Bluetooth AOA base station automatic calibration method, system and device and storage medium

Abstract

The invention discloses a Bluetooth AOA base station automatic calibration method, system and device and a storage medium, the method is applied to a calibration trolley, the calibration trolley comprises a base station position sensing device and a laser radar, the method comprises the steps that the calibration trolley is placed in a calibration environment, and the calibration environment further comprises a to-be-calibrated Bluetooth AOA base station; determining first position information of the Bluetooth AOA base station in a trolley coordinate system of the calibration trolley based on a base station position sensing device; second position information of the calibration trolley in the world coordinate system is determined based on the laser radar and the SLAM technology; and determining target position information corresponding to the Bluetooth AOA base station based on the first position information and the second position information, so as to automatically calibrate the installation position of the Bluetooth AOA base station based on the target position information. According to the technical scheme, automation, intelligence and high efficiency of calibration of the Bluetooth AOA base station are achieved through the remote-controlled calibration trolley, and the step of manual calibration is omitted.

Description

Technical Field

[0001] The present invention relates to the technical field of calibration of Bluetooth AOA (Angle of Arrival) base stations, and in particular to a Bluetooth AOA base station automatic calibration method, system, equipment and storage medium. Background Art

[0002] In the current Bluetooth AOA (Angle of Arrival) base station calibration process, it usually relies on the early SLAM (Simultaneous Localization and Mapping) mapping, and the later manual mapping of the base station's location information and attitude information to complete the calibration. The calibration of the base station is generally divided into two parts: location information and attitude information. The calibration of the location information is often completed manually using tools such as laser rangefinders, tape measures, and total stations.

[0003] However, the traditional manual calibration method is inefficient, has high labor costs, and is proportional to the site area, resulting in a large amount of time and resources spent on large-scale deployment of Bluetooth AOA base stations. Especially in complex underground parking environments, although manual mapping can overcome the complexity of the environment, the calibration and debugging process takes too long. This not only increases the cost of base station installation, but also has an adverse impact on the efficiency of the intelligent transformation of the parking lot, limiting the application and promotion of AOA Bluetooth base stations in smart scenarios. Summary of the invention

[0004] The present invention provides a Bluetooth AOA base station automatic calibration method, system, device and storage medium to realize the automation, intelligence and efficiency of Bluetooth AOA base station calibration, eliminating the manual calibration step.

[0005] According to one aspect of the present invention, a Bluetooth AOA base station automatic calibration method is provided, which is applied to a calibration vehicle, wherein the calibration vehicle includes a base station position sensing device and a laser radar, and the method includes:

[0006] Placing the calibration vehicle in a calibration environment, wherein the calibration environment also includes a Bluetooth AOA base station to be calibrated;

[0007] Determine the first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle based on the base station position sensing device;

[0008] Based on the laser radar and SLAM technology, determine the second position information of the calibration vehicle in the world coordinate system;

[0009] Based on the first location information and the second location information, target location information corresponding to the Bluetooth AOA base station is determined, so as to automatically calibrate the installation location of the Bluetooth AOA base station based on the target location information.

[0010] In a possible implementation, the Bluetooth AOA base station is fixedly connected to a signal transmitting device, and the determining of the first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle based on the base station position sensing device includes:

[0011] When the base station position sensing device detects the target signal transmitted by the signal transmitting device, the calibration vehicle is controlled to stop moving, and the first position information of the Bluetooth AOA base station in the vehicle coordinate system is calculated based on the target signal.

[0012] In a possible implementation, the functions of the calibration vehicle include at least one of forward, reverse, turn, stop and warning.

[0013] In a possible implementation, the signal transmitting device is an infrared transmitting device, which transmits infrared rays, and the base station position sensing device includes a dual lens and also includes a CMOS sensor or a CCD sensor;

[0014] The determining, based on the base station position sensing device, the first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle comprises:

[0015] The infrared emitting device projects the infrared laser onto the dual lens, and uses the position and optical path geometry of the infrared laser projected onto the CMOS (Complementary Metal-Oxide-Semiconductor) sensor / CCD (Charge Coupled Device) sensor to calculate the first position information of the Bluetooth AOA base station in the coordinate system of the vehicle through an algorithm.

