Method and apparatus for generating an environmental map

Abstract

This application provides a method and apparatus for generating an environmental map, relating to the field of wireless positioning technology. The method includes: acquiring an environmental map of a target area; acquiring the relative position coordinates of a wireless device in the target area, the relative position coordinates indicating the position of the wireless device relative to a positioning device in the target area; and marking the position of the wireless device on the environmental map based on the relative position coordinates of the wireless device and the absolute position coordinates of the positioning device in the target area. This application can conveniently obtain an environmental map marked with the positions of wireless devices, improving the practicality of the environmental map and the level of intelligence in users' lives.

Description

Technical Field

[0001] This application relates to the field of wireless positioning technology, and in particular to a method and apparatus for generating environmental maps. Background Technology

[0002] Currently, Simultaneous Localization and Mapping (SLAM) technology has been widely applied in fields such as autonomous driving, robotic vacuum cleaners, and drones. SLAM technology, based on LiDAR (Light Detection and Ranging) or cameras, and inertial measurement units (IMUs), can generate environmental maps and determine its real-time position while moving.

[0003] However, current environment maps generated based on SLAM technology only display the building conditions of the environment (such as the walls of a home), which is relatively simple and has poor practicality. Summary of the Invention

[0004] This application provides a method and apparatus for generating an environmental map, which can conveniently obtain an environmental map marked with the locations of wireless devices, improving the practicality of the environmental map and enhancing the level of intelligence in users' lives. The technical solution is as follows:

[0005] Firstly, this application provides a method for generating an environmental map, the method comprising: acquiring an environmental map of a target area; acquiring the relative position coordinates of a wireless device in the target area, the relative position coordinates indicating the position of the wireless device relative to a positioning device in the target area; and marking the position of the wireless device in the environmental map based on the relative position coordinates of the wireless device and the absolute position coordinates of the positioning device in the target area.

[0006] The method provided in this application can not only generate an environmental map of the target area, but also determine the location of each wireless device in the target area and mark the determined locations of the wireless devices on the environmental map. In this way, an environmental map with marked wireless device locations can be easily obtained without manually marking the locations on the map. This facilitates subsequent applications based on the environmental map with marked wireless device locations, improving the practicality of the environmental map and the level of intelligence in users' lives.

[0007] In one possible implementation, obtaining the relative position coordinates of a wireless device in a target area includes: obtaining at least one relative position coordinate of the wireless device, wherein the at least one relative position coordinate is obtained by locating the wireless device at at least one location of the positioning device in the target area; and marking the location of the wireless device on an environmental map based on the relative position coordinates of the wireless device and the absolute position coordinates of the positioning device in the target area, which includes: marking the location of the wireless device on an environmental map based on the at least one relative position coordinate and the absolute position coordinates of the positioning device at at least one location.

[0008] In this way, not only can the location of a wireless device be marked based on a relative position coordinate of the wireless device and an absolute position coordinate of the positioning device at a location, but the location of a wireless device can also be marked on an environmental map based on multiple relative position coordinates of the wireless device and the absolute position coordinates of the positioning device at multiple locations. This can reduce the impact of random errors in a single positioning and improve the accuracy of the marked location of the wireless device.

[0009] In one possible implementation, the method further includes: obtaining a first relative position coordinate between the first wireless device and the second wireless device based on the absolute position coordinates of the first wireless device and the second wireless device marked in the environment map; obtaining a second relative position coordinate between the first wireless device and the second wireless device, the second relative position coordinate being obtained by positioning between the first wireless device and the second wireless device; and re-marking the positions of the first wireless device and / or the second wireless device in the environment map according to the first relative position coordinate and the second relative position coordinate.

[0010] The method provided in this application can obtain the second relative position coordinates obtained by positioning the first wireless device and the second wireless device, and can obtain the first relative position coordinates between the first wireless device and the second wireless device based on the absolute position coordinates of the first wireless device and the second wireless device marked in the environmental map. Thus, the second relative position coordinates and the first relative position coordinates can be fused, and the position of the first wireless device and / or the second wireless device can be calibrated according to the fusion result, thereby further improving the accuracy of the position of the wireless device marked in the environmental map.

[0011] In one possible implementation, the method further includes: obtaining at least one third relative position coordinate of the wireless device being sought, wherein the at least one third relative position coordinate is obtained by positioning between the wireless device being sought and at least one third wireless device, and the absolute position coordinate of the third wireless device is marked in the environmental map; and marking the position of the wireless device being sought in the environmental map based on the at least one third relative position coordinate and the absolute position coordinate of the at least one third wireless device marked in the environmental map.

[0012] The method provided in this application can mark the location of the wireless device to be searched on the environmental map based on the location of the wireless device that has been marked. This allows users to easily mark the location of the wireless device to be searched on the environmental map, so that users can directly understand the specific location of the wireless device to be searched, instead of searching for the wireless device aimlessly, thus improving the convenience of users' lives.

[0013] In one possible implementation, marking the location of a wireless device on an environmental map based on at least one relative position coordinate and the absolute position coordinates of the positioning device at at least one location includes: determining at least one first absolute position coordinate of the wireless device based on at least one relative position coordinate and the absolute position coordinates of the positioning device at at least one location; obtaining the absolute position coordinates of the wireless device in a target area based on the at least one first absolute position coordinate; and marking the location of the wireless device on an environmental map based on the absolute position coordinates of the wireless device in the target area.

[0014] In the method provided in this application, at least one first absolute position coordinate of the wireless device can be obtained based on at least one relative position coordinate of the wireless device determined by the positioning device at at least one location. Subsequently, the obtained absolute position coordinates of the wireless device can be determined based on these at least one first absolute position coordinates. In this way, by fusing at least one first absolute position coordinate determined at least once, random errors caused by single positioning can be eliminated, thereby improving the accuracy of the location of the wireless device marked on the environmental map.

[0015] Secondly, this application provides an environmental map generation apparatus, comprising: a first acquisition module for acquiring an environmental map of a target area; a second acquisition module for acquiring the relative position coordinates of a wireless device in the target area, the relative position coordinates indicating the position of the wireless device relative to a positioning device in the target area; and a first annotation module for annotating the position of the wireless device in the environmental map based on the relative position coordinates of the wireless device and the absolute position coordinates of the positioning device in the target area.

