corresponding to the signal strength jump moment is determined on the regional trajectory;

[0110] Based on the jump step number nodes, the segmentation points of the regional trajectory are obtained.

[0111] In an exemplary embodiment of the present invention, the processing module 730 may use the following method to implement the call of the designated sliding window to sequentially filter the signal strength of the wireless access point signal according to the collection timing of the second collection time to obtain the signal strength jump time:

[0112] Based on the signal strength, according to the collection timing of the second collection moment, the signal strength variance of multiple signal strengths in the specified sliding window is calculated in sequence;

[0113] When the signal strength variance is greater than or equal to the variance threshold, the signal strength jump time is obtained based on multiple second acquisition time points corresponding to multiple signal strengths in the designated sliding window.

[0114] In an exemplary embodiment of the present invention, when the wireless access point signal is a plurality of wireless access point signals, the processing module 730 may use the following method to sequentially calculate the signal strength variance of the plurality of signal strengths within the specified sliding window based on the signal strength according to the acquisition timing of the second acquisition moment:

[0115] Based on the signal strength of each wireless access point signal, respectively, and in accordance with the collection timing of the second collection moment, sequentially calculate the signal strength variance of multiple signal strengths of each wireless access point signal within the specified sliding window;

[0116] The processing module 730 may obtain the signal strength transition time based on multiple second acquisition time corresponding to multiple signal strengths in the specified sliding window in the following manner:

[0117] In a case where a signal strength variance of multiple signal strengths of a preset number of wireless access point signals is greater than or equal to a variance threshold, the signal strength jump time is obtained based on multiple second collection time instants corresponding to multiple signal strengths of any wireless access point signal in the designated sliding window.

[0118] In an exemplary embodiment of the present invention, the processing module 730 may obtain the signal strength jump time based on multiple second acquisition time corresponding to multiple signal strengths in the specified sliding window in the following manner:

[0119] Determining an arrangement order of the plurality of signal strengths within the designated sliding window according to a collection timing of the second collection moment;

[0120] Acquire the second acquisition time of the signal strength located in the middle position of the arrangement order;

[0121] The signal strength jump time is determined based on the second acquisition time of the signal strength located in the middle position of the arrangement order.

[0122] In an exemplary embodiment of the present invention, the processing module 730 may obtain the segmentation points of the regional trajectory based on the jump step number nodes in the following manner:

[0123] Respectively obtain a first signal strength jump time corresponding to a first jump step number node, and a second signal strength jump time corresponding to a second jump step number node, wherein the first jump step number node and the second jump step number node are adjacent jump step number nodes;

[0124] Determine a signal strength corresponding to a first re-determination time, wherein the first re-determination time is the second acquisition time that is located in the same specified sliding window as the first signal strength jump time;

[0125] Determine a signal strength corresponding to a second re-determination moment, wherein the second re-determination moment is the second acquisition moment that is located in the same designated sliding window as the second signal strength jump moment;

[0126] Determine a first signal strength average value within the designated sliding window based on the signal strength corresponding to the first re-determination moment and the signal strength corresponding to the first signal strength jump moment;

[0127] Determine a second signal strength average value within the designated sliding window based on the signal strength corresponding to the second re-determination moment and the signal strength corresponding to the second signal strength jump moment;

[0128] Based on the first signal strength average value and the second signal strength average value, a division point of the regional trajectory is obtained.

[0129] In an exemplary embodiment of the present invention, when the second signal strength jump time is later than the first signal strength jump time, the processing module 730 may obtain the segmentation point of the regional trajectory based on the first signal strength average value and the second signal strength average value in the following manner:

[0130] Obtaining an average value difference based on the first signal strength average value and the second signal strength average value;

[0131] When the average value difference is less than the difference threshold, the second jump step number node corresponding to the second signal strength average value is used as the segmentation point of the regional trajectory;

[0132] When the average value difference is greater than or equal to the difference threshold, the first jump step node corresponding to the first signal strength average value and the second jump step node corresponding to the second signal strength average value are respectively used as the segmentation points of the regional trajectory.