[0016] In a possible implementation, determining the second position information of the calibration vehicle in the world coordinate system based on the laser radar and SLAM technology includes:

[0017] The laser radar scans the surrounding environment in real time to build an environment map, and calculates the second position information of the calibration vehicle in the world coordinate system based on the SLAM technology.

[0018] In a possible implementation manner, determining the target location information corresponding to the Bluetooth AOA base station based on the first location information and the second location information includes:

[0019] According to the first position information and the second position information, the first position information is converted from the vehicle coordinate system to the world coordinate system through a data processing unit to obtain the target position information, and the target position information is automatically recorded in a base station calibration database.

[0020] In a possible implementation manner, the automatically calibrating the installation position of the Bluetooth AOA base station based on the target position information includes:

[0021] The installation location of the Bluetooth AOA base station is adjusted based on the target location information.

[0022] According to another aspect of the present invention, a Bluetooth AOA base station automatic calibration system is provided, which is applied to a calibration vehicle, wherein the calibration vehicle is placed in a calibration environment, wherein the calibration environment also includes a Bluetooth AOA base station to be calibrated, and the system includes:

[0023] A first position information determination module, used to determine the first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle through a base station position sensing device;

[0024] A second position information determination module, used to determine the second position information of the calibration vehicle in the world coordinate system based on laser radar and SLAM technology;

[0025] The Bluetooth AOA base station position calibration module is used to determine the target position information corresponding to the Bluetooth AOA base station based on the first position information and the second position information, so as to automatically calibrate the installation position of the Bluetooth AOA base station based on the target position information.

[0026] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0027] at least one processor;

[0028] and a memory communicatively connected to the at least one processor; wherein,

[0029] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the Bluetooth AOA base station automatic calibration method described in any embodiment of the present invention.

[0030] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the Bluetooth AOA base station automatic calibration method described in any embodiment of the present invention when executed.

[0031] The technical solution of the embodiment of the present invention is applied to a calibration vehicle, and the calibration vehicle includes a base station position sensing device and a laser radar. The method includes: placing the calibration vehicle in a calibration environment, wherein the calibration environment also includes a Bluetooth AOA base station to be calibrated; determining the first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle based on the base station position sensing device; determining the second position information of the calibration vehicle in the world coordinate system based on the laser radar and SLAM technology; determining the target position information corresponding to the Bluetooth AOA base station based on the first position information and the second position information, so as to automatically calibrate the installation position of the Bluetooth AOA base station based on the target position information. The technical solution of the present invention realizes the automation, intelligence and efficiency of the calibration of the Bluetooth AOA base station through a remotely controlled calibration vehicle, combined with SLAM mapping technology and sensing technology, and eliminates the step of manual calibration. It solves the problem that the traditional manual calibration method is low in efficiency, high in labor cost, and proportional to the site area, resulting in a large amount of time and resources consumed when deploying Bluetooth AOA base stations on a large scale.

[0032] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 A flowchart of a Bluetooth AOA base station automatic calibration method provided in Embodiment 1 of the present invention;

[0035] Figure 2 A schematic diagram of the structure of a Bluetooth AOA base station automated calibration vehicle provided in the second embodiment of the present invention;

[0036] Figure 3 A schematic diagram of the structure of a double lens provided in Embodiment 2 of the present invention;

[0037] Figure 4 A schematic diagram of the optical path of infrared rays provided in the second embodiment of the present invention;

[0038] Figure 5 A schematic diagram of the structure of a Bluetooth AOA base station automatic calibration system provided in Embodiment 3 of the present invention;

[0039] Figure 6 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 should fall within the scope of protection of the present invention.

[0041] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0042] Embodiment 1

[0043] Figure 1 This is a flow chart of a Bluetooth AOA base station automatic calibration method provided in the first embodiment of the present invention. This embodiment is applicable to the situation of calibrating the installation position of the Bluetooth AOA base station. The method can be performed by a calibration vehicle and a Bluetooth AOA base station automatic calibration system. The calibration system can be implemented in the form of hardware and / or software. Figure 1 As shown, the method specifically comprises the following steps:

[0044] S110: placing the calibration vehicle in a calibration environment, wherein the calibration environment also includes a Bluetooth AOA base station to be calibrated.