[0016] In one possible implementation, the second acquisition module is specifically used to: acquire at least one relative position coordinate of the wireless device, the at least one relative position coordinate being the location of the positioning device at least one location in the target area, and locate the wireless device; the first annotation module is specifically used to: annotate the location of the wireless device in the environment map based on the at least one relative position coordinate and the absolute position coordinate of the positioning device at the at least one location.

[0017] In one possible implementation, the device further includes: a third acquisition module, used to obtain a first relative position coordinate between the first wireless device and the second wireless device based on the absolute position coordinates of the first wireless device and the second wireless device marked in the environmental map; a fourth acquisition module, used to acquire a second relative position coordinate between the first wireless device and the second wireless device, the second relative position coordinate being obtained by positioning between the first wireless device and the second wireless device; and a second annotation module, used to re-annotate the positions of the first wireless device and / or the second wireless device in the environmental map according to the first relative position coordinate and the second relative position coordinate.

[0018] In one possible implementation, the device further includes: a fifth acquisition module, configured to acquire at least one third relative position coordinate of the sought wireless device, wherein the at least one third relative position coordinate is obtained by positioning between the sought wireless device and at least one third wireless device, and the absolute position coordinates of the third wireless device are marked in the environmental map; and a third annotation module, configured to mark the position of the sought wireless device in the environmental map based on the at least one third relative position coordinate and the absolute position coordinates of the at least one third wireless device marked in the environmental map.

[0019] In one possible implementation, the first annotation module is specifically used to: determine at least one first absolute position coordinate of the wireless device based on at least one relative position coordinate and the absolute position coordinate of the positioning device at at least one location; obtain the absolute position coordinate of the wireless device in the target area based on the at least one first absolute position coordinate; and annotate the location of the wireless device in the environmental map based on the absolute position coordinate of the wireless device in the target area.

[0020] Thirdly, this application provides a computer device including a processor and a memory. The memory is used to store a computer program for executing the environmental map generation method provided in the first aspect above, and the processor is configured to execute the computer program stored in the memory to implement the environmental map generation method of the first aspect above.

[0021] Optionally, the computer device may also include a communication bus for establishing a connection between the processor and the memory.

[0022] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed on a computer device, cause the computer device to perform the steps of the environmental map generation method described in the first aspect.

[0023] Fifthly, this application provides a computer program product containing instructions that, when executed on a computer device, cause the computer device to perform the steps of the environmental map generation method of the first aspect described above. Alternatively, this application provides a computer program that, when executed on a computer, causes the computer to perform the steps of the environmental map generation method of the first aspect described above.

[0024] The technical effects achieved by the second, third, fourth, and fifth aspects mentioned above are similar to those achieved by the corresponding technical means in the first aspect, and will not be repeated here. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application;

[0026] Figure 2 This is a flowchart illustrating a method for generating an environmental map according to an embodiment of this application;

[0027] Figure 3 This is an exemplary schematic diagram of ranging based on SLP / UWB technology;

[0028] Figure 4 This is an exemplary schematic diagram of angle measurement based on SLP / UWB technology;

[0029] Figure 5 This is an exemplary schematic diagram of determining the relative position coordinates of a wireless device based on SLP / UWB technology;

[0030] Figure 6 This is a schematic diagram illustrating the relative positions of a positioning device and a wireless device according to an embodiment of this application;

[0031] Figure 7 This is a flowchart illustrating another method for generating an environment map provided in an embodiment of this application;

[0032] Figure 8 This is a schematic diagram illustrating the relative positions of a positioning device and a wireless device according to an embodiment of this application;

[0033] Figure 9 This is a schematic diagram illustrating the relative positions of a positioning device and a wireless device according to an embodiment of this application;

[0034] Figure 10 This is a flowchart illustrating another method for generating an environment map provided in an embodiment of this application;

[0035] Figure 11 This is a schematic diagram of the structure of an environmental map generation device provided in an embodiment of this application. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] The terms "first," "second," etc., used in the specification, embodiments, claims, and drawings of this application are for distinguishing purposes only and should not be construed as indicating or implying relative importance or order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, such as including a series of steps or units. A method, system, product, or apparatus is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0038] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0039] Before providing a detailed explanation of the environmental map generation method provided in the embodiments of this application, the terms, concepts, application scenarios, and implementation environments involved in the embodiments of this application will be introduced first.

[0040] First, some terms and concepts that may be involved in the embodiments of this application will be explained.

[0041] 1) SLAM technology: mainly used for robots or unmanned driving systems to perform localization and map building simultaneously in unknown or incompletely known environments.

[0042] Taking robots as an example, the basic process of SLAM technology is as follows:

[0043] 1. Sensor Data Acquisition: The system collects environmental data through sensors, which may include LiDAR, depth cameras, red-green-blue (RGB) cameras, inertial measurement units, ultrasonic sensors, etc.

[0044] 2. Feature extraction and matching: The system extracts features from the collected data and matches these features with previously collected features to determine the robot's position and the map of the environment.

[0045] 3. Map building and updating: The system gradually builds and updates the environment map based on the matching results.

[0046] 4. Position estimation: The system uses the constructed map to estimate the robot's current position and orientation.

[0047] 2) Spark Link Positioning (SLP) Technology: SLP possesses high-precision positioning capabilities and is primarily used in scenarios such as digital car keys, remote controls, and smart door locks. Through high-precision distance measurement and positioning, it provides users with more accurate and convenient positioning services.

[0048] 3) Ultra-wideband (UWB) technology: UWB is a carrier-free communication technology that does not use a sinusoidal carrier. Instead, it uses non-sinusoidal narrow pulses in the nanosecond to picosecond range to transmit data. The spectrum covered by these pulses ranges from DC to gigahertz (GHz). By transmitting extremely low-power signals over a wide spectrum, it can achieve data transmission rates of hundreds to thousands of megabits per second within a range of about 10 meters.

[0049] 4) Networking: This refers to network construction technology, which is the process of connecting multiple computers or devices through network equipment and transmission media to form a computer network that can communicate with each other and share resources. Common networking technologies include Ethernet networking technology and Asynchronous Transfer Mode (ATM) local area network (LAN) technology.

[0050] Next, the application scenarios and implementation environments involved in the embodiments of this application will be introduced.

[0051] Currently, SLAM technology is widely used in fields such as autonomous driving, robotic vacuum cleaners, and drones. SLAM technology allows for the real-time generation of environmental maps and the determination of a device's own real-time location during movement. For example, in a home environment, SLAM technology can identify the positions of walls to construct an environmental map.

