Information transmission method and device, related equipment, storage medium and computer program product

Abstract

The invention discloses an information transmission method and device, first equipment, second equipment, a storage medium and a computer program product. The method comprises the steps that a first device sends first information to at least two second devices, the first information is used for sensing a first target object, the first device is located in a first network, the first network comprises the first device and the at least two second devices, and the first device is further located in a second network; the coverage range of the first network is smaller than that of the second network; and receiving second information sent by the at least two second devices respectively, wherein the second information represents a sensing result of the first target object.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of Internet of Things, and in particular to an information transmission method and device, related equipment, a storage medium and a computer program product. BACKGROUND

[0002] Wireless communication perception fusion technology is one of the key technologies of 5G-A (which can be understood as a technology evolution based on the fifth generation mobile communication technology (5G)), which can meet the communication needs of devices, and at the same time, can endow the devices with the perception ability of the environment and target objects, thereby providing precise positioning, perception, ranging and other services, which can be used in intelligent manufacturing, smart low-altitude, smart life and other application scenarios. Taking intelligent manufacturing as an example, the combination of robot behavior (such as the behavior between robots, between robots and production line equipment, or between robots and people) and fine perception technology based on wireless signals can enhance the interaction ability between robots and the environment, thereby realizing the rational scheduling and efficient planning of robots, and improving the overall production efficiency and flexibility. That is, the combination of industrial internet and perception integration technology can bring a more intelligent, efficient and interconnected smart network environment, thereby promoting the development of emerging businesses.

[0003] However, in the scenario of a high-continuous open area (such as an open area of a workshop, a factory building, etc.), the related wireless communication perception scheme has the problem of low perception accuracy of the target object. SUMMARY

[0004] To solve the related technical problems, the embodiments of the present application provide an information transmission method and device, related equipment, a storage medium and a computer program product.

[0005] The technical scheme of the embodiments of the present application is implemented as follows:

[0006] The embodiments of the present application provide an information transmission method applied to a first device, comprising:

[0007] sending first information to at least two second devices respectively, the first information being used for perceiving a first target object, the first device being located in a first network, the first network comprising the first device and the at least two second devices, the first device also being located in a second network, the coverage range of the first network being smaller than the coverage range of the second network;

[0008] receiving second information sent by the at least two second devices respectively, the second information representing a perception result of the first target object.

[0009] In the above scheme, the sending of the first information to the at least two second devices respectively comprises:

[0010] The first module of the first device is configured to send the first information to the at least two second devices respectively, and the first module supports communication between the at least two second devices and the first device through a first signal.

[0011] In the above solution, each second device comprises the first module and a second module, and the second module supports sensing one or more target objects through a second signal, and a bandwidth of the first signal is less than a bandwidth of the second signal.

[0012] In the above solution, the method further comprises:

[0013] The third information is sent to the at least two second devices respectively, and the third information is used to establish a first session between the first device and a second device, and the first session is used for information transmission between the first device and the second device.

[0014] In the above solution, the third information comprises one or more of the following:

[0015] Fourth information, the fourth information is used to indicate the first session;

[0016] Fifth information, the fifth information represents a duration of the first session;

[0017] Sixth information, the sixth information represents frequency domain resources of the first session;

[0018] Seventh information, the seventh information is used to indicate a first sequence associated with the first session;

[0019] Eighth information, the eighth information comprises measurement configuration information of a second device;

[0020] Ninth information, the ninth information represents a trigger condition for sensing the first target object.

[0021] In the above solution, the method further comprises:

[0022] The time reference source is obtained through the second network;

[0023] The time reference source is used for time synchronization and / or frequency synchronization with the at least two second devices.

[0024] In the above solution, the time reference source is obtained by:

[0025] The third module of the first device is configured to obtain the time reference source, and the third module supports communication with a network device through the second network.

[0026] In the scheme, the third module of the first device acquires the time reference source, including:

[0027] Adjusting the mode of the third module from the sleep mode to the working mode;

[0028] Acquiring the time reference source based on the third module.

[0029] In the scheme, the method further includes:

[0030] Determining the tenth information by using the received second information, the tenth information representing the measurement result of the first target object;

[0031] Sending the tenth information to the network device through the second network.

[0032] Embodiments of the present application also provide an information transmission method, applied to a second device, including:

[0033] Receiving first information sent by a first device, the first information being used for sensing a first target object, the first device being located in a first network, the first network including the first device and at least two second devices, the first device also being located in a second network, the coverage of the first network being smaller than the coverage of the second network;

[0034] Sensing the first target object by using the first information to obtain second information, the second information representing the sensing result of the first target object;

[0035] Sending the second information to the first device.

[0036] In the scheme, the receiving of the first information sent by the first device includes:

[0037] Receiving the first information sent by the first device based on a first module of the second device, the first module supporting at least communication between the second device and the first device through a first signal.

[0038] In the scheme, the second device further includes a second module, the second module supporting sensing of one or more target objects through a second signal, the bandwidth of the first signal being smaller than the bandwidth of the second signal; and the sensing of the first target object by using the first information to obtain the second information includes:

[0039] Sensing the first target object by using the first information based on the second module to obtain the second information.

[0040] In the scheme, the method further includes:

[0041] receive third information sent by the first device, the third information being used for establishing a first session between the first device and the second device, the first session being used for information transmission between the first device and the second device.

[0042] In the above solution, the third information comprises one or more of the following:

[0043] fourth information, the fourth information being used for indicating the first session;

[0044] fifth information, the fifth information representing a duration of the first session;

[0045] sixth information, the sixth information representing frequency domain resources of the first session;

[0046] seventh information, the seventh information being used for indicating a first sequence associated with the first session;

[0047] eighth information, the eighth information comprising measurement configuration information of the second device;

[0048] ninth information, the ninth information representing a triggering condition for sensing the first target object.

[0049] In the above solution, the method further comprises:

[0050] synchronizing time and / or frequency with the first device by using a time reference source.

[0051] In the above solution, the time reference source is acquired by the first device based on a third module, and the third module supports communication with a network device through the second network.

[0052] In the above solution, the method further comprises:

[0053] synchronizing time and / or frequency with a second device other than the second device.

[0054] Embodiments of the present application further provide an information transmission apparatus, arranged on a first device, comprising:

[0055] a first sending unit configured to send first information to at least two second devices respectively, the first information being used for sensing a first target object, the first device being located in a first network, the first network comprising the first device and the at least two second devices, the first device also being located in a second network, a coverage range of the first network being smaller than a coverage range of the second network;

[0056] a first receiving unit configured to receive second information sent by the at least two second devices respectively, the second information representing a sensing result of the first target object.

[0057] The embodiment of the present application further provides an information transmission device, which is arranged on a second device and comprises:

[0058] a second receiving unit, configured to receive first information sent by a first device, wherein the first information is used for sensing a first target object, the first device is located in a first network, the first network comprises the first device and at least two second devices, the first device is also located in a second network, and a coverage range of the first network is smaller than a coverage range of the second network;

[0059] a sensing unit, configured to sense the first target object by using the first information, and obtain second information, wherein the second information represents a sensing result of the first target object;

[0060] a second sending unit, configured to send the second information to the first device.

[0061] The embodiment of the present application further provides a first device, comprising a first processor and a first communication interface; wherein,

[0062] the first communication interface is configured to send first information to at least two second devices respectively, the first information is used for sensing a first target object, the first device is located in a first network, the first network comprises the first device and at least two second devices, the first device is also located in a second network, and a coverage range of the first network is smaller than a coverage range of the second network; and receive second information sent by the at least two second devices respectively, wherein the second information represents a sensing result of the first target object.