[0045] Among them, the calibration car refers to a car that can move in the calibration environment and perform the Bluetooth AOA base station location determination operation. The calibration car can be an unmanned vehicle with a motion structure and remote control function; the calibration environment can be the environment in which the Bluetooth AOA base station is installed and calibrated. The calibration environment can be a complex environment, including but not limited to underground parking lots.

[0046] It is understandable that a Bluetooth AOA base station to be calibrated is set in the calibration environment, and in order to calibrate the position of the Bluetooth AOA base station, a calibration vehicle with a calibration function can be placed in the calibration environment. The calibration vehicle also includes a base station position sensing device and a laser radar.

[0047] S120. Determine first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle based on the base station position sensing device.

[0048] Among them, the base station position sensing device can sense the Bluetooth AOA base station in the calibration environment and determine the position of the Bluetooth AOA base station. In this embodiment, there is no restriction on the specific type of the base station position sensing device, as long as the first position information can be determined; the first position information can refer to the position of the Bluetooth AOA base station relative to the calibration vehicle.

[0049] The base station position sensing device provided on the calibration vehicle can sense the Bluetooth AOA base station in the calibration environment, and the first position information can be obtained after sensing the Bluetooth AOA base station.

[0050] In one possible implementation, the Bluetooth AOA base station is fixedly connected to a signal transmitting device, and determining the first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle based on a position sensing device of the base station may include: when the position sensing device detects a target signal transmitted by the signal transmitting device, controlling the calibration vehicle to stop moving, and calculating the first position information of the Bluetooth AOA base station in the vehicle coordinate system based on the target signal.

[0051] Specifically, before installing the Bluetooth AOA base station, the Bluetooth AOA base station can be fixedly connected to the signal transmitting device, and for the convenience of connection, the connection can be made through a snap connection.

[0052] Among them, the signal transmitting device can transmit a signal that can be detected by the base station position sensing device. The signal transmitting device can have two functions: wireless communication function and signal transmitting function; the wireless communication function of the signal transmitting device is used to receive instructions issued by the on-site construction calibration user, call the signal transmitting function according to the instructions, and transmit the target signal according to a preset period or frequency.

[0053] Since the calibration cart includes a base station position sensing device, the base station position sensing device can move with the calibration cart in the calibration environment. For example, the calibration cart moves automatically, or a construction user at the calibration site controls the movement of the calibration cart through a remote control.

[0054] During the movement, when the base station position sensing device detects the target signal emitted by the signal transmitter, the calibration vehicle will stop moving. It is easier to calculate the position of the Bluetooth AOA base station in a stationary state, thereby improving the measurement accuracy.

[0055] Specifically, the built-in computing unit of the car can be calibrated and the detected target signal can be used to calculate the first position information of the Bluetooth AOA base station in the car coordinate system. The first position information can be represented by three-dimensional coordinates.

[0056] In a possible implementation, the functions of the calibration vehicle include at least one of forward, reverse, turn, stop and warning.

[0057] Specifically, the calibration car can perform various motions in the calibration environment, such as forward, backward, turn, stop, etc., so as to better detect the Bluetooth AOA base station in the calibration environment. At the same time, it can also provide a warning function, which can prevent collisions with other moving objects, or remind the current status through different flashing modes of the warning light, such as the current status: Bluetooth AOA base station has been detected, Bluetooth AOA base station has not been detected, calibration has been completed, etc.

[0058] In another possible implementation, the signal transmitting device is an infrared transmitting device, which transmits infrared rays, and the base station position sensing device includes a dual lens and also includes a CMOS sensor or a CCD sensor.

[0059] Correspondingly, determining the first position information of the Bluetooth AOA base station in the calibrated trolley coordinate system based on the base station position sensing device may include: the infrared emitting device shines an infrared laser on the dual lens, and using the position of the infrared laser on the CMOS sensor / CCD sensor and the geometric relationship of the optical path, and calculating the first position information of the Bluetooth AOA base station in the trolley coordinate system through an algorithm.