[0052] However, despite significant progress in many fields, SLAM technology still has limitations in some aspects. Specifically, current environmental maps generated by SLAM technology typically only show the building structures of an area, such as walls and fences, without labeling the specific locations of individual devices within the area.

[0053] Based on this, this application provides a method for generating an environmental map, which can determine the location of each wireless device in a region while generating an environmental map of that region, and mark the determined locations of the wireless devices on the environmental map. This eliminates the need for manual marking of wireless device locations on the environmental map, allowing for convenient acquisition of an environmental map with marked wireless device locations. This facilitates other applications based on the marked environmental map, further improving the level of intelligence in users' lives.

[0054] The environmental map generation method provided in this application is executed by a computer device, such as a personal computer (PC), mobile phone, smartphone, personal digital assistant (PDA), pocket personal computer (PPC), tablet computer, smart car system, etc.

[0055] Those skilled in the art should understand that the above-described computer devices are merely examples, and other existing or future computer devices that are applicable to the embodiments of this application should also be included within the scope of protection of the embodiments of this application, and are hereby incorporated by reference.

[0056] It should be noted that the application scenarios and implementation environments described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the emergence of new application scenarios and the evolution of implementation environments, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0057] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a computer device according to an embodiment of the present application. The computer device includes at least one processor 101, a communication bus 102, a memory 103, and at least one communication interface 104.

[0058] Processor 101 can be a general-purpose CPU, a network processor (NP), a microprocessor, or one or more integrated circuits for implementing the solutions of this application, such as application-specific integrated circuits (ASICs), programmable logic devices (PLDs), or combinations thereof. The aforementioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), generic array logic (GAL), or any combination thereof.

[0059] The communication bus 102 is used to transmit information between the aforementioned components. The communication bus 102 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, it is represented by only one thick line in the figure, but this does not mean that there is only one bus or one type of bus.

[0060] The memory 103 may be a read-only memory (ROM), a random access memory (RAM), an electrically erasable programmable read-only memory (EEPROM), an optical disc (including a compact disc read-only memory (CD-ROM), a compressed optical disc, a laser disc, a digital versatile optical disc, a Blu-ray disc, etc.), a magnetic disk storage medium, or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but not limited thereto. The memory 103 may exist independently and be connected to the processor 101 via the communication bus 102. The memory 103 may also be integrated with the processor 101.

[0061] Communication interface 104 uses any transceiver-like device for communicating with other devices or communication networks. Communication interface 104 includes a wired communication interface and may also include a wireless communication interface. The wired communication interface may be, for example, an Ethernet interface. The Ethernet interface may be an optical interface, an electrical interface, or a combination thereof. The wireless communication interface may be a wireless local area network (WLAN) interface, a cellular network communication interface, or a combination thereof.

[0062] As an example, processor 101 may include one or more CPUs, such as Figure 1 CPU0 and CPU1 are shown in the diagram.

[0063] As an example, a computer device may include multiple processors, such as Figure 1 The processors 101 and 105 shown are illustrated. Each of these processors may be a single-core processor or a multi-core processor. Here, "processor" may refer to one or more devices, circuits, and / or processing cores used to process data (such as computer program instructions).

[0064] In some embodiments, the computer device may further include an output device 106. Figure 1 (not shown in the image) and input device 107 ( Figure 1 (Not shown in the image). Output device 106 communicates with processor 101 and can display information in various ways. For example, output device 106 can be a liquid crystal display (LCD), a light-emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector, etc. Input device 107 communicates with processor 101 and can receive user input in various ways. For example, input device 107 can be a mouse, keyboard, touch screen device, or sensing device, etc.

[0065] In some embodiments, memory 103 is used to store program code 110 for executing the scheme of this application, and processor 101 can execute the program code 110 stored in memory 103. The program code 110 may include one or more software modules, and the computer device can implement the following by using processor 101 and the program code 110 in memory 103. Figure 2 The corresponding embodiment provides a method for generating an environment map.

[0066] The method for generating environmental maps provided in the embodiments of this application will be explained in detail below.

[0067] Figure 2 This is a flowchart illustrating a method for generating an environmental map according to an embodiment of this application. This method can be applied to the above-mentioned... Figure 1 The computer equipment shown. Please refer to... Figure 2 The method may include, but is not limited to, S201, S202 and S203.

[0068] S201: Obtain the environmental map of the target area.

[0069] The target area can be an indoor or outdoor area, such as a family area, smart factory, airport, large shopping mall, hotel, underground parking lot, etc. in an indoor setting, or a yard, basketball court, playground, etc. in an outdoor setting.

[0070] The environmental map obtained in S201 includes the basic environmental conditions of the target area, such as the shape of the target area, the edges of the area, and the buildings inside the area.

[0071] For example, if the target area is a family area with three rooms, then the environmental map obtained in S201 may include the wall locations at the edge of the family area, as well as the wall locations of the three rooms inside the family area.

[0072] In some embodiments, the environmental map of the target area is determined by a positioning device. The positioning device can be an electronic device equipped with wireless positioning technology, such as a robotic vacuum cleaner or a drone.

[0073] For example, the positioning device can be equipped with SLAM technology. As the positioning device moves within a target area, it can acquire basic environmental data of the target area based on SLAM technology (e.g., data indicating the shape, edges, and internal building conditions of the target area), and generate an environmental map of the target area based on this basic environmental data. Alternatively, the positioning device can also send the acquired basic environmental data of the target area to other devices (e.g.,...). Figure 1 The computer device shown is used to generate an environmental map of the target area based on basic environmental data of the target area by other devices.

[0074] For example, the positioning device can execute the above process in response to a user instruction. Furthermore, the positioning device can also execute the above process at other times, such as when it detects a change in the target area, or when it detects a change in its own motion state. This application does not specifically limit the scope of these executions.

[0075] S202: Obtain the relative position coordinates of the wireless device in the target area, which indicate the position of the wireless device relative to the positioning device in the target area.

[0076] Among them, wireless devices are electronic devices equipped with wireless positioning technology (such as SLP / UWB technology). During movement, positioning devices can form networks and transmit data with visible wireless devices in the vicinity, thereby determining the relative position coordinates of the wireless devices.

[0077] For example, the positioning device can maintain a list of identifiers for networked wireless devices. These identifiers can include the wireless device's identification code (ID), media access control address (MAC) address, or name. The positioning device can acquire the identifiers of nearby visible wireless devices during movement and match them with the maintained identifier list to correlate the determined relative position coordinates with the wireless devices in the maintained identifier list.