[0063] The embodiment of the present application further provides a second device, comprising a second processor and a second communication interface; wherein,

[0064] the second communication interface is configured to receive first information sent by a first device, wherein the first information is used for sensing a first target object, the first device is located in a first network, the first network comprises the first device and at least two second devices, the first device is also located in a second network, and a coverage range of the first network is smaller than a coverage range of the second network;

[0065] the second processor is configured to sense the first target object by using the first information, and obtain second information, wherein the second information represents a sensing result of the first target object; and send the second information to the first device through the second communication interface.

[0066] The embodiment of the present application further provides a first device, comprising a first processor and a first memory for storing a computer program capable of running on the processor,

[0067] The first processor is configured to execute the steps of any of the above methods when running the computer program.

[0068] The second processor is configured to execute the steps of any of the above methods when running the computer program.

[0069] The second processor is configured to execute the steps of any of the above methods when running the computer program.

[0070] The second processor is configured to execute the steps of any of the above methods when running the computer program.

[0071] The second processor is configured to execute the steps of any of the above methods when running the computer program.

[0072] The information transmission method, apparatus, related device, storage medium and computer program product provided in the embodiments of the present application are as follows: a first device sends first information to at least two second devices, the first information is used for sensing a first target object, the first device is located in a first network, the first network includes the first device and the at least two second devices, the first device is also located in a second network, the coverage range of the first network is smaller than that of the second network; and the second device senses the first target object by using the first information to obtain second information, the second information represents a sensing result of the first target object; and the second information is sent to the first device. The technical solution provided in the embodiments of the present application is used in a networking architecture formed by a first network (such as a short-range wireless network) and a second network (such as a cellular network), a control device sends sensing information used in a sensing process to multiple sensing devices, so that the multiple sensing devices can perform cooperative sensing based on the configured sensing information; that is, a cellular network with wide coverage and a short-range wireless network are used for heterogeneous networking, and multiple sensing devices are used for cooperative sensing of a target object, so that in a high-continuous open area scenario, as the sensing distance increases, long-distance high-precision sensing can be achieved, and the limitations of a single device (such as coverage shielding and stereoscopic sensing) can be overcome, thereby improving the sensing accuracy as a whole. BRIEF DESCRIPTION OF DRAWINGS

[0073] Figure 1 A flowchart of a first information transmission method according to an embodiment of the present application is shown in FIG. 1;

[0074] Figure 2 A third information structure diagram of an embodiment of the present application;

[0075] Figure 3 A first time synchronization flow diagram of an embodiment of the present application;

[0076] Figure 4 A second information transmission method flow diagram of an embodiment of the present application;

[0077] Figure 5 A second time synchronization flow diagram of an embodiment of the present application;

[0078] Figure 6 A second time synchronization flow diagram of an embodiment of the present application;

[0079] Figure 7 A first sensing system structure diagram of an application example of the present application;

[0080] Figure 8 A first collaborative sensing method flow diagram of an application example of the present application;

[0081] Figure 9 An application example device structure diagram of the present application;

[0082] Figure 10 A second collaborative sensing method flow diagram of an application example of the present application;

[0083] Figure 11 A second sensing system structure diagram of an application example of the present application;

[0084] Figure 12 A third sensing system structure diagram of an application example of the present application;

[0085] Figure 13 A first information transmission device structure diagram of an embodiment of the present application;

[0086] Figure 14 A second information transmission device structure diagram of an embodiment of the present application;

[0087] Figure 15 A first device structure diagram of an embodiment of the present application;

[0088] Figure 16 A second device structure diagram of an embodiment of the present application;

[0089] Figure 17 An information transmission system structure diagram of an embodiment of the present application. DETAILED DESCRIPTION

[0090] The application will be described in further detail below with reference to the drawings and embodiments.

[0091] In the related art, an ultra-wideband (UWB) system is driven by signals such as Bluetooth, Zigbee, and WiFi, and can wake up the UWB module in a scenario required by a user. The UWB module after being woken up has functions such as forming a personal area network, allocating a time division multiple address (TDMA) time slot, and completing ranging and positioning functions. For example, after the parameters used in the ranging process are negotiated by the two parties of communication, the UWB module performs ranging and positioning according to the negotiated parameters.

[0092] In addition, a positioning system based on the UWB technology realizes high-speed data transmission and accurate positioning functions by using a very large frequency spectrum range. In this way, real-time positioning can be performed with centimeter-level accuracy. However, the sensing of a single node is limited by the capability of the single node, which leads to a bottleneck in improving the measurement accuracy. Multi-node cooperative sensing uses the observation diversity gain of multiple devices to measure and sense, which can improve the sensing accuracy and sensing range to a certain extent. However, there are still problems in terms of communication bandwidth, communication distance, data fusion, privacy security, network networking, system complexity, and cost.

[0093] That is, for the multi-target detection scene of a high-continuous open area in a room, there is currently a lack of sensing schemes with high-precision sensing functions. To address the above problems, how to fully utilize the advantages of the network to break through the bottleneck of the communication performance and the sensing accuracy of a single node, and thus realize further improvement of the communication capability, has become a key problem and challenge to realize high-precision sensing capability.

[0094] Based on this, in various embodiments of the application, in the scenario of a continuous open area, a wide-area coverage cellular network and a short-distance wireless network for nearby sensing are used for heterogeneous networking, and multiple nodes under the networking architecture are used for cooperative sensing of a sensing object. That is, the cellular network and the short-distance wireless network are used together to realize unified management and cooperative sensing of the sensing target, so as to realize remote high-precision sensing.

[0095] An information transmission method is provided in an embodiment of the application, which is applied to a first device, such as a base station. Figure 1 As shown in the figure, the method comprises the following steps.

[0096] Step 101: sending first information to at least two second devices respectively, the first information being used for sensing a first target object, the first device being located in a first network, the first network comprising the first device and the at least two second devices, the first device also being located in a second network, a coverage range of the first network being smaller than a coverage range of the second network;

[0097] Step 102: receiving second information sent by the at least two second devices respectively, the second information representing sensing results of the first target object.

[0098] In actual application, the second device can be referred to as a sensing device, a sensing node, a terminal node (which can be referred to as a T node for short), a road test sensing device, etc.; the first device can be referred to as a control device, a control node (which can be referred to as a G node for short), a controller, etc., and is capable of managing the at least two second devices. The name of the first device and the second device is not limited in the embodiments of the present application, as long as the functions thereof are realized. The first device and the at least two second devices can jointly form a communication network (i.e., the first network), which can be referred to as a short-range wireless network, a short-range communication network, etc., and can have different network topologies, such as a point-to-point topology, a star topology, a tree topology or a mesh topology. The transmission distance of the first network is usually within a hundred meters. In addition, the second network can comprise a cellular network, and the first device can access the second network through a related gateway, which is not limited in the embodiments of the present application.

[0099] It should be noted that in the networking formed by the first network and the second network, the first device can serve as a scheduling node or a convergence node in the networking, communicate with the second devices within the coverage range of the first network, and provide management, resource allocation, admission control, information security and remote collaboration services; the second device can serve as a receiving device, communicate with the first device in the first network, and collaboratively implement data transmission and other functions, such as data transmission according to received resource information.

[0100] In actual application, before step 101, the first device can discover the second device for sensing the first target object, and establish a connection with the discovered second device, so as to subsequently communicate.

[0101] Based on this, in an embodiment, the method can further comprise:

[0102] The third information is transmitted to the at least two second devices respectively, and the third information is used to establish a first session between the first device and the second device, and the first session is used for information transmission between the first device and the second device.