[0060] The infrared emitting device can emit infrared rays, usually infrared laser, and the dual lenses are used to focus and change the path of the infrared laser so that it can be projected onto the sensor more accurately. Both the CMOS sensor and the CCD sensor can convert the optical signal into an electrical signal to capture the specific position of the infrared laser on the sensor.

[0061] Specifically, the infrared transmitting device emits an infrared laser to the base station position sensing device. The laser first passes through a dual-lens system, is focused and guided to a CMOS or CCD sensor. Then, the sensor captures the position of the laser spot and records the position information in the form of an electrical signal. Furthermore, using the known lens parameters, sensor size, and the position of the laser on the sensor, the precise position of the Bluetooth AOA base station relative to the calibration vehicle is calculated using the principle of geometric optics. After calculation, the first position information of the Bluetooth AOA base station in the vehicle coordinate system is obtained, and the first position information is expressed in the form of three-dimensional coordinates (x, y, z).

[0062] S130: Based on the laser radar and SLAM technology, determine the second position information of the calibration vehicle in the world coordinate system.

[0063] Specifically, through the SLAM technology of the laser radar, the position information of the calibration vehicle in the world coordinate system is determined as the second position information, and the second position information can be a three-dimensional coordinate in the world coordinate system.

[0064] In one possible implementation, determining the second position information of the calibration vehicle in the world coordinate system based on the laser radar and SLAM technology may include: the laser radar scans the surrounding environment in real time to build an environment map, and calculates the second position information of the calibration vehicle in the world coordinate system based on the SLAM technology.

[0065] Specifically, the calibration car is equipped with a laser radar and moves in the environment, and the laser radar continuously collects data about the surrounding environment. Using the collected laser radar data, the SLAM algorithm begins to build a three-dimensional map of the surrounding environment. Loop detection is an important part of SLAM, which is used to identify whether the calibration car has returned to a place it has visited before. By comparing the similarity between the environment currently scanned by the laser radar and the previously constructed map, the loop detection algorithm can determine whether the calibration car has looped. Once a loop is detected, the SLAM algorithm uses this information to determine the precise position of the calibration car in the world coordinate system, that is, the second position information.

[0066] S140: Determine target location information corresponding to the Bluetooth AOA base station based on the first location information and the second location information, so as to automatically calibrate the installation position of the Bluetooth AOA base station based on the target location information.

[0067] The target location information may be the location of the Bluetooth AOA base station in the world coordinate system.

[0068] In one possible implementation, determining the target position information corresponding to the Bluetooth AOA base station based on the first position information and the second position information may include: according to the first position information and the second position information, converting the first position information from the vehicle coordinate system to the world coordinate system through a data processing unit to obtain the target position information, and automatically recording the target position information in a base station calibration database.

[0069] The data processing unit may be an onboard computer of a calibration vehicle, etc., which is responsible for executing coordinate conversion; the base station calibration database is used to store target position information of all Bluetooth AOA base stations.

[0070] Specifically, based on the first position information of the Bluetooth AOA base station in the world coordinate system of the vehicle and the second position information of the vehicle coordinate system in the world coordinate system, the first position information of the Bluetooth AOA base station in the vehicle coordinate system can be converted to the world coordinate system to obtain the target position information of the Bluetooth AOA base station in the world coordinate system. Further, the calculated target position information is automatically recorded in the base station calibration database for subsequent use and management.

[0071] In another possible implementation manner, automatically calibrating the installation position of the Bluetooth AOA base station based on the target position information may include: adjusting the installation position of the Bluetooth AOA base station based on the target position information.

[0072] It can be understood that the target location information may represent the current installation location of the Bluetooth AOA base station. If there is a deviation from the installation location expected by the user, the current installation location of the Bluetooth AOA base station may be further adjusted based on the target location information.

[0073] It should also be noted that multiple Bluetooth AOA base stations can be installed in the calibration environment. The above process can be repeated based on the calibration vehicle to calibrate each Bluetooth AOA base station in turn, thereby realizing the automation, intelligence and efficiency of the Bluetooth AOA base station calibration, eliminating the manual calibration step.