[0078] In some embodiments, when obtaining the relative position coordinates of a wireless device in a target area, at least one relative position coordinate of the wireless device may be obtained.

[0079] In one possible implementation, at least one relative position coordinate of the wireless device can be obtained by locating the wireless device at at least one location of the positioning device in the target area. There is a one-to-one correspondence between the at least one relative position coordinate of the wireless device and the at least one location of the positioning device in the target area.

[0080] The following describes the specific process by which a positioning device locates a wireless device at a position of the target device and obtains the relative position coordinates of the wireless device:

[0081] For example, both the positioning device and the wireless device are equipped with SLP / UWB technology. The positioning device can determine its own position in the target area in real time. The positioning device can determine its absolute position coordinates in the target area from a given location, and use SLP / UWB technology to determine its relative position relationship with the wireless device, thereby determining the relative position coordinates of the wireless device.

[0082] For example, after determining its relative positional relationship (including distance and angle) with the wireless device, the positioning device can calculate the corresponding relative position coordinates based on the determined relative positional relationship. Alternatively, after determining its relative positional relationship (including distance and angle), the positioning device can send the determined relative positional relationship to other devices (e.g., [the wireless device]). Figure 1 The computer device shown enables other devices to calculate the corresponding relative position coordinates based on the received relative position relationship.

[0083] When a positioning device determines its relative position to a wireless device using SLP / UWB technology, it can perform a one-way measurement on the wireless device to obtain the relative position between the two devices.

[0084] Alternatively, the wireless device can perform a one-way measurement on the positioning device to determine the relative positional relationship between the wireless device and the positioning device, and then send this relative positional relationship to the positioning device so that the positioning device can obtain its own relative positional relationship with the wireless device.

[0085] Alternatively, the positioning device and the wireless device can perform bidirectional measurements, with the positioning device acquiring two relative positional relationships between itself and the wireless device. Then, the positioning device can fuse these two relative positional relationships (e.g., by taking the average) and determine a relative position coordinate for the wireless device based on the fused relationship. This improves the accuracy of the determined relative position coordinates for the wireless device.

[0086] In addition, in some embodiments, the positioning device can also perform multiple positioning operations on the wireless device at the same location in the target area, and fuse the multiple positioning results (e.g., take the average value) to determine a relative position coordinate of the wireless device.

[0087] The following is a brief introduction to the implementation principle of how positioning devices determine their relative position (including distance and angle) with wireless devices using SLP / UWB technology and obtain relative position coordinates.

[0088] 1. Determine the distance relationship

[0089] Positioning devices can use SLP / UWB technology to transmit pulse radio waves (IR) and calculate the time of flight (ToF) to achieve ranging, thereby determining the distance between themselves and wireless devices.

[0090] Here, ToF refers to the time elapsed from when the positioning device transmits IR to when the wireless device receives the IR.

[0091] Please refer to Figure 3 , Figure 3 This is an exemplary schematic diagram of distance measurement based on SLP / UWB technology. (As shown...) Figure 3 As shown, positioning device 1 transmits an IR signal to wireless device 1. After receiving the IR signal transmitted by positioning device 1, wireless device 1 responds for a time T. reply Then, a response message (also in the form of a pulsed radio wave) is returned to positioning device 1, which includes the response time T. reply After receiving the response information returned by the wireless device 1, the positioning device 1 calculates the cycle time T from sending the IR signal to the wireless device 1 to receiving the response information. loop .

[0092] Then, positioning device 1 can determine the response time T from the response information.reply and cycle time T loop The Time-of-Flight (ToF) is calculated using the following formula 1:

[0093] ToF = (T loop -T reply ) / c, Formula 1.

[0094] Furthermore, the positioning device 1 can calculate the distance D between itself and the wireless device 1 using the following formula 2, thus determining the distance relationship between itself and the wireless device 1.

[0095] D=ToF*c, formula 2.

[0096] Where c is the speed of light.

[0097] 2. Determine the angular relationship

[0098] Angle measurement can typically be implemented using multiple antennas. For example, the angular relationship between the positioning device and the wireless device can be determined by the time difference between the IR emitted by the positioning device and the different antennas of the wireless device.

[0099] Please refer to Figure 4 , Figure 4 This is an exemplary schematic diagram of angle measurement based on SLP / UWB technology. For example... Figure 4 As shown, after positioning device 1 (not shown) transmits IR to wireless device 1 (not shown), antennas 1 and 2 of wireless device 1 receive the IR at different times. For example, if the time difference between antennas 1 and 2 receiving the IR is T, and the distance between antennas 1 and 2, i.e., the antenna spacing, is d, then the path difference M of the IR received by antennas 1 and 2 can be calculated according to the following formula 3. Then, the receiving angle θ of wireless device 1 for the IR transmitted by positioning device 1 can be calculated according to formula 4, thus obtaining the angular relationship between positioning device 1 and wireless device 1.

[0100] M = T * c, Formula 3.

[0101]

[0102] 3. Determine the relative position coordinates

[0103] For example, please refer to Figure 5 Based on the distance and angle relationship determined above, positioning device 1 can locate wireless device 1 using polar coordinates, and obtain the relative position coordinates of wireless device 1 in polar coordinate form as (D, θ).

[0104] As a concrete example, such as Figure 6As shown, when locating wireless device 1, positioning device 1 can create a Cartesian coordinate system in the target area and determine its absolute position coordinates in the target area as (1, 1). Positioning device 1 can also measure its relative position relationship with wireless device 1, including distance and angle, using SLP / UWB technology. For example, positioning device 1 can measure the distance between itself and wireless device 1 as 2.82, and in the current coordinate system, with the x-axis as 0°, measure the angle between itself and wireless device 1 as 45°. Therefore, the relative position coordinates of wireless device 1 in polar coordinates are (2.82, 45°), and the relative position coordinates of wireless device 1 in Cartesian coordinates are (2, 2).

[0105] For example, both the positioning device and the wireless device are equipped with SLP / UWB technology, and the positioning device is also equipped with SLAM technology. In combination with the above-described S201, the positioning device can generate an environmental map based on SLAM technology while moving in the target area, and can determine at least one relative position coordinate of the wireless device based on SLP / UWB technology at at least one location during the movement.

[0106] S202 can be executed before S201, after S201, or in parallel with S201. This application embodiment does not specifically limit the execution order of S202 and the above-mentioned S201.

[0107] Following S201 and S202, the method also includes S203.