[0103] In actual application, the first device can include a first module and a third module. The first module can be referred to as a narrowband communication module, and at least supports communication between the at least two second devices and the first device through a first signal. The first signal can include a Bluetooth BLE, a star flash SLE, and the like. That is, the first module has a narrowband communication function, and can perform networking communication in the first network based on an unlicensed frequency spectrum, thereby realizing information (such as configuration parameters) transmission between devices. The third module can be referred to as a cellular module, and can support communication with a network device (specifically, a base station) through the second network. That is, the third module has a cellular communication function, and can perform communication based on the licensed frequency spectrum of the second network, thereby realizing communication, resource configuration, and coordination between all devices in a wide area.

[0104] In actual application, each second device can include the first module and a second module. The second module at least supports sensing one or more target objects through a second signal. Specifically, through the second signal, a wider frequency spectrum range can be used to detect channel characteristics such as channel amplitude, phase, angle of arrival (AoA), and the like, so that the second module can perform real-time sensing on the sensed objects with higher accuracy. In addition, the bandwidth of the first signal is smaller than the bandwidth of the second signal, so the first signal can be referred to as a narrowband signal, and the second signal can be referred to as an ultra-wideband signal, which is not limited in the embodiments of the present application.

[0105] Here, the first device can periodically transmit the third information to the at least two second devices based on the first module, so that the at least two second devices can respectively establish the first session (which can also be referred to as a measurement session, a sensing session, and the like, which is not limited in the embodiments of the present application) with the first device.

[0106] In an embodiment, the third information can include one or more (which can also be understood as at least one) of the following:

[0107] Fourth information, the fourth information is used to indicate the first session;

[0108] Fifth information, the fifth information represents a duration of the first session;

[0109] Sixth information, the sixth information represents a frequency domain resource of the first session;

[0110] a seventh information, the seventh information being used for indicating a first sequence associated with the first session;

[0111] an eighth information, the eighth information containing measurement configuration information of the second device;

[0112] a ninth information, the ninth information representing a trigger condition for sensing the first target object.

[0113] In actual application, the fourth information can be understood as identification information (such as session ID) of the first session, which is used to distinguish multiple sessions carried by the first device and to close the session carried by the first device; the fifth information can be understood as a time window of the first session; the frequency domain resource represented by the sixth information can contain bandwidth resource and / or frequency point; the seventh information can be understood as sequence identification information of the first session associated with the second device, so as to distinguish measurement quantities of different second devices, that is, in the process of cooperative sensing, the first device can allocate different lengths of sequences to different second devices to ensure low correlation between different sequences; the eighth information can be understood as enabling the second device to know how to configure the measurement mode, so as to obtain the measurement quantity meeting the requirement of the first device; the ninth information can be understood as event period offset of sensing measurement, which can be specifically the number of events after the first device indicates measurement and then starts measurement, for example, event period offset is 3 ranging events offset, in the case that the second device starts ranging and the first device indicates measurement, the second device can start measurement after 3 ranging events; wherein the event period offset corresponding to different second devices can be the same or different, so as to resist multi-user interference.

[0114] For example, it is assumed that the second device performs sensing in the manner of channel impulse response (CIR). Figure 2 As shown in FIG. 6, the first device can issue the fourth information, the fifth information, the sixth information, the seventh information, the eighth information and the ninth information to at least two second devices in the Nth event period, the eighth information can contain one or more (i.e. at least one) of channel impulse response CIR reference information, CIR length information and CIR offset information, the CIR length information is used to indicate the length of the feedback CIR, and the selection of the CIR can be continuous selection based on the first point or the strongest point of the CIR as the reference; the CIR reference information is used to indicate the selection manner of the CIR, for example, 0 represents that the selection of the reference point is the shortest path of the CIR, and 1 represents that the selection of the reference point is the strongest path of the CIR; the CIR offset information is used to indicate the offset when selecting the CIR, for example, the CIR is selected from the M points after the reference point on the right side.

[0115] It should be noted that the CIR can describe the time delay spread characteristics of the unit impulse signal in the multipath propagation environment, and reflect the changes of the unit impulse signal after passing through the wireless channel, such as time delay or signal amplitude attenuation caused by multipath effect. By measuring the CIR, the second device can obtain specific characteristics of multipath propagation, such as path loss, time delay spread, and angle of arrival, so as to realize the perception of the target object.

[0116] In actual application, after the establishment of the first session is completed, the first device can perform clock synchronization with the at least two second devices based on the first signal.

[0117] Based on this, in an embodiment, the method further comprises:

[0118] Obtaining a time reference source through the second network;

[0119] Performing time synchronization and / or frequency synchronization with the at least two second devices by using the time reference source.

[0120] Wherein, the first device and the at least two second devices are internally provided with hardware clocks, such as hardware clocks adapted to IEEE-1588 protocol, so as to support time-frequency synchronization function; wherein, the hardware clock of the first device can be referred to as master clock, and the hardware clock of the second device can be referred to as slave clock.

[0121] In actual application, the first device can obtain the time reference source from the second network through the third module.

[0122] Specifically, in an embodiment, the obtaining of the time reference source comprises:

[0123] Obtaining the time reference source based on the third module of the first device, the third module supporting communication with a network device through the second network.

[0124] Wherein, the network device can be deployed in the second network.

[0125] In actual application, in order to reduce energy consumption, the third module is usually in sleep mode, therefore, the first device can wake up the third module, so as to obtain the time reference source based on the third module after being woken up.

[0126] Specifically, in an embodiment, the obtaining of the time reference source based on the third module of the first device comprises:

[0127] Adjusting the mode of the third module from sleep mode to working mode;

[0128] Obtaining the time reference source based on the third module.

[0129] Here, by waking up the third module, the mode of the third module is adjusted to the working mode, and then the first device can communicate with the network device based on the third module to select the master clock to generate an accurate time reference source; then, based on the first module, the first device can broadcast the time reference source to the at least two second devices to perform high-precision time synchronization and / or frequency synchronization, in other words, the first device can determine that the first device and the second device are consistent in time and frequency based on the first signal; wherein the clock of the second device can be synchronized based on the network time protocol (NTP) to provide high-precision time correction; in this case, the NTP can be transmitted by using the UDP message to synchronize the time of all the second devices with the clock in the coverage of the first network, so that the clocks of the first device and all the second devices are consistent, so as to ensure that the second device can provide cooperative sensing based on unified time.

[0130] For example, assuming that there is one first device and two second devices (second device 1 and second device 2), the first device can exchange two-layer multicast information supporting PTP master clock mode with the second device 1 and the second device 2 based on the first signal to ensure synchronization, so as to ensure microsecond-level or sub-microsecond-level time synchronization accuracy between devices by using the timestamp and synchronization information; wherein the synchronization information can include clock hierarchical structure information of configuration device, network topology and periodic calibration to maintain the synchronization of the entire network. Specifically, as shown in Figure 3 In the offset measurement stage, after the slave clock of each second device obtains two timestamps T1 and T2, the offset value of the master clock and the slave clock of the first device is calculated by using the obtained timestamps (which can be represented as offset = T2-T1-Delay; wherein Delay represents the processing delay), and the local time is subtracted by the offset value to realize the synchronization of the slave clock and the master clock; in the delay measurement stage (for measuring the delay of the message in the network transmission process), the slave clock sends a message to the master clock at T3, and the master clock receives the message at T4, and then feeds back the T4 timestamp to the slave clock through the message, so that the slave clock can calculate the delay of the message (which can be represented as T4-T3=Delay-offset); based on the offset value and the delay, the slave clock can determine the transmission delay (which can be represented as offset = [(T2-T1)-(T4-T3)] / 2); wherein the minimum transmission time of the wireless frame in the first network (which can also be understood as) is used as the maximum gate value of the offset value. That is, the offset value Offset must be less than the reciprocal of the frame frequency of the wireless frame to avoid interference or Doppler effect.