[0074] The technical solution of the embodiment of the present invention is applied to a calibration vehicle, and the calibration vehicle includes a base station position sensing device and a laser radar. The method includes: placing the calibration vehicle in a calibration environment, wherein the calibration environment also includes a Bluetooth AOA base station to be calibrated; determining the first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle based on the base station position sensing device; determining the second position information of the calibration vehicle in the world coordinate system based on the laser radar and SLAM technology; determining the target position information corresponding to the Bluetooth AOA base station based on the first position information and the second position information, so as to automatically calibrate the installation position of the Bluetooth AOA base station based on the target position information. The technical solution of the present invention realizes the automation, intelligence and efficiency of the calibration of the Bluetooth AOA base station through a remotely controlled calibration vehicle, combined with SLAM mapping technology and sensing technology, and eliminates the step of manual calibration. It solves the problem that the traditional manual calibration method is low in efficiency, high in labor cost, and proportional to the site area, resulting in a large amount of time and resources consumed when deploying Bluetooth AOA base stations on a large scale.

[0075] Embodiment 2

[0076] Figure 2 The schematic diagram of the structure of a Bluetooth AOA base station automatic calibration vehicle provided in the second embodiment of the present invention is a preferred embodiment of the above embodiment. The specific implementation method can refer to the technical solution of this embodiment. The technical terms that are the same or corresponding to the above embodiment will not be repeated here. Figure 2 As shown, the calibration vehicle specifically includes:

[0077] A calibration car 200 is integrated with a laser radar 210 and a base station position sensing device 220 (such as an infrared light sensor). The car body itself has the functions of moving forward, reversing, turning, and warning lights. When the calibration starts, the car is placed in the calibration environment, the calibration equipment is turned on, and the laser radar 210 starts to work, real-time scanning and calculating the real-time position of the car through loop positioning. When the base station is installed, the calibration tag with an infrared transmitter (i.e., the signal transmitter of the aforementioned embodiment) is connected to the Bluetooth AOA base station through the calibration buckle reserved on the Bluetooth AOA base station; the car is controlled in the calibration environment. Scanning and mapping: When the infrared light sensor on the car senses the infrared beam emitted by the calibration tag, it stops automatically, and uses the position of the infrared laser hitting the CMOS sensor / CCD sensor and the geometric relationship of the optical path to calculate the position of the base station in the calibration car coordinate system through an algorithm; and through the coordinates of the calibration car's loop positioning, the position and posture of the calibration car coordinate system in the world coordinate system are obtained (where the world coordinate system is obtained from the car coordinate system when the system is initialized), and the coordinates of the Bluetooth AOA base station in the world coordinate system are obtained through coordinate position conversion, and automatically recorded in the base station calibration database.

[0078] In the base station position sensing device 220 of the embodiment of the present invention, a dual lens solution can be adopted but not limited to. The position of the infrared ray before entering the lens represents its real coordinates X1 and X2, which are converted into coordinate points X1' and X2' on the CMOS through the lens. The position of the Bluetooth AOA base station in the car coordinate system can be calibrated by inverse transformation, and the position of the car coordinate system in the world coordinate system is measured by SLAM loop positioning, thereby realizing automatic calibration of the Bluetooth AOA base station. Figure 3 As shown in FIG. 1 , it is a schematic diagram of the structure of the double lens provided in the second embodiment of the present invention. Figure 4 FIG. 1 is a schematic diagram of the optical path of infrared rays provided in the second embodiment of the present invention.

[0079] In addition, the calibration vehicle is suitable for base station calibration in complex environments, such as underground parking lots, and can automatically adjust and optimize the position information of the base station.

[0080] The technical solution of the embodiment of the present invention is applied to a calibration vehicle, and the calibration vehicle includes a base station position sensing device and a laser radar. The method includes: placing the calibration vehicle in a calibration environment, wherein the calibration environment also includes a Bluetooth AOA base station to be calibrated; determining the first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle based on the base station position sensing device; determining the second position information of the calibration vehicle in the world coordinate system based on the laser radar and SLAM technology; determining the target position information corresponding to the Bluetooth AOA base station based on the first position information and the second position information, so as to automatically calibrate the installation position of the Bluetooth AOA base station based on the target position information. The technical solution of the present invention realizes the automation, intelligence and efficiency of the calibration of the Bluetooth AOA base station through a remotely controlled calibration vehicle, combined with SLAM mapping technology and sensing technology, and eliminates the step of manual calibration. It solves the problem that the traditional manual calibration method is low in efficiency, high in labor cost, and proportional to the site area, resulting in a large amount of time and resources consumed when deploying Bluetooth AOA base stations on a large scale.