[0108] S203: Mark the location of the wireless device on the environmental map based on the relative position coordinates of the wireless device and the absolute position coordinates of the positioning device in the target area.

[0109] Referring to the aforementioned S202, after obtaining at least one relative position coordinate of the wireless device, in S203, the location of the wireless device can be marked on the environmental map based on the at least one relative position coordinate and the absolute position coordinate of the positioning device at the at least one location.

[0110] In this way, not only can the location of a wireless device be marked based on a relative position coordinate of the wireless device and an absolute position coordinate of the positioning device at a location, but the location of a wireless device can also be marked on an environmental map based on multiple relative position coordinates of the wireless device and the absolute position coordinates of the positioning device at multiple locations. This can reduce the impact of random errors in a single positioning and improve the accuracy of the marked location of the wireless device.

[0111] For example, the location of the wireless device can be marked on an environmental map based on at least one relative position coordinate of the wireless device and the absolute position coordinate of the positioning device at the at least one location by the following steps (1)-(3).

[0112] Step (1): Based on the at least one relative position coordinate and the absolute position coordinate of the positioning device at at least one location, determine at least one first absolute position coordinate of the wireless device.

[0113] As a concrete example, please continue to refer to Figure 6 .like Figure 6 As shown, for example, one relative position coordinate of wireless device 1 is (2, 2), which is determined by the position indicated by the absolute position coordinate (1, 1) of positioning device 1. Another relative position coordinate of wireless device 1 is also (2, 2), which is determined by the position indicated by the absolute position coordinate (1, 2) of positioning device 1. Then, based on the relative position coordinate (2, 2) of wireless device 1 and the absolute position coordinate (1, 1) of positioning device 1, we can obtain a first absolute position coordinate of wireless device 1 as (3, 3). Based on the other relative position coordinate (2, 2) of wireless device 1 and the absolute position coordinate (1, 2) of positioning device 1, we can determine the other first absolute position coordinate of wireless device 1 as (3, 4).

[0114] Step (2): Based on the at least one first absolute position coordinate, obtain the absolute position coordinates of the wireless device in the target area.

[0115] For example, the absolute position coordinates of the wireless device in the target area can be determined based on the at least one first absolute position coordinate by calculating the average, mode, or median.

[0116] As a concrete example, let's continue to combine Figure 6 To illustrate, the two first absolute position coordinates of wireless device 1 are (3, 3) and (3, 4). Then, the average of these two first absolute position coordinates can be calculated to obtain the absolute position coordinates of wireless device 1 in the target area as (3, 3.5).

[0117] Step (3): Based on the absolute location coordinates of the wireless device in the target area, mark the location of the wireless device on the environment map.

[0118] For example, the coordinate system created by the positioning device when locating the wireless device can be obtained, and the location of the wireless device can be marked on the environmental map based on the coordinate system and the absolute position coordinates of the wireless device in the target area.

[0119] In this embodiment, at least one first absolute position coordinate of the wireless device can be obtained based on at least one relative position coordinate of the wireless device determined by the positioning device at at least one location. Subsequently, the obtained absolute position coordinates of the wireless device can be determined based on these at least one first absolute position coordinates. Thus, by fusing at least one first absolute position coordinate determined at least once, random errors caused by single positioning can be eliminated, thereby improving the accuracy of the location of the wireless device marked on the environmental map.

[0120] The method provided in this application not only generates an environmental map of the target area, but also determines the location of each wireless device in the target area and marks the determined locations of the wireless devices on the environmental map. This eliminates the need for manual marking of wireless device locations on the environmental map, allowing for convenient acquisition of an environmental map with marked locations. This facilitates subsequent applications based on the environmental map, improving the practicality of the environmental map and the level of intelligence in users' lives.

[0121] Figure 7 This is a flowchart illustrating another method for generating an environment map provided in this application embodiment. This method can be applied to the above-mentioned... Figure 1 The computer equipment shown. Figure 7 The method for generating the environmental map shown can be combined with Figure 2 This can be implemented using any of the embodiments shown in the method for generating the environment map. Please refer to... Figure 7 The method may include, but is not limited to, S201, S202, S203, S701, S702 and S703.

[0122] For S201, S202, and S203, please refer to the above. Figure 2 The descriptions in the corresponding embodiments will not be repeated here.

[0123] Following S203, the method may also include S701.

[0124] S701: Based on the absolute position coordinates of the first wireless device and the second wireless device marked on the environment map, obtain the first relative position coordinates between the first wireless device and the second wireless device.

[0125] The first relative position coordinates between the first wireless device and the second wireless device may include relative position coordinates indicating the position of the first wireless device relative to the second wireless device, and / or relative position coordinates indicating the position of the second wireless device relative to the first wireless device.

[0126] In some embodiments, in S203 above, if the coordinate system created by the positioning device when positioning the wireless device is obtained, and the absolute position coordinates of the wireless device are obtained, then in S701, the absolute position coordinates of the first wireless device and the second wireless device obtained in S203 can be calculated to obtain the first relative position coordinates between the first wireless device and the second wireless device.

[0127] In other embodiments, a coordinate system can be created in the environment map, and the absolute position coordinates of the first and second wireless devices in that coordinate system can be obtained based on the positions of the first and second wireless devices marked on the environment map. Then, the first relative position coordinates between the first and second wireless devices can be calculated from the obtained absolute position coordinates.

[0128] As a concrete example, suppose a Cartesian coordinate system is created in an environment map, and the absolute position coordinates of the first wireless device are (2, 2) and the absolute position coordinates of the second wireless device are (3, 1). Then, the first relative position coordinates indicating the position of the first wireless device relative to the second wireless device are (-1, 1), and the first relative position coordinates indicating the position of the second wireless device relative to the first device are (1, -1).

[0129] S702: Obtain the second relative position coordinates between the first wireless device and the second wireless device, which are obtained by positioning between the first wireless device and the second wireless device.

[0130] S702 can be performed before or before any of the above steps; this application does not impose specific restrictions.

[0131] The first wireless device and the second wireless device can form a network with each other, and then use SLP / UWB technology to locate each other and obtain the first relative position coordinates between the first wireless device and the second wireless device.