[0131] In actual application, after time synchronization and frequency synchronization are completed, the first device can negotiate sensing information with the second device, so that the second device knows how to sense the first target object subsequently; wherein, the first module can be used for communication with the second device.

[0132] Specifically, in an embodiment, the first information is sent to the at least two second devices respectively, including:

[0133] The first module of the first device is used for sending the first information to the at least two second devices respectively, and the first module supports communication between the at least two second devices and the first device through a first signal.

[0134] Here, based on the first module, the first device can send the first information to the at least two second devices in a request manner, so that the at least two second devices perform cooperative sensing; that is, the first device can send a request (also referred to as a message) to the at least two second devices, the request carries the first information, and the first information can include sensing parameters used in the sensing process, such as a sensing period, a sensing frequency, and the like.

[0135] Then, in step 102, the first device can calculate a sensing measurement result of the first target object by using the second information reported by each second device.

[0136] Based on this, in an embodiment, the method can further include:

[0137] The tenth information is determined by using the received second information, and the tenth information represents a measurement result of the first target object.

[0138] The tenth information is sent to a network device through the second network.

[0139] The second information can include one or more of the following key fields: a feedback type, the feedback type representing a bitmap of a certain bit length; a target number, the target number being used to indicate the number of the first target objects; a target identifier (such as an ID), the target identifier being used to indicate the first target objects; a horizontal direction angle of an angle of arrival (AoA), the horizontal direction angle of the AoA representing a horizontal direction angle of the AoA in a first coordinate system (such as taking a south direction as a positive direction of an x axis, taking an east direction as a positive direction of a y axis, and taking a normal direction of an ellipsoid surface of a location as a positive direction of a z axis); an extension of the horizontal direction angle of the AoA, the extension of the horizontal direction angle of the AoA representing an angle of a farthest distance of the horizontal direction angle of the AoA from a center of the first coordinate system; a vertical direction angle of the AoA, the vertical direction angle of the AoA representing a vertical direction angle of the AoA in the first coordinate system; an extension of the vertical direction angle of the AoA, the extension of the vertical direction angle of the AoA representing an angle of a farthest distance of the vertical direction angle of the AoA from the center of the first coordinate system; a horizontal direction angle of an angle of departure (AoD), the horizontal direction angle of the AoD representing a horizontal direction angle of the AoD in the first coordinate system; an extension of the horizontal direction angle of the AoD, the extension of the horizontal direction angle of the AoD representing an angle of a farthest distance of the horizontal direction angle of the AoD from the center of the first coordinate system; a vertical direction angle of the AoD, the vertical direction angle of the AoD representing a vertical direction angle of the AoD in the first coordinate system; an extension of the vertical direction angle of the AoD, the extension of the vertical direction angle of the AoD representing an angle of a farthest distance of the vertical direction angle of the AoD from the center of the first coordinate system; a distance, the distance representing a distance of the first target object relative to the second device, and the unit can be mm; a distance extension, the distance extension representing a distance of an edge of the first target object relative to the second device (which can be represented as Round(log2(Extension))), and the unit can be mm; a speed, the speed representing a radial speed of the first target object relative to the second device, and the unit can be mm / s; a target measurement quantity, the target measurement quantity representing a received signal strength indicator (RSSI) of the first target object, and the unit can be dBm.

[0140] In actual application, based on the first module, the first device can receive the second information sent by each second device; by performing fusion related processing on the received second information, the first device can obtain the tenth information, and by using the third module, the first device can send the tenth information to the network device, so as to report the sensing state of the first target object; in the case that the mode of the third module is a sleep mode, the third module can be woken up and the tenth information can be transmitted by using the woken-up third module.

[0141] Correspondingly, the embodiment of the present application also provides an information transmission method applied to a second device, as shown in the following. Figure 4 The information transmission method comprises the following steps.

[0142] Step 401: receiving first information sent by a first device, the first information being used for perceiving a first target object, the first device being located in a first network, the first network comprising the first device and at least two second devices, the first device also being located in a second network, a coverage range of the first network being smaller than a coverage range of the second network;

[0143] Step 402: perceiving the first target object by using the first information, to obtain second information representing a perceiving result of the first target object.

[0144] Step 403: sending the second information to the first device.

[0145] In actual application, before Step 401, the second device can establish a connection with the first device for communication.

[0146] Based on this, in an embodiment, the method can further comprise:

[0147] receiving third information sent by the first device, the third information being used for establishing a first session between the first device and the second device, the first session being used for information transmission between the first device and the second device.

[0148] In actual application, based on the first module, the second device can receive the third information, and establish the first session with the first device based on the third information.

[0149] Here, after the establishment of the first session is completed, the second device can perform clock synchronization with the first device based on the first signal, so as to subsequently perform cooperative perception under the condition of clock synchronization.

[0150] Based on this, in an embodiment, the method can further comprise:

[0151] performing time synchronization and / or frequency synchronization with the first device by using a time reference source.

[0152] The time reference source is obtained by the first device based on a third module, and the third module supports communication with a network device through the second network.

[0153] For example, it is assumed that there is one first device (i.e., device 1) and two second devices (i.e., device 2 and device 3), as shown in FIG. 1. Figure 5 As shown in FIG. 1, device 1 performs time synchronization with device 2 and device 3 based on the first signal, so that device 2 and device 3 can subsequently perceive the first target object within a configuration period based on the same time and frequency.

[0154] In actual application, the second device can further perform time-frequency synchronization with other second devices based on the second signal to ensure that the at least two second devices are consistent in time, frequency and phase.

[0155] Based on this, in an embodiment, the method can further include:

[0156] performing time synchronization and / or frequency synchronization with other second devices in addition to the second device.

[0157] The other second devices can be understood as devices in addition to the second device in the at least two second devices.

[0158] In actual application, for time synchronization, the second device can carry a synchronization code through the second signal to achieve time synchronization with other second devices, such as a synchronization method based on a pilot pulse sequence. For frequency synchronization, the second device can estimate and compensate for frequency differences between different second devices due to crystal oscillator frequency deviation and other reasons through a frequency offset estimation algorithm, thereby achieving frequency synchronization with other second devices; the frequency offset estimation algorithm can include time domain carrier frequency offset estimation based on a training sequence, frequency offset estimation based on a filter and sequence estimation algorithm, etc., which are not limited by the embodiments of the present application.

[0159] Exemplarily, it is assumed that there is one first device (i.e., device 1) and three second devices (i.e., device 2, device 3 and device 4), as shown in Figure 6 After device 1 obtains a high-precision time reference source from the network side, it performs time synchronization and frequency synchronization with device 2, device 3 and device 4 based on the first signal, respectively, and performs time synchronization and frequency synchronization with device 2, device 3 and device 4 based on the second signal, respectively, so that device 2, device 3 and device 4 can subsequently perform perception on the first target object based on the same time and frequency within a configuration period.

[0160] In actual application, after time synchronization and frequency synchronization are completed, the second device can perform negotiation of perception information with the first device to know how to subsequently perform perception on the first target object.

[0161] Specifically, in an embodiment, the first information sent by the first device includes:

[0162] Based on the first module of the second device, the first information sent by the first device is received, and the first module at least supports communication between the second device and the first device through the first signal.

[0163] Then, in step 402, the second device can perceive the first target object through the second signal.