[0081] Embodiment 3

[0082] Figure 5 A schematic diagram of a Bluetooth AOA base station automatic calibration system provided in Embodiment 3 of the present invention. The system is applied to a calibration vehicle, and the calibration vehicle is placed in a calibration environment, wherein the calibration environment also includes a Bluetooth AOA base station to be calibrated, such as Figure 5 As shown, the system includes:

[0083] A first position information determination module 310 is used to determine the first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle through a base station position sensing device;

[0084] A second position information determination module 320, for determining the second position information of the calibration vehicle in the world coordinate system based on laser radar and SLAM technology;

[0085] The Bluetooth AOA base station calibration module 330 is used to determine the target location information corresponding to the Bluetooth AOA base station based on the first location information and the second location information, so as to automatically calibrate the installation position of the Bluetooth AOA base station based on the target location information.

[0086] The technical solution of the embodiment of the present invention is applied to a calibration vehicle, and the calibration vehicle includes a base station position sensing device and a laser radar. The method includes: placing the calibration vehicle in a calibration environment, wherein the calibration environment also includes a Bluetooth AOA base station to be calibrated; determining the first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle based on the base station position sensing device; determining the second position information of the calibration vehicle in the world coordinate system based on the laser radar and SLAM technology; determining the target position information corresponding to the Bluetooth AOA base station based on the first position information and the second position information, so as to automatically calibrate the installation position of the Bluetooth AOA base station based on the target position information. The technical solution of the present invention realizes the automation, intelligence and efficiency of the calibration of the Bluetooth AOA base station through a remotely controlled calibration vehicle, combined with SLAM mapping technology and sensing technology, and eliminates the step of manual calibration. It solves the problem that the traditional manual calibration method is low in efficiency, high in labor cost, and proportional to the site area, resulting in a large amount of time and resources consumed when deploying Bluetooth AOA base stations on a large scale.

[0087] On the basis of the above technical solution, the Bluetooth AOA base station is fixedly connected to the signal transmitting device, and the first location information determination module 310 is used to:

[0088] When the base station position sensing device detects the target signal transmitted by the signal transmitting device, the calibration vehicle is controlled to stop moving, and the first position information of the Bluetooth AOA base station in the vehicle coordinate system is calculated based on the target signal.

[0089] Based on the above technical solution, the functions of the calibration vehicle include at least one of forward, reverse, turn, stop and warning.

[0090] On the basis of the above technical solution, the signal transmitting device is an infrared transmitting device, the infrared transmitting device transmits infrared rays, the base station position sensing device includes a double lens and also includes a CMOS sensor or a CCD sensor;

[0091] The first location information determining module 310 is further specifically configured to:

[0092] Receive the infrared laser that the infrared transmitting device hits on the double lens, use the position of the infrared laser hitting the CMOS sensor / CCD sensor and the geometric relationship of the optical path, and calculate the first position information of the Bluetooth AOA base station in the coordinate system of the car through an algorithm.

[0093] On the basis of the above technical solution, the second location information determination module 320 is specifically used to:

[0094] The laser radar scans the surrounding environment in real time to build an environment map, and calculates the second position information of the calibration vehicle in the world coordinate system based on the SLAM technology.

[0095] Based on the above technical solution, the Bluetooth AOA base station calibration module 330 includes:

[0096] According to the first position information and the second position information, the first position information is converted from the vehicle coordinate system to the world coordinate system through a data processing unit to obtain the target position information, and the target position information is automatically recorded in a base station calibration database.

[0097] On the basis of the above technical solution, the automatic calibration of the installation position of the Bluetooth AOA base station based on the target position information includes:

[0098] The installation location of the Bluetooth AOA base station is adjusted based on the target location information.