[0133] In an exemplary embodiment of the present invention, the division module 740 may divide the spatial region based on the segmentation point and the region trajectory in the following manner:

[0134] Obtaining position information of the segmentation point in the trajectory of the region;

[0135] Determine a spatial segmentation point in the spatial region based on the position information and a correspondence between the region trajectory and the spatial region;

[0136] The spatial region is divided based on the spatial dividing point.

[0137] Figure 8 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 8As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the spatial region division method, the method comprising: obtaining a regional trajectory corresponding to the spatial region based on inertial navigation technology; collecting the signal strength of the wireless access point signal in the spatial region in real time during the process of obtaining the regional trajectory; obtaining the segmentation point of the regional trajectory based on the signal strength; and dividing the spatial region based on the segmentation point and the regional trajectory.

[0138] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0139] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the spatial area division method provided by the above methods, and the method includes: based on inertial navigation technology, obtaining a regional trajectory corresponding to the spatial area; real-time collection of the signal strength of the wireless access point signal in the spatial area during the process of obtaining the regional trajectory; based on the signal strength, obtaining the division point of the regional trajectory; based on the division point and the regional trajectory, dividing the spatial area.

[0140] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the spatial area division method provided by the above-mentioned methods, the method comprising: based on inertial navigation technology, obtaining a regional trajectory corresponding to the spatial area; real-time collection of the signal strength of the wireless access point signal in the spatial area during the process of obtaining the regional trajectory; based on the signal strength, obtaining the division point of the regional trajectory; and dividing the spatial area based on the division point and the regional trajectory.

[0141] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0142] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0143] It is further understood that, although the operations are described in a specific order in the accompanying drawings in the embodiments of the present invention, it should not be understood as requiring the operations to be performed in the specific order or serial order shown, or requiring the execution of all the operations shown to obtain the desired results. In certain environments, multitasking and parallel processing may be advantageous.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for dividing a space region, characterized in that: The method comprises: Based on inertial navigation technology, obtaining a regional trajectory corresponding to the spatial region; Real-time collection of signal strengths of wireless access point signals in the spatial area during the process of obtaining the regional trajectory; Based on the signal strength, obtaining a segmentation point of the regional trajectory; The spatial region is divided based on the segmentation points and the region trajectory.

2. The method for dividing a space region according to claim 1, characterized in that: The regional trajectory includes a plurality of step number nodes, and a first acquisition time of the step number node and a second acquisition time of the signal strength have a time sequence correspondence relationship; The obtaining the segmentation point of the regional track based on the signal strength specifically includes: According to the collection timing of the second collection time, calling a designated sliding window to sequentially filter the signal strength of the wireless access point signal to obtain a signal strength jump time, wherein the signal strength jump time is the second collection time at which the signal strength suddenly changes; Based on the signal strength jump moment and the timing correspondence, determining a jump step number node corresponding to the signal strength jump moment on the regional trajectory; Based on the jump step number nodes, the segmentation points of the regional trajectory are obtained.

3. The method for dividing a space region according to claim 2, characterized in that: The calling a designated sliding window to sequentially filter the signal strengths of the wireless access point signals according to the collection timing of the second collection time to obtain the signal strength jump time specifically includes: Based on the signal strength, according to the collection timing of the second collection moment, sequentially calculating the signal strength variance of a plurality of the signal strengths within the designated sliding window; When the signal strength variance is greater than or equal to a variance threshold, the signal strength jump time is obtained based on a plurality of second acquisition time instants corresponding to a plurality of the signal strengths within the designated sliding window.

