Communication method and communication apparatus

Abstract

Provided in the present application is a communication method. The method comprises: a first device acquires first information; the first device collects second data of a first environment on the basis of the first information, the second data being incremental data with respect to first data of the first environment; and the first device sends second information to a second device, the second information comprising the second data. In the communication method and a communication apparatus, during a data fusion process of multiple devices, after a device collects new data, there is no need to send all of the sensed data to a peer device, but to send incremental data (new data or updated data) among all of the sensed data with respect to the existing data. Since there is no need to send to the target device the partial data that coincides with the existing data of the target device, device transmission overheads can be saved, improving data transmission efficiency and the efficiency of using transmission resources.

Description

Communication method and communication device Technical Field

[0001] The present application relates to the field of communication technology, and more particularly, to a communication method and a communication device. Background Art

[0002] With the increasing diversity of wireless communication application scenarios, the next generation of wireless communication processes is facing more new scenarios, including perception, imaging, and environmental reconstruction. For example, in environmental reconstruction, multiple devices or sensors can perceive or observe the same environment from different perspectives. Therefore, the perception results of multiple devices can be sent to the base station (central server) and fused into a complete environmental map corresponding to the environment, or other perception tasks can be performed based on the fusion results to reduce the power consumption and transmission overhead of each device. In addition, since each device can observe from different perspectives, by fusing the perception results of multiple devices, the occlusion / blind spot problem caused by obstacles can be solved, resulting in more detailed reconstruction or better task execution results.

[0003] Currently, during the multi-device data fusion process, the device will send all the data it perceives to the base station. The large amount of data transmission leads to low data transmission efficiency. Therefore, in the multi-data fusion process, how to improve data transmission efficiency has become an urgent problem to be solved.

[0004] Summary of the Invention

[0005] The present application provides a communication method and a communication device. Through the communication method and the communication device, in the process of data fusion of multiple devices, after a device collects new data, it is not necessary to send all the perceived data to the opposite device. Instead, it sends incremental data (newly added data or updated data) relative to the existing data among all the perceived data. Since there is no need to send part of the data that overlaps with the existing data of the target device to the target device, the transmission overhead of the device can be saved, the data transmission efficiency can be improved, and the utilization efficiency of transmission resources can also be improved.

[0006] In a first aspect, a communication method is provided, which includes: a first device obtains first information; the first device collects second data of a first environment based on the first information, and the second data is incremental data relative to the first data of the first environment; the first device sends second information to a second device, and the second information includes the second data.

[0007] In some implementations, the second information further includes one or more of the following: a geometric type of the second data, attribute information of the second data, and a relative positional relationship between the second data and the first data.

[0008] Optionally, the geometry type includes at least one of the following: point, line, surface, voxel, sphere, polyhedron, octree; the attribute information includes at least one of the following: texture pixel density, color, magnetic permeability, dielectric constant, scattering coefficient.

[0009] In an embodiment of the present application, during the data fusion process of multiple devices, after a device collects new data, it does not need to send all the perceived data to the opposite device. Instead, it sends incremental data (new data or updated data) relative to the existing data among all the perceived data. Since there is no need to send part of the data that overlaps with the existing data of the target device to the target device, the transmission overhead of the device can be saved, the data transmission efficiency can be improved, and the utilization efficiency of transmission resources can also be improved.

[0010] In combination with the first aspect, in certain implementations of the first aspect, the first device obtains the first information, including: the first device receives the first information sent by the second device, and the first information includes one or more of the geometric type of the first data, the attribute information of the first data, and the location information of the first data.

[0011] In some implementations, the first information further includes resolution information of the first data and / or the first environment map corresponding to the first data.

[0012] In an embodiment of the present application, when the original data and the incremental data are not collected by the same device, the device that collects the incremental data receives relevant information about the original data, such as the geometric type, location information or corresponding environmental map of the original data, etc. The device can further collect incremental data based on the relevant information of the original data. In this process, there is no need to send all the original data between different devices, which can further save the transmission overhead of the device and improve the data transmission efficiency and the utilization efficiency of transmission resources.

[0013] In combination with the first aspect, in some implementations of the first aspect, the first device obtains the first information, including: the first device collects the first information, and the first information includes first data of the first environment.

[0014] In an embodiment of the present application, when the original data and incremental data are collected by the same device, the device that collects the incremental data directly collects the incremental data based on the original data. During this process, the device does not need to extract relevant information from the original data, which can save device overhead.

[0015] In combination with the first aspect, in some implementations of the first aspect, before the first device sends the second information to the second device, the method further includes: the first device sending first data of the first environment to the second device.

[0016] In an embodiment of the present application, when the original data and the incremental data are collected by the same device, the device that collects the original data will send the collected original data to the peer device. In this way, when the peer device subsequently receives the incremental data, it can perform tasks such as updating the environmental map based on the original data and the incremental data, thereby improving its own perception capabilities.

[0017] In combination with the first aspect, in certain implementations of the first aspect, the first device sends the second information to the second device, including: when the first device detects that the degree of change of the reference object of the second data compared with the reference object of the first data is greater than a first threshold, the first device sends the second information to the second device.

[0018] Optionally, the reference object includes a reference point, and / or the reference object includes a normal vector; when the reference object is a reference point, the degree of change of the reference object of the second data is the distance value between the reference point of the first data and the reference point of the second data; when the reference object is a normal vector, the degree of change of the reference object of the second data is the angle between the normal vector of the first data and the normal vector of the second data.