[0099] The Bluetooth AOA base station automatic calibration system provided in the embodiment of the present invention can execute the Bluetooth AOA base station automatic calibration method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0100] Embodiment 4

[0101] Figure 6 A schematic diagram of the structure of an electronic device provided for Embodiment 4 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0102] like Figure 6As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0103] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0104] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 11 executes the various methods and processes described above, such as the Bluetooth AOA base station automatic calibration method.

[0105] In some embodiments, the Bluetooth AOA base station automatic calibration method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the Bluetooth AOA base station automatic calibration method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the Bluetooth AOA base station automatic calibration method in any other appropriate manner (e.g., by means of firmware).

[0106] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0107] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0108] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, 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 foregoing.

[0109] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0110] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by 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), a blockchain network, and the Internet.

[0111] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0112] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0113] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A Bluetooth AOA base station automatic calibration method, characterized in that: Applied to a calibration vehicle, the calibration vehicle includes a base station position sensing device and a laser radar, and the method includes: Placing the calibration vehicle in a calibration environment, wherein the calibration environment also includes a Bluetooth AOA base station to be calibrated; Determine the first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle based on the base station position sensing device; Based on the laser radar and SLAM technology, determine the second position information of the calibration vehicle in the world coordinate system; Based on the first location information and the second location information, target location information corresponding to the Bluetooth AOA base station is determined, so as to automatically calibrate the installation location of the Bluetooth AOA base station based on the target location information.

2. The method according to claim 1, characterized in that The Bluetooth AOA base station is fixedly connected to the signal transmitting device, and the first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle is determined based on the base station position sensing device, including: When the base station position sensing device detects the target signal transmitted by the signal transmitting device, the calibration vehicle is controlled to stop moving, and the first position information of the Bluetooth AOA base station in the vehicle coordinate system is calculated based on the target signal.

3. The method according to claim 2, characterized in that The functions of the calibration vehicle include at least one of forward, reverse, turn, stop and warning.

4. The method according to claim 2, characterized in that: The signal transmitting device is an infrared transmitting device, which transmits infrared rays. The base station position sensing device includes a double lens and a CMOS sensor or a CCD sensor. The determining, based on the base station position sensing device, the first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle comprises: The infrared emitting device projects an infrared laser onto the dual lens, and uses the position of the infrared laser projected onto the CMOS sensor / CCD sensor and the geometric relationship of the optical path to calculate the first position information of the Bluetooth AOA base station in the vehicle coordinate system through an algorithm.

5. The method according to claim 1, characterized in that: The determining of the second position information of the calibration vehicle in the world coordinate system based on the laser radar and the loop-closure positioning technology includes: The laser radar scans the surrounding environment in real time to build an environment map, and calculates the second position information of the calibration vehicle in the world coordinate system based on the SLAM technology.

6. The method according to claim 1, characterized in that The determining, based on the first location information and the second location information, target location information corresponding to the Bluetooth AOA base station includes: According to the first position information and the second position information, the first position information is converted from the vehicle coordinate system to the world coordinate system through a data processing unit to obtain the target position information, and the target position information is automatically recorded in a base station calibration database.

7. The method according to claim 1, characterized in that The automatically calibrating the installation position of the Bluetooth AOA base station based on the target position information includes: The installation location of the Bluetooth AOA base station is adjusted based on the target location information.

8. A Bluetooth AOA base station automatic calibration system, characterized in that: Applied to a calibration vehicle, the calibration vehicle is placed in a calibration environment, wherein the calibration environment also includes a Bluetooth AOA base station to be calibrated, and the system includes: A first position information determination module, used to determine the first position information of the Bluetooth AOA base station in the vehicle coordinate system of the calibration vehicle through a base station position sensing device; A second position information determination module, used to determine the second position information of the calibration vehicle in the world coordinate system based on laser radar and SLAM technology; The Bluetooth AOA base station position calibration module is used to determine the target position information corresponding to the Bluetooth AOA base station based on the first position information and the second position information, so as to automatically calibrate the installation position of the Bluetooth AOA base station based on the target position information.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the Bluetooth AOA base station automatic calibration method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the Bluetooth AOA base station automatic calibration method according to any one of claims 1 to 7 when executed.

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