[0164] Specifically, in an embodiment, the perceiving the first target object by using the first information to obtain second information comprises:

[0165] The perceiving the first target object by using the first information to obtain the second information is based on the second module.

[0166] In actual application, the second device can perceive the first target object in the form of CIR feedback, thereby generating the second information. For example, in the case that the first device instructs the second device to perceive in the form of frames, the second device can send and receive measurement frames associated with CIR to and from the first target object based on the second signal at intervals; and perceive one or more first target objects in the environment by using the received measurement frames. In the above process, the first device can pre-configure time domain resources for measurement for the second device, so that the second device can send and receive measurement frames on the pre-configured time domain resources; in the case that the pre-configured time domain resources have been occupied (such as being configured with a data link), the second device can not send and receive measurement frames on the pre-configured time domain resources, but configure time domain resources of the second signal by itself; wherein the frame structure of the measurement frame can be multiplexed with the related frame structure.

[0167] It should be noted that, for the complexity of the device, the first target object usually does not carry the second module, but is perceived by multiple second devices at multiple angles, so that the first target object can be perceived in real time with high accuracy to overcome the limitations of single second device perception. In some cases, the first target object can also carry a passive tag with lower complexity, which has clock synchronization and energy storage capability, and can modulate the channel characteristics of the second signal such as channel amplitude, phase, phase angle, etc. in the passive communication process, so that the reflected second signal can carry the channel characteristics, so that the second device can detect and analyze the reflected second signal, thereby obtaining the second information.

[0168] The information transmission method provided in the embodiments of the present application comprises the following steps: a first device sends first information to at least two second devices, respectively, the first information being used for sensing a first target object, the first device being located in a first network, the first network comprising the first device and the at least two second devices, the first device also being located in a second network, the coverage range of the first network being smaller than that of the second network; and the second devices sense the first target object by using the first information to obtain second information, the second information representing the sensing result of the first target object, and the second information being sent to the first device. The technical scheme provided in the embodiments of the present application, under the networking architecture formed by the first network (such as a short-range wireless network) and the second network (such as a cellular network), enables the control device to issue sensing information used in the sensing process to multiple sensing devices, so that the multiple sensing devices can perform cooperative sensing based on the configured sensing information. That is, the cellular network with wide-area coverage and the short-range wireless network are used for heterogeneous networking, and the multiple sensing devices are used for cooperative sensing of the target object. In this way, in the scenario of a high-continuous open area, as the sensing distance increases, long-distance high-precision sensing can be achieved, and the limitations of a single device (such as coverage shielding and stereoscopic sensing) can be overcome, thereby improving the sensing accuracy as a whole.

[0169] The present application will be further described in detail below in combination with application examples.

[0170] In the application examples of the present application, a multi-node cooperative sensing system based on the fusion of a cellular network (i.e., the above-mentioned second network) and a short-range wireless network (i.e., the above-mentioned first network) is proposed. Specifically, as shown in Figure 7 , a sensing system can comprise a controller A, road test sensing devices B, C, D, E, F and G, a 5G base station, and sensing objects distributed in a continuous open area; wherein part of the road test sensing devices are used for cooperative sensing of the sensing objects.

[0171] Specifically, under the architecture of the above-mentioned sensing system, the process of cooperative sensing of the sensing objects comprises the following steps, as shown in Figure 8 .

[0172] Step 801: Device 1 (i.e., the above-mentioned first device) initiates a service clock synchronization request to 5GC;

[0173] In actual application, before step 801, device 1 sends a network session request message to 5GC to discover network devices and establish a 5G network session connection with the network devices. In addition, device 1 discovers device 2 and device 3 (i.e., the above-mentioned second devices) for cooperative sensing (which can also be understood as participating in the sensing task) by broadcasting; wherein, as shown in Figure 9As shown, the device 1 specifically comprises a cellular communication module (i.e., the third module described above) and a narrowband communication module (i.e., the first module described above), and the device 2 and the device 3 each comprise an ultra-wideband signal module (i.e., the second module described above) and a narrowband communication module; wherein the cellular communication module is configured to communicate with a network device, the narrowband communication module is configured to transmit data between the device 1 and the device 2 and the device 3 through a narrowband signal (i.e., the first signal described above), and the ultra-wideband signal module is configured to cooperatively sense a sensing object through an ultra-wideband signal (i.e., the second signal described above).

[0174] Specifically, in the process of cooperative sensing of the sensing system, as shown in Figure 10 As shown, the first stage is a device discovery stage; in the above stage, the narrowband communication module of the device 1 discovers the device 2 and the device 3 through periodic broadcasting, and establishes a connection with the device 2 and the device 3, respectively. Then, the device 1 wakes up the cellular module, discovers a network device through the cellular module, and establishes a 5G session connection with the network device.

[0175] Step 802: The device 1 performs high-precision timing based on the cellular network.

[0176] Specifically, after the cellular communication module of the device 1 completes the selection of the master clock, it can generate an accurate time source (i.e., the time reference source described above).

[0177] Step 803: The device 1 synchronizes clocks with the device 2 and the device 3 based on the narrowband signal.

[0178] Step 804: The device 1 sends a sensing measurement request frame to the device 2 to allocate sensing parameters (i.e., the first information described above).

[0179] Here, before the negotiation of the sensing parameters (which can also be referred to as ranging parameters or configuration parameters), the device 1 sends a sensing measurement request message (i.e., the third information described above) to the device 2 to trigger the establishment process of a sensing measurement session (i.e., the first session described above); then, the negotiation of the sensing parameters is performed based on the narrowband signal.

[0180] Specifically, as shown in Figure 10 In the sensing parameter configuration stage, the narrowband communication module of the device 1 negotiates the sensing parameters with the narrowband communication module of the device 2, and then the narrowband communication module wakes up the ultra-wideband signal module and sends the sensing parameters to the ultra-wideband signal module.

[0181] Step 805: The device 2 replies to the device 1 with a sensing measurement response frame.

[0182] Step 806: The device 1 sends a sensing measurement request frame to the device 3 to allocate sensing parameters.

[0183] Here, before the negotiation of the sensing parameters, the device 1 sends a sensing measurement request message to the device 3 to trigger the sensing measurement session establishment process, and then negotiates the sensing parameters based on the narrowband signal.

[0184] Specifically, as shown in the figure, Figure 10 in the sensing parameter configuration phase, the narrowband communication module of the device 1 negotiates the sensing parameters with the narrowband communication module of the device 3, and then wakes up the ultra-wideband signal module and sends the sensing parameters to the ultra-wideband signal module.

[0185] Step 807: The device 3 replies to the device 1 with a sensing measurement response frame;

[0186] Step 808: The device 2 and the device 3 synchronize based on the ultra-wideband signal;

[0187] Here, based on the ultra-wideband signal, the device 2 and the device 3 can synchronize in time and frequency.

[0188] Step 809: The device 2 measures using the assigned sensing parameters;

[0189] Here, the device 2 performs sensing measurement based on the ultra-wideband signal within the configuration period.

[0190] Specifically, as shown in the figure, Figure 10 in the cooperative sensing phase, the device 2 performs self-transmitting and self-receiving mode sensing based on the ultra-wideband signal within the configuration period, and uses the observation diversity gain of multiple devices to obtain the sensing measurement result to overcome the limitations of single-device sensing and improve the overall sensing performance. Then, the sensing measurement result is sent to the narrowband communication module.

[0191] Step 810: The device 3 measures using the assigned sensing parameters;

[0192] Specifically, as shown in the figure, Figure 10 in the cooperative sensing phase, the device 3 performs self-transmitting and self-receiving mode sensing based on the ultra-wideband signal within the configuration period, and uses the observation diversity gain of multiple devices to obtain the sensing measurement result to overcome the limitations of single-device sensing and improve the overall sensing performance. Then, the sensing measurement result is sent to the narrowband communication module.