[0132] In one example, the first wireless device can perform unidirectional measurement on the second wireless device using SLP / UWB technology, and the measured second relative position coordinates include relative position coordinates indicating the position of the second wireless device relative to the first wireless device. In another example, the second wireless device can perform unidirectional measurement on the first wireless device using SLP / UWB technology, and the measured second relative position coordinates include relative position coordinates indicating the position of the first wireless device relative to the second wireless device. In yet another example, the first and second wireless devices can perform bidirectional measurement using SLP / UWB technology, and the measured second relative position coordinates include second relative position coordinates indicating the position of the first wireless device relative to the second wireless device, and second relative position coordinates indicating the position of the second wireless device relative to the first wireless device.

[0133] This application uses SLP / UWB technology as an example. SLP / UWB technology can also be replaced by other wireless positioning technologies, such as Sparklink Low Energy (SLE) technology or Bluetooth technology, etc., which are not limited here.

[0134] The specific measurement process is the same as described above. Figure 2 In the corresponding embodiments, the principle of the measurement process when the positioning device locates the wireless device is the same, and will not be repeated here.

[0135] Following S701 and S702, the method may further include S703.

[0136] S703: Based on the first relative position coordinates and the second relative position coordinates, re-mark the positions of the first wireless device and / or the second wireless device on the environment map.

[0137] In some embodiments, the first relative position coordinates and the second relative position coordinates can be fused to obtain the relative position coordinates between the first wireless device and the second wireless device, and the positions of the first wireless device and / or the second wireless device can be re-marked in the environmental map based on the relative position coordinates.

[0138] For example, the relative position coordinates of the first wireless device and the second wireless device can be determined by calculating the average value of the first relative position coordinates and the second relative position coordinates that indicate the position of the first wireless device relative to the second wireless device. The relative position coordinates also indicate the position of the first wireless device relative to the second wireless device.

[0139] In some embodiments, after obtaining the relative position coordinates between the first wireless device and the second wireless device, the adjusted absolute position coordinates of the first wireless device and / or the second wireless device can be obtained based on the relative position coordinates and the absolute position coordinates of the first wireless device and / or the second wireless device that have been marked in the environment map; then, the positions of the first wireless device and / or the second wireless device can be remarked in the environment map based on the adjusted absolute position coordinates of the first wireless device and / or the second wireless device.

[0140] For example, the adjusted absolute position coordinates of the second wireless device can be obtained based on the absolute position coordinates of the first wireless device already marked in the environment map, and the relative position coordinates between the first wireless device and the second wireless device, and the position of the second wireless device can be remarked in the environment map.

[0141] As a concrete example, please refer to Figure 8 The absolute position coordinates of the first wireless device 1, already marked on the environmental map, are (1, 1). The absolute position coordinates of the second wireless device, already marked on the environmental map, are (1, 4). The relative position coordinates between the first wireless device 1 and the second wireless device 2, obtained based on the first and second relative positions, are (1, 3). These relative position coordinates indicate the position of the second wireless device 2 relative to the first wireless device 1. Therefore, based on the absolute position coordinates (1, 1) of the first wireless device 1 already marked on the environmental map and the relative position coordinates (1, 3) between the first wireless device 1 and the second wireless device 2, the adjusted absolute position coordinates of the second wireless device can be obtained as (2, 4). These adjusted absolute position coordinates (2, 4) of the second wireless device are different from the absolute position coordinates (1, 4) of the second wireless device marked on the environmental map using the above-mentioned S203. Therefore, the position of the second wireless device can be remarked on the environmental map based on the adjusted absolute position coordinates (2, 4).

[0142] For example, the adjusted absolute position coordinates of the first wireless device can be obtained based on the absolute position coordinates of the second wireless device already marked in the environment map, and the relative position coordinates between the first wireless device and the second wireless device, and the position of the first wireless device can be remarked in the environment map.

[0143] This example is similar in principle to the previous one, so we will not provide a specific example here.

[0144] For example, the coordinates of the midpoint between the first and second wireless devices can be obtained based on the absolute position coordinates of the first and second wireless devices already marked on the environment map; based on the positional relationship between the midpoint and the first and second wireless devices, and the relative position coordinates between the first and second wireless devices, the position coordinates of the first wireless device relative to the midpoint and the position coordinates of the second wireless device relative to the midpoint can be obtained; based on the coordinates of the midpoint, the position coordinates of the first wireless device relative to the midpoint, and the position coordinates of the second wireless device relative to the midpoint, the absolute position coordinates of the first and second wireless devices already marked on the environment map can be adjusted to obtain the adjusted absolute position coordinates of the first and / or second wireless devices.

[0145] As a concrete example, please refer to Figure 9 The absolute position coordinates of the first wireless device 1, already marked on the environment map, are (1, 1). The absolute position coordinates of the second wireless device 2, also marked on the environment map, are (3, 3). The coordinates of the midpoint between the first wireless device 1 and the second wireless device 2 are (2, 2). The obtained relative position coordinates between the first wireless device 1 and the second wireless device 2 are (1.8, 2.2), which indicate the position of the second wireless device 2 relative to the first wireless device 1.

[0146] Next, since the current coordinate system is a Cartesian coordinate system, in order to adjust the absolute position coordinates of the two wireless devices more evenly, the x-coordinate and y-coordinate of the relative position coordinates (1.8, 2.2) between the first wireless device 1 and the second wireless device 2 can both be divided by 2, resulting in 0.9 and 1.1. Then, based on the already labeled positional relationships of the first and second wireless devices with respect to the midpoint, the position coordinates of the first wireless device relative to the midpoint are (-0.9, -1.1), and the position coordinates of the second wireless device relative to the midpoint are (0.9, 1.1). Afterwards, combining this with the coordinates of the midpoint (2, 2), the adjusted absolute position coordinates of the first wireless device are (1.1, 0.9), and the adjusted absolute position coordinates of the second wireless device are (2.9, 3.1).

[0147] In this embodiment, the second relative position coordinates obtained by positioning the first wireless device and the second wireless device can be acquired. Based on the absolute position coordinates of the first wireless device and the second wireless device marked on the environmental map, the first relative position coordinates between the first wireless device and the second wireless device can be obtained. Thus, the second relative position coordinates and the first relative position coordinates can be fused, and the position of the first wireless device and / or the second wireless device can be calibrated according to the fusion result, thereby further improving the accuracy of the position of the wireless device marked on the environmental map.

[0148] The above-mentioned S701 to S703 are described using the first wireless device and the second wireless device as examples. Any two wireless devices whose locations have been marked in the environment map can be executed according to S701 to S703. The embodiments of this application will not be described in detail here.