4. The method for dividing a space region according to claim 3, characterized in that: In the case where the wireless access point signal is a plurality of wireless access point signals, the calculating, based on the signal strength and in accordance with the collection timing of the second collection moment, signal strength variances of the plurality of signal strengths within the designated sliding window in sequence specifically includes: Based on the signal strength of each wireless access point signal, respectively, and in accordance with the collection timing of the second collection moment, sequentially calculate the signal strength variance of a plurality of signal strengths of each wireless access point signal within the designated sliding window; The obtaining the signal strength jump time based on the plurality of second acquisition time points corresponding to the plurality of signal strengths in the specified sliding window specifically includes: In a case where a signal strength variance of multiple signal strengths of a preset number of wireless access point signals is greater than or equal to a variance threshold, the signal strength jump time is obtained based on multiple second collection time instants corresponding to multiple signal strengths of any wireless access point signal in the designated sliding window.

5. The method for dividing a space region according to claim 3 or 4, characterized in that: The obtaining the signal strength jump time based on the plurality of second acquisition time points corresponding to the plurality of signal strengths in the specified sliding window specifically includes: Determining an arrangement order of the plurality of signal strengths within the designated sliding window according to a collection timing of the second collection moment; Acquire the second acquisition time of the signal strength located in the middle position of the arrangement order; The signal strength jump time is determined based on the second acquisition time of the signal strength located in the middle position of the arrangement order.

6. The method for dividing a space region according to claim 2, characterized in that: The step of obtaining the segmentation point of the regional trajectory based on the jump step number node specifically includes: Respectively obtain a first signal strength jump time corresponding to a first jump step number node, and a second signal strength jump time corresponding to a second jump step number node, wherein the first jump step number node and the second jump step number node are adjacent jump step number nodes; Determine a signal strength corresponding to a first re-determination time, wherein the first re-determination time is the second acquisition time that is located in the same specified sliding window as the first signal strength jump time; Determine a signal strength corresponding to a second re-determination moment, wherein the second re-determination moment is the second acquisition moment that is located in the same designated sliding window as the second signal strength jump moment; Determine a first signal strength average value within the designated sliding window based on the signal strength corresponding to the first re-determination moment and the signal strength corresponding to the first signal strength jump moment; Determine a second signal strength average value within the designated sliding window based on the signal strength corresponding to the second re-determination moment and the signal strength corresponding to the second signal strength jump moment; Based on the first signal strength average value and the second signal strength average value, a division point of the regional trajectory is obtained.

7. The method for dividing a space region according to claim 6, characterized in that: In a case where the second signal strength jump time is later than the first signal strength jump time, obtaining the segmentation point of the regional track based on the first signal strength average value and the second signal strength average value specifically includes: Obtaining an average value difference based on the first signal strength average value and the second signal strength average value; When the average value difference is less than the difference threshold, the second jump step number node corresponding to the second signal strength average value is used as the segmentation point of the regional trajectory; When the average value difference is greater than or equal to the difference threshold, the first jump step node corresponding to the first signal strength average value and the second jump step node corresponding to the second signal strength average value are respectively used as the segmentation points of the regional trajectory.

8. The method for dividing a space region according to claim 1, characterized in that: The dividing the spatial region based on the segmentation point and the region trajectory specifically includes: Obtaining position information of the segmentation point in the trajectory of the region; Determine a spatial segmentation point in the spatial region based on the position information and a correspondence between the region trajectory and the spatial region; The spatial region is divided based on the spatial dividing point.

9. A spatial region division device, characterized in that: The device comprises: An acquisition module, used for acquiring a regional trajectory corresponding to the spatial region based on inertial navigation technology; A collection module, used for collecting in real time the signal strength of the wireless access point signal in the spatial area during the process of obtaining the regional trajectory; A processing module, configured to obtain a segmentation point of the regional trajectory based on the signal strength; A division module is used to divide the spatial area based on the segmentation point and the area trajectory.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the spatial area division method according to any one of claims 1 to 8 is implemented.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the spatial region division method according to any one of claims 1 to 8 is implemented.

12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the spatial region division method according to any one of claims 1 to 8 is implemented.

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