[0193] Step 811: The device 2 and the device 3 report the measurement results based on the narrowband signal;

[0194] Specifically, as shown in the figure, Figure 10 in the result reporting phase, the narrowband communication modules of the device 2 and the device 3 report the sensing measurement results to the device 1 in the form of a sensing result message frame.

[0195] Step 812: The device 1 calculates the sensing measurement result;

[0196] Here, the narrowband communication module of the device 1 calculates the cooperative sensing result (i.e., the tenth information) according to the sensing measurement results reported by the device 2 and the device 3.

[0197] Step 813: The device 1 reports the sensing object state to the 5GC.

[0198] Here, based on the cooperative sensing result, the device 1 can determine the sensing object state, and then based on the cellular module, the device 1 reports the sensing object state to the network device.

[0199] Step 814: The session ends, and the connection is released.

[0200] Here, after completing the sensing of the sensing object, the device 1 can release the connection with the network device, the device 2 and the device 3, so as to reduce the occupation of resources.

[0201] It should be noted that, Figure 11 and Figure 12 respectively represent the architectures of another two sensing systems, and in the architectures shown in Figure 11 and Figure 12 , the steps of cooperative sensing of the sensing object can be performed according to the description of steps 801 to 814, which are not limited in the present application example.

[0202] In the present application example, a continuous open area oriented scenario is proposed, and a sensing and communication integrated networking architecture is proposed, in which a wideband signal, a narrowband signal and a cellular network are mixed to form a network. In the above architecture, the master device uses the cellular communication module to perform high-precision timing based on the cellular network and generate an accurate time source. At the same time, the master device uses its own narrowband communication module to discover other devices participating in the task, and performs high-precision time synchronization to other devices based on the narrowband signal, and negotiates the configuration parameters of the sensing process. Other devices use their own ultra-wideband communication module to perform time-frequency synchronization based on the ultra-wideband signal, and perform cooperative sensing according to the configuration parameters determined by negotiation, so as to overcome the limitations of single node in coverage shielding and stereoscopic sensing. Finally, multiple devices use their own narrowband communication module and cellular communication module to report the sensing result to the network device in the cellular network. In this way, the cellular network with wide area coverage is used to realize unified management and coordination of multiple sensing targets and remote high-precision sensing. That is, through the heterogeneous network multi-node (i.e., multiple devices), the global coverage, cooperative communication and cooperative sensing are realized, which can expand the remote high-precision sensing of the cellular communication module and realize the whole process sensing of multiple targets.

[0203] Secondly, in the above networking architecture, multiple devices establish a measurement session based on the cellular network and the narrowband signal to perform cooperative sensing parameter configuration, which can improve the transmission efficiency of the system. In addition, through the observation diversity gain of multi-node cooperative sensing, the overall sensing performance can also be improved.

[0204] In summary, the above technical solutions can improve the communication efficiency and the perception ability of the agent in a complex environment, and are suitable for emergency communication, public safety and group intelligence applications in the fields of intelligent manufacturing, smart home, intelligent terminal and intelligent automobile.

[0205] To implement the method of the embodiments of the present application, the embodiments of the present application further provide an information transmission device arranged on a first device, as shown in the figure, the device comprises: Figure 13

[0206] The first sending unit 1301 is configured to send first information to at least two second devices respectively, the first information is used for perceiving a first target object, the first device is located in a first network, the first network comprises the first device and the at least two second devices, the first device is also located in a second network, the coverage range of the first network is smaller than the coverage range of the second network.

[0207] The first receiving unit 1302 is configured to receive second information sent by the at least two second devices respectively, the second information represents the perception result of the first target object.

[0208] In an embodiment, the first sending unit 1301 is configured to send the first information to the at least two second devices respectively based on a first module of the first device, the first module supports at least communication between the at least two second devices and the first device through a first signal.

[0209] In an embodiment, the first sending unit 1301 is further configured to send third information to the at least two second devices respectively, the third information is used for establishing a first session between the first device and the second device, and the first session is used for information transmission between the first device and the second device.

[0210] In an embodiment, the method can further comprise a synchronization unit, wherein:

[0211] The synchronization unit is configured to obtain a time reference source through the second network, and perform time synchronization and / or frequency synchronization with the at least two second devices by using the time reference source.

[0212] In an embodiment, the synchronization unit is configured to obtain the time reference source based on a third module of the first device, and the third module supports communication with a network device through the second network.

[0213] In an embodiment, the synchronization unit is configured to:

[0214] adjust the mode of the third module from a sleep mode to a working mode.​

[0215] acquire the time reference source based on the third module.

[0216] In an embodiment, the synchronization unit is further configured to determine tenth information based on the received second information, the tenth information representing a measurement result of the first target object.

[0217] The first sending unit 1301 is further configured to send the tenth information to a network device through the second network.

[0218] In actual application, the first sending unit 1301 and the first receiving unit 1302 can be implemented by a communication interface in an information transmission device; and the synchronization unit can be implemented by a processor in the information transmission device in combination with the communication interface.

[0219] To implement the method of the embodiments of the present application, the embodiments of the present application further provide an information transmission device arranged on a second device, as shown in the following Figure 14 The device comprises:

[0220] A second receiving unit 1401 is configured to receive first information sent by a first device, the first information being used for sensing a first target object, the first device being located in a first network, the first network comprising the first device and at least two second devices, the first device also being located in a second network, the coverage range of the first network being smaller than that of the second network.

[0221] A sensing unit 1402 is configured to sense the first target object based on the first information, to obtain second information representing a sensing result of the first target object.

[0222] A second sending unit 1403 is configured to send the second information to the first device.

[0223] In an embodiment, the second receiving unit 1401 is configured to receive the first information sent by the first device based on a first module of the second device, the first module supporting at least communication between the second device and the first device through a first signal.

[0224] In an embodiment, the second device further comprises a second module, the second module supporting sensing of one or more target objects through at least a second signal, the bandwidth of the first signal being smaller than that of the second signal, and the sensing unit 1402 is configured to sense the first target object based on the second module and based on the first information, to obtain the second information.

[0225] In an embodiment, the second receiving unit 1401 is further configured to receive third information sent by the first device, the third information being used to establish a first session between the first device and the second device, and the first session being used for information transmission between the first device and the second device.

[0226] In an embodiment, the sensing unit 1402 is further configured to perform time synchronization and / or frequency synchronization with the first device by using a time reference source.

[0227] In an embodiment, the sensing unit 1402 is further configured to perform time synchronization and / or frequency synchronization with a second device other than the second device.

[0228] In actual application, the second receiving unit 1401 and the second sending unit 1403 can be implemented by a communication interface in the information transmission apparatus; and the sensing unit 1402 can be implemented by a processor in the information transmission apparatus.

[0229] It should be noted that the information transmission apparatus provided by the above embodiments is only used for example to illustrate the division of the above program modules, and in actual application, the above processing can be completed by different program modules according to needs, that is, the internal structure of the apparatus is divided into different program modules to complete all or part of the above processing. In addition, the information transmission apparatus and the information transmission method provided by the above embodiments belong to the same concept, and the specific implementation process is described in the method embodiments, which will not be repeated here.

[0230] Based on the hardware implementation of the above program modules, and in order to implement the method of the first device side in the embodiments of the present application, the embodiments of the present application further provide a first device, as shown in the following Figure 15 The first device 1500 includes:

[0231] A first communication interface 1501, which can perform information interaction with a second device;

[0232] A first processor 1502 connected with the first communication interface 1501 to realize information interaction with the second device, and used to execute a computer program to perform the method provided by one or more technical solutions of the first device side;

[0233] A first memory 1503, in which the computer program is stored.