[0149] Figure 10 This is a flowchart illustrating another method for generating an environment map provided in this application embodiment. This method can be applied to the above-mentioned... Figure 1 The computer equipment shown. Figure 10 The method for generating the environmental map shown can be combined with Figure 2 , Figure 7 This can be implemented using any of the embodiments shown in the method for generating the environment map. Please refer to... Figure 10 The method may include, but is not limited to, S201, S202, S203, S1001, S1002 and optionally S701, S702 and S703.

[0150] For S201, S202, and S203, please refer to the above. Figure 2 The description of the corresponding embodiments, regarding optional steps S701, S702, and S703, can be referred to above. Figure 7 The descriptions in the corresponding embodiments will not be repeated here.

[0151] Regarding S701, S702, and S703 mentioned above, please refer to the above. Figure 7 The descriptions in the corresponding embodiments will not be repeated here.

[0152] Following S203 or S703, the method may also include S1001 and S1002.

[0153] S1001: Obtain at least one third relative position coordinate of the wireless device being sought, wherein the at least one third relative position coordinate is obtained by positioning between the wireless device being sought and at least one third wireless device, and the absolute position coordinates of the third wireless device are marked in the environmental map.

[0154] Among them, the wireless device being sought has formed a network with at least one third wireless device.

[0155] The embodiments of this application do not specifically limit the timing of positioning between the sought wireless device and at least one third wireless device, or the specific positioning process.

[0156] For example, the sought wireless device first receives a signal instructing it to locate itself. To avoid locating the sought wireless device with other wireless devices not yet in the environmental map, the signal instructing it to locate itself may include the identifier of at least one third wireless device. Then, location can be established between the sought wireless device and the at least one third wireless device based on the identifier of the at least one third wireless device.

[0157] The specific positioning process is the same as described above. Figure 2 In the corresponding embodiments, the principle of the positioning process is similar and will not be repeated here.

[0158] S1002: Based on at least one third relative position coordinate and at least one third wireless device absolute position coordinate marked in the environment map, mark the location of the sought wireless device in the environment map.

[0159] In some embodiments, S1002 can be achieved through the following steps (1)-(3):

[0160] (1) Based on the at least one third relative position coordinate and the absolute position coordinates of at least one third wireless device marked in the environment map, determine at least one second absolute position coordinate of the wireless device being sought.

[0161] This step (1) is the same as the above. Figure 2 In the corresponding embodiment, the principle of determining at least one first absolute position coordinate of the wireless device based on at least one relative position coordinate of the wireless device and the absolute position coordinate of the positioning device at at least one location is similar. The only difference is that at least one relative position coordinate of the wireless device is replaced with at least one third relative position coordinate in step (1), the absolute position coordinate of the positioning device at at least one location is replaced with at least one third absolute position coordinate of the wireless device in step (1), and the at least one first absolute position coordinate of the wireless device is replaced with at least one second absolute position coordinate of the wireless device being searched in step (1). The specific process will not be elaborated further.

[0162] (2) Determine the absolute position coordinates of the wireless device in the target area based on at least one second absolute position coordinate of the wireless device being sought.

[0163] This step (2) is related to the above. Figure 2In the corresponding embodiment, the principle of obtaining the absolute position coordinates of the wireless device in the target area based on at least one first absolute position coordinate is similar, except that at least one first absolute position coordinate is replaced with at least one second absolute position coordinate of the wireless device being searched in step (2) here, and the absolute position coordinates of the wireless device in the target area are replaced with the absolute position coordinates of the wireless device being searched in the target area in step (2) here. The specific process will not be described in detail.

[0164] (3) Mark the location of the wireless device in the environmental map according to the absolute location coordinates of the wireless device in the target area.

[0165] This step (3) is related to the above. Figure 2 In the corresponding embodiment, the principle of marking the location of the wireless device on the environmental map based on the absolute position coordinates of the wireless device in the target area is similar. The specific process will not be described in detail here.

[0166] In this embodiment, the location of the wireless device to be searched can be marked on the environmental map based on the location of the wireless device already marked. This is achieved by locating the wireless device at the marked location and then locating the wireless device to be searched. This makes it convenient for users to mark the location of the wireless device to be searched on the environmental map, so that users can directly understand the specific location of the wireless device to be searched, instead of searching for the wireless device aimlessly, thus improving the convenience of users' lives.

[0167] Figure 11 This is a schematic diagram of the structure of an environmental map generation device 1100 provided in an embodiment of this application. This device can be implemented as part or all of a computer device by software, hardware, or a combination of both. The schematic diagram of the computer device can be as follows: Figure 1 As shown. See also Figure 11 The device includes: a first acquisition module 1101, a second acquisition module 1102, and a first annotation module 1103.

[0168] The first acquisition module 1101 is used to acquire the environmental map of the target area.

[0169] The second acquisition module 1102 is used to acquire the relative position coordinates of the wireless device in the target area, which indicates the position of the wireless device relative to the positioning device in the target area.

[0170] The first annotation module 1103 is used to annotate the location of the wireless device in the environmental map based on the relative position coordinates of the wireless device and the absolute position coordinates of the positioning device in the target area.

[0171] In one possible implementation, the second acquisition module 1102 is specifically used to: acquire at least one relative position coordinate of the wireless device, the at least one relative position coordinate being the location of the positioning device at least one location in the target area, and locate the wireless device; the first annotation module is specifically used to: annotate the location of the wireless device in the environment map based on the at least one relative position coordinate and the absolute position coordinate of the positioning device at the at least one location.

[0172] In one possible implementation, the device further includes: a third acquisition module, used to obtain a first relative position coordinate between the first wireless device and the second wireless device based on the absolute position coordinates of the first wireless device and the second wireless device marked in the environmental map; a fourth acquisition module, used to acquire a second relative position coordinate between the first wireless device and the second wireless device, the second relative position coordinate being obtained by positioning between the first wireless device and the second wireless device; and a second annotation module, used to re-annotate the positions of the first wireless device and / or the second wireless device in the environmental map according to the first relative position coordinate and the second relative position coordinate.

[0173] In one possible implementation, the device further includes: a fifth acquisition module, configured to acquire at least one third relative position coordinate of the sought wireless device, wherein the at least one third relative position coordinate is obtained by positioning between the sought wireless device and at least one third wireless device, and the absolute position coordinates of the third wireless device are marked in the environmental map; and a third annotation module, configured to mark the position of the sought wireless device in the environmental map based on the at least one third relative position coordinate and the absolute position coordinates of the at least one third wireless device marked in the environmental map.

[0174] In one possible implementation, the first annotation module 1103 is specifically used to: determine at least one first absolute position coordinate of the wireless device based on at least one relative position coordinate and the absolute position coordinate of the positioning device at at least one location; obtain the absolute position coordinate of the wireless device in the target area based on the at least one first absolute position coordinate; and annotate the location of the wireless device in the environmental map based on the absolute position coordinate of the wireless device in the target area.

[0175] It should be noted that the environmental map generation apparatus provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the apparatus can be divided into different functional modules to complete all or part of the functions described above. In addition, the environmental map generation apparatus and the environmental map generation method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process and effects are detailed in the method embodiments, which will not be repeated here.

[0176] This application also provides a computer-readable storage medium storing instructions that, when executed on a computer device, cause the computer device to perform the environmental map generation method described above.

[0177] This application also provides a computer program product containing instructions that, when executed on a computer device, cause the computer device to perform the environmental map generation method of the above embodiments.

[0178] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0179] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0180] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0181] Any content in the various embodiments of this application, as well as any content in the same embodiment, can be freely combined. Any combination of the above content is within the scope of this application.

[0182] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0183] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0184] The steps of the methods or algorithms described in conjunction with the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium well known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an ASIC.

[0185] Those skilled in the art will recognize that the functions described in the embodiments of this application in one or more of the above examples can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of a computer program from one place to another. Storage media can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0186] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for generating an environmental map, characterized in that, The method includes: Obtain an environmental map of the target area; Obtain the relative position coordinates of the wireless device in the target area, wherein the relative position coordinates indicate the position of the wireless device relative to the positioning device in the target area; The location of the wireless device is marked on the environmental map based on the relative position coordinates of the wireless device and the absolute position coordinates of the positioning device in the target area.

2. The method according to claim 1, characterized in that, The step of obtaining the relative position coordinates of wireless devices in the target area includes: The wireless device is located by obtaining at least one relative position coordinate, which is at least one position of the positioning device in the target area. Marking the location of the wireless device on the environmental map based on the relative position coordinates of the wireless device and the absolute position coordinates of the positioning device in the target area includes: Based on the at least one relative position coordinate and the absolute position coordinate of the positioning device at the at least one position, the location of the wireless device is marked on the environmental map.

3. The method according to claim 1 or 2, characterized in that, The method further includes: Based on the absolute position coordinates of the first wireless device and the second wireless device marked in the environmental map, the first relative position coordinates between the first wireless device and the second wireless device are obtained; Obtain the second relative position coordinates between the first wireless device and the second wireless device, where the second relative position coordinates are obtained by positioning between the first wireless device and the second wireless device; Based on the first relative position coordinates and the second relative position coordinates, the positions of the first wireless device and / or the second wireless device are re-marked in the environment map.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: At least one third relative position coordinate of the wireless device being sought is obtained. The at least one third relative position coordinate is obtained by positioning between the wireless device being sought and at least one third wireless device. The absolute position coordinate of the third wireless device is marked in the environmental map. Based on the at least one third relative position coordinates and the absolute position coordinates of at least one third wireless device marked in the environment map, the location of the sought wireless device is marked in the environment map.

5. The method according to claim 2, characterized in that, Marking the location of the wireless device in the environmental map based on the at least one relative position coordinate and the absolute position coordinate of the positioning device at the at least one location includes: Based on the at least one relative position coordinate and the absolute position coordinate of the positioning device at the at least one position, at least one first absolute position coordinate of the wireless device is determined; Based on the at least one first absolute position coordinate, the absolute position coordinates of the wireless device in the target area are obtained; The location of the wireless device is marked on the environmental map based on the absolute position coordinates of the wireless device in the target area.

6. An apparatus for generating an environmental map, characterized in that, The device includes: The first acquisition module is used to acquire an environmental map of the target area; The second acquisition module is used to acquire the relative position coordinates of the wireless device in the target area, wherein the relative position coordinates indicate the position of the wireless device relative to the positioning device in the target area; The first annotation module is used to annotate the location of the wireless device in the environmental map based on the relative position coordinates of the wireless device and the absolute position coordinates of the positioning device in the target area.

7. The apparatus according to claim 6, characterized in that, The second acquisition module is specifically used for: The wireless device is located by obtaining at least one relative position coordinate, which is at least one position of the positioning device in the target area. The first annotation module is specifically used for: Based on the at least one relative position coordinate and the absolute position coordinate of the positioning device at the at least one position, the location of the wireless device is marked on the environmental map.

8. The apparatus according to claim 6 or 7, characterized in that, The device further includes: The third acquisition module is used to obtain the first relative position coordinates between the first wireless device and the second wireless device based on the absolute position coordinates of the first wireless device and the second wireless device marked in the environment map; The fourth acquisition module is used to acquire the second relative position coordinates between the first wireless device and the second wireless device, wherein the second relative position coordinates are obtained by positioning between the first wireless device and the second wireless device; The second annotation module is used to re-annotate the positions of the first wireless device and / or the second wireless device in the environment map based on the first relative position coordinates and the second relative position coordinates.

9. The apparatus according to any one of claims 6-8, characterized in that, The device further includes: The fifth acquisition module is used to acquire at least one third relative position coordinate of the wireless device being sought. The at least one third relative position coordinate is obtained by positioning between the wireless device being sought and at least one third wireless device. The environmental map is marked with the absolute position coordinate of the third wireless device. The third annotation module is used to annotate the location of the sought wireless device in the environment map based on the at least one third relative position coordinates and the absolute position coordinates of at least one third wireless device annotated in the environment map.

10. The apparatus according to claim 7, characterized in that, The first annotation module is specifically used for: Based on the at least one relative position coordinate and the absolute position coordinate of the positioning device at the at least one position, at least one first absolute position coordinate of the wireless device is determined; Based on the at least one first absolute position coordinate, the absolute position coordinates of the wireless device in the target area are obtained; The location of the wireless device is marked on the environmental map based on the absolute position coordinates of the wireless device in the target area.

11. A computer device, characterized in that, The computer device includes a memory and a processor; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the method according to any one of claims 1-5.

12. A computer-readable storage medium, characterized in that, The storage medium stores instructions that, when executed on a computer device, cause the computer device to perform the method described in any one of claims 1-5.

13. A computer program product containing instructions, characterized in that, When the instructions are executed on a computer device, the computer device causes the computer device to perform the method according to any one of claims 1-5.

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