[0234] Specifically, the first communication interface 1501 is configured to send first information to at least two second devices respectively, the first information is used for sensing a first target object, the first device is located in a first network, the first network comprises the first device and the at least two second devices, the first device is also located in a second network, a coverage range of the first network is smaller than a coverage range of the second network, and the first communication interface 1501 is further configured to receive second information sent by the at least two second devices respectively, the second information represents a sensing result of the first target object.

[0235] In an embodiment, the first communication interface 1501 is configured to send the first information to the at least two second devices respectively based on a first module of the first device, the first module supports at least communication between the at least two second devices and the first device through a first signal.

[0236] In an embodiment, the first communication interface 1501 is further configured to send third information to the at least two second devices respectively, the third information is used for establishing a first session between the first device and a second device, and the first session is used for information transmission between the first device and the second device.

[0237] In an embodiment, the first communication interface 1501 is further configured to acquire a time reference source through the second network.

[0238] The first processor 1502 is further configured to perform time synchronization and / or frequency synchronization with the at least two second devices by using the time reference source.

[0239] In an embodiment, the first communication interface 1501 is configured to acquire the time reference source based on a third module of the first device, and the third module supports communication with a network device through the second network.

[0240] In an embodiment, the first processor 1502 is configured to adjust a mode of the third module from a sleep mode to an active mode.

[0241] The first communication interface 1501 is configured to acquire the time reference source based on the third module.

[0242] In an embodiment, the first processor 1502 is further configured to determine tenth information by using the received second information, and the tenth information represents a measurement result of the first target object.

[0243] The first communication interface 1501 is further configured to send the tenth information to a network device through the second network.

[0244] It should be noted that the specific process of the first communication interface 1501 and the first processor 1502 can be understood with reference to the above method.

[0245] Of course, in actual application, various components in the first device 1500 are coupled together through the bus system 1504. It can be understood that the bus system 1504 is used to realize the connection communication between the components. In addition to including a data bus, the bus system 1504 also includes a power supply bus, a control bus, and a status signal bus. However, for the purpose of clear illustration, all kinds of buses are marked as the bus system 1504 in the Figure 15

[0246] The first memory 1503 in the embodiment of the present application is used to store various types of data to support the operation of the first device 1500. Examples of these data include: any computer programs used for operation on the first device 1500.

[0247] The method disclosed in the above embodiment of the present application can be applied to the first processor 1502 or implemented by the first processor 1502. The first processor 1502 can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware or the instruction in the form of software in the first processor 1502. The above first processor 1502 can be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The first processor 1502 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiments of the present application, the hardware decoding processor can be directly embodied to execute the completion, or the hardware and software modules in the decoding processor are combined to execute the completion. The software module can be located in the storage medium, which is located in the first memory 1503, and the first processor 1502 reads the information in the first memory 1503, and combines the hardware to complete the steps of the above method.

[0248] ​In an exemplary embodiment, the first device 1500 can be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field-Programmable Gate Arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors (Microprocessors), or other electronic elements for executing the foregoing methods.

[0249] Based on the hardware implementation of the foregoing program modules, and in order to implement the method on the second device side according to the embodiments of the present application, the embodiments of the present application further provide a second device, as shown in the figure, which comprises: Figure 16

[0250] a second communication interface 1601 capable of information interaction with the first device;

[0251] a second processor 1602 connected with the second communication interface 1601 to realize information interaction with the first device, for running a computer program, and executing the method provided by one or more technical solutions on the second device side described above;

[0252] a second memory 1603, wherein the computer program is stored on the second memory 1603.

[0253] Specifically, the second communication interface 1601 is configured to receive first information sent by the first device, wherein the first information is used for sensing a first target object, the first device is located in a first network, the first network comprises the first device and at least two second devices, the first device is also located in a second network, and the coverage range of the first network is smaller than that of the second network.

[0254] The second processor 1602 is configured to sense the first target object by using the first information to obtain second information, wherein the second information represents the sensing result of the first target object, and the second processor 1602 is further configured to send the second information to the first device through the second communication interface 1601.

[0255] ​In an embodiment, the second communication interface 1601 is configured to receive the first information sent by the first device based on a first module of the second device, the first module supporting at least communication between the second device and the first device via a first signal.

[0256] In an embodiment, the second device further comprises a second module supporting sensing of one or more target objects via a second signal, the bandwidth of the first signal being smaller than the bandwidth of the second signal; and the second processor 1602 is configured to sense the first target object based on the first information by using the second module, to obtain the second information.

[0257] In an embodiment, the second communication interface 1601 is further configured to receive third information sent by the first device, the third information being used to establish a first session between the first device and the second device, the first session being used for information transmission between the first device and the second device.

[0258] In an embodiment, the second processor 1602 is further configured to perform time synchronization and / or frequency synchronization with the first device by using a time reference source.

[0259] In an embodiment, the second processor 1602 is further configured to

[0260] perform time synchronization and / or frequency synchronization with a second device other than the second device.

[0261] It should be noted that the specific processing procedures of the second communication interface 1601 and the second processor 1602 can be understood with reference to the above method.

[0262] Of course, in actual application, various components in the second device 1600 are coupled together through a bus system 1604. It can be understood that the bus system 1604 is used to realize the connection and communication between these components. The bus system 1604 includes not only a data bus, but also a power supply bus, a control bus and a status signal bus. However, for the purpose of clear illustration, all kinds of buses are marked as the bus system 1604 in Figure 16 .

[0263] The second memory 1603 in the embodiment of the present application is used to store various types of data to support the operation of the second device 1600. Examples of these data include any computer programs used for operation on the second device 1600.

[0264] The method disclosed by the embodiments of the present application can be applied to the second processor 1602 or implemented by the second processor 1602. The second processor 1602 can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by integrated logic circuit of hardware in the second processor 1602 or instructions in the form of software. The second processor 1602 can be a general processor, DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The second processor 1602 can implement or execute each method, step and logic block disclosed in the embodiments of the present application. The general processor can be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiments of the present application, the hardware decoding processor can be directly embodied to execute the steps of the foregoing method, or the hardware and software modules in the decoding processor can be combined to execute the steps of the foregoing method. The software module can be located in a storage medium, and the storage medium is located in the second memory 1603. The second processor 1602 reads the information in the second memory 1603 and combines the hardware to complete the steps of the foregoing method.

[0265] In the exemplary embodiments, the second device 1600 can be implemented by one or more ASICs, DSPs, PLDs, CPLDs, FPGAs, general-purpose processors, controllers, MCUs, microprocessors, or other electronic elements for executing the foregoing method.

[0266] It can be understood that the memory (the first memory 1503 and the second memory 1603) of the embodiments of the present application can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. The non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM). The magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example but not limitation, many forms of RAM can be used, such as a static random access memory (SRAM), a synchronous static random access memory (SSRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDR SDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a sync link dynamic random access memory (SLDRAM), and a direct rambus random access memory (DRRAM).The memory described in the embodiments of the present application is intended to include, but not limited to, these and any other suitable types of memory.

[0267] To implement the method provided by the embodiments of the present application, the embodiments of the present application further provide an information transmission system. Figure 17 As shown in the figure, the system includes a first device 1701 and a second device 1702.

[0268] Here, it should be noted that the specific processing procedures of the first device 1701 and the second device 1702 have been described in the foregoing, and will not be described here.

[0269] In exemplary embodiments, the embodiments of the present application further provide a storage medium, i.e., a computer storage medium, specifically a computer readable storage medium, for example, including a first memory 1503 storing a computer program, the computer program being executable by a first processor 1502 of a first device 1500 to complete the steps of the foregoing first device side method, and further including a second memory 1603 storing a computer program, the computer program being executable by a second processor 1602 of a second device 1600 to complete the steps of the foregoing second device side method. The computer readable storage medium can be a FRAM, a ROM, a PROM, an EPROM, an EEPROM, a Flash Memory, a magnetic surface memory, an optical disc, or a CD-ROM, etc.

[0270] In exemplary embodiments, the embodiments of the present application further provide a computer program product including a computer program, the computer program being executable by the first processor 1502 of the first device 1500 to complete the steps of the foregoing first device side method, or the computer program being executable by the second processor 1602 of the second device 1600 to complete the steps of the foregoing second device side method.

[0271] It should be noted that "first", "second", etc. are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0272] In addition, the technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict.

[0273] The above is only a preferred embodiment of the present application, and is not intended to limit the protection scope of the present application.

Claims

1. A method of information transmission, characterized in that, The method is applied to a first device, and comprises: sending first information to at least two second devices respectively, the first information being used for sensing a first target object, the first device being located in a first network, the first network comprising the first device and the at least two second devices, the first device also being located in a second network, a coverage range of the first network being smaller than a coverage range of the second network; receiving second information sent by the at least two second devices respectively, the second information representing sensing results of the first target object.

2. The method of claim 1, wherein, The sending of the first information to the at least two second devices respectively comprises: sending the first information to the at least two second devices respectively based on a first module of the first device, the first module supporting at least communication between the at least two second devices and the first device through a first signal.

3. The method of claim 2, wherein, Each second device comprises the first module and a second module, the second module supporting sensing of one or more target objects through a second signal, a bandwidth of the first signal being smaller than a bandwidth of the second signal.

4. The method of claim 1, wherein, The method further comprises: sending third information to the at least two second devices respectively, the third information being used for establishing a first session between the first device and a second device, the first session being used for information transmission between the first device and the second device.

5. The method of claim 1, wherein, The third information comprises one or more of the following: fourth information, the fourth information being used for indicating the first session; fifth information, the fifth information representing a duration of the first session; sixth information, the sixth information representing frequency domain resources of the first session; seventh information, the seventh information being used for indicating a first sequence associated with the first session; eighth information, the eighth information comprising measurement configuration information of the second device; ninth information, the ninth information representing a triggering condition for sensing the first target object.

6. The method of claim 1, wherein, The method further comprises: obtaining a time reference source through the second network; synchronizing time and / or frequency with the at least two second devices by using the time reference source.

7. The method of claim 6, wherein, The obtaining of the time reference source comprises: obtaining the time reference source based on a third module of the first device, the third module supporting communication with a network device through the second network.

8. The method of claim 7, wherein, The obtaining of the time reference source based on the third module of the first device comprises: adjusting a mode of the third module from a sleep mode to an active mode; obtaining the time reference source based on the third module.

9. The method according to any one of claims 1 to 8, characterized in that, The method further comprises: determining tenth information representing a measurement result of the first target object by using the received second information; sending the tenth information to a network device through the second network.

10. An information transmission method characterized by comprising: The method is applied to a second device, and comprises: receiving first information sent by a first device, the first information being used for sensing a first target object, the first device being located in a first network, the first network comprising the first device and the at least two second devices, the first device also being located in a second network, a coverage range of the first network being smaller than a coverage range of the second network; The first information is used to perceive the first target object, and second information is obtained, the second information representing a perception result of the first target object; The second information is sent to the first device.

11. The method of claim 10, wherein, The first information sent by the first device is received, including: The first information sent by the first device is received based on a first module of the second device, the first module supporting at least communication between the second device and the first device through a first signal.

12. The method of claim 11, wherein, The second device further comprises a second module, the second module supporting at least perception of one or more target objects through a second signal, a bandwidth of the first signal being smaller than a bandwidth of the second signal; The first information is used to perceive the first target object, and second information is obtained, including: The first information is used to perceive the first target object based on the second module, and the second information is obtained.

13. The method of claim 10, wherein, The method further comprises: Third information sent by the first device is received, the third information being used to establish a first session between the first device and the second device, the first session being used for information transmission between the first device and the second device.

14. The method of claim 13, wherein, The third information comprises one or more of: Fourth information, the fourth information being used to indicate the first session; Fifth information, the fifth information representing a duration of the first session; Sixth information, the sixth information representing frequency domain resources of the first session; Seventh information, the seventh information being used to indicate a first sequence associated with the first session; Eighth information, the eighth information comprising measurement configuration information of the second device; Ninth information, the ninth information representing a trigger condition for perception of the first target object.

15. The method of claim 10, wherein, The method further comprises: Time synchronization and / or frequency synchronization with the first device is performed by using a time reference source.

16. The method of claim 15, wherein, The time reference source is obtained by the first device based on a third module, the third module supporting communication with a network device through the second network.

17. The method according to any one of claims 10 to 16, characterized in that, The method further comprises: Time synchronization and / or frequency synchronization with a second device other than the second device is performed.

18. An information transmission apparatus characterized by comprising: The first device is provided with: A first sending unit, configured to send first information to at least two second devices respectively, the first information being used to perceive a first target object, the first device being located in a first network, the first network comprising the first device and the at least two second devices, the first device also being located in a second network, a coverage range of the first network being smaller than a coverage range of the second network; A first receiving unit, configured to receive second information sent by the at least two second devices respectively, the second information representing a perception result of the first target object.

19. An information transmission apparatus characterized by comprising: The second device is provided with: A second receiving unit, configured to receive first information sent by a first device, the first information being used to perceive a first target object, the first device being located in a first network, the first network comprising the first device and at least two second devices, the first device also being located in a second network, a coverage range of the first network being smaller than a coverage range of the second network; The perception unit is configured to perceive the first target object by using the first information, and obtain second information, which represents a result of the perception of the first target object. The second sending unit is configured to send the second information to the first device.

20. A first device, comprising: The method comprises: The first processor and the first communication interface; wherein The first communication interface is configured to send first information to at least two second devices respectively, the first information being used for perceiving a first target object, the first device being located in a first network, the first network comprising the first device and the at least two second devices, the first device also being located in a second network, a coverage range of the first network being smaller than a coverage range of the second network; and receive second information sent by the at least two second devices respectively, the second information representing a result of the perception of the first target object.

21. A second device, comprising: The method comprises: The second processor and the second communication interface; wherein The second communication interface is configured to receive first information sent by a first device, the first information being used for perceiving a first target object, the first device being located in a first network, the first network comprising the first device and at least two second devices, the first device also being located in a second network, a coverage range of the first network being smaller than a coverage range of the second network; The second processor is configured to perceive the first target object by using the first information, and obtain second information, which represents a result of the perception of the first target object; and send the second information to the first device through the second communication interface.

22. A first device, comprising: The method comprises: The first processor and the first memory for storing a computer program capable of running on the processor, When the first processor runs the computer program, the first processor is configured to execute the steps of the method according to any one of claims 1 to 9.

23. A second device, comprising: The method comprises: The second processor and the second memory for storing a computer program capable of running on the processor, When the second processor runs the computer program, the second processor is configured to execute the steps of the method according to any one of claims 10 to 17.

24. A storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to implement the steps of the method according to any one of claims 1 to 9, or implement the steps of the method according to any one of claims 10 to 17.

25. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method according to any one of claims 1 to 9, or implement the steps of the method according to any one of claims 10 to 17.

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