[0019] In some implementations, the “degree of change” may be replaced with the “amplitude of change”.

[0020] In an embodiment of the present application, during the data fusion process of multiple devices, the device that collects incremental data will only send the corresponding incremental data to the other device when it detects that the degree of change in environmental data has reached a level that requires a map update. This can avoid frequent unnecessary data sending and receiving operations when data updates are not required, further save the transmission overhead of the device, and improve the utilization efficiency of transmission resources.

[0021] In combination with the first aspect, in certain implementations of the first aspect, the first device sends the second information to the second device, including: the first device receives a first request message sent by the second device, the first request message being used to request acquisition of the second information; in response to the first request message, the first device sends the second information to the second device.

[0022] In an embodiment of the present application, during the data fusion process of multiple devices, the device that collects incremental data will only collect and send incremental data when it receives a request message sent by other devices. This can avoid frequent unnecessary data sending and receiving operations when data updates are not needed, further save the transmission overhead of the device, and improve the utilization efficiency of transmission resources.

[0023] In combination with the first aspect, in certain implementations of the first aspect, before the first device sends the second information to the second device, the method also includes: the first device receives first indication information sent by the second device, and the first indication information is used to indicate one or more of the geometric type supported by the second device, the attribute information supported by the second device, and the indication method of the location information supported by the second device.

[0024] In an embodiment of the present application, each device in multiple devices can pre-notify other devices of its own capability information so that when other devices send relevant messages to their own devices, they can send message types supported by their own devices, thereby further improving the utilization efficiency of transmission resources.

[0025] In combination with the first aspect, in some implementations of the first aspect, before the first device sends the second information to the second device, the method also includes: the first device receives first configuration information sent by the second device, and the first configuration information is used to configure the reference object and the first threshold.

[0026] In an embodiment of the present application, the conditions for triggering transmission can be configured in advance between multiple devices, so that the device will only send or request to obtain incremental data when it detects that the degree of change in the current environmental data has reached a level that requires an environmental map update (that is, the configured triggering transmission conditions are met). This can further save the transmission overhead of the device and improve the utilization efficiency of transmission resources.

[0027] In a second aspect, a communication method is provided, which includes: a second device obtains first data of a first environment; the second device sends first information to the first device based on the first data, the first information is used by the first device to collect second data of the first environment, the second data is incremental data relative to the first data, and the first information includes one or more of the geometric type of the first data, the attribute information of the first data, and the location information of the first data; the second device receives the second information sent by the first device, and the second information includes the second data.

[0028] In some implementations, the first information further includes resolution information of the first data and / or the first environment map corresponding to the first data.

[0029] In some implementations, the second information further includes one or more of the following: a geometric type of the second data, attribute information of the second data, and a relative position relationship of the first data.

[0030] Optionally, the geometry type includes at least one of the following: point, line, surface, voxel, sphere, polyhedron, octree; the attribute information includes at least one of the following: texture pixel density, color, magnetic permeability, dielectric constant, scattering coefficient.

[0031] In the embodiment of this application,

[0032] In combination with the second aspect, in some implementations of the first aspect, the second device obtains the first data of the first environment, including: the second device receives the first data of the first environment sent by a third device, and the third device is different from the first device.

[0033] In an embodiment of the present application, during the data fusion process of multiple devices, after a device collects new data, it does not need to send all the perceived data to the opposite device. Instead, it sends incremental data (new data or updated data) relative to the existing data among all the perceived data. Since there is no need to send part of the data that overlaps with the existing data of the target device to the target device, the transmission overhead of the device can be saved, the data transmission efficiency can be improved, and the utilization efficiency of transmission resources can also be improved.

[0034] In combination with the second aspect, in some implementations of the first aspect, the second device obtains the first data of the first environment, including: the second device collects the first data of the first environment.

[0035] In an embodiment of the present application, when the original data and the incremental data are not collected by the same device, the device that collects the incremental data receives relevant information about the original data, such as the geometric type, location information or corresponding environmental map of the original data, etc. The device can further collect incremental data based on the relevant information of the original data. In this process, there is no need to send all the original data between different devices, which can further save the transmission overhead of the device and improve the data transmission efficiency and the utilization efficiency of transmission resources.

[0036] In combination with the second aspect, in certain implementations of the first aspect, before the second device receives the second information sent by the first device, the method also includes: when the second device detects that the degree of change of the reference object of the second data compared with the reference object of the first data is greater than a first threshold, sending a first request message to the first device, the first request message is used to request to obtain the second information.

[0037] In an embodiment of the present application, during the data fusion process of multiple devices, a device will only request the device that collects incremental data to obtain incremental data for updating the environmental map when it detects that the degree of change in environmental data has reached a level that requires a map update. This can avoid frequent unnecessary data sending and receiving operations when data updates are not required, further save the transmission overhead of the device, and improve the utilization efficiency of transmission resources.

[0038] In combination with the second aspect, in certain implementations of the first aspect, the second device receives the second information sent by the first device, including: the second device receives the second information sent by the first device when it detects that the degree of change of the reference object of the second data compared with the reference object of the first data is greater than a first threshold.

[0039] Optionally, the reference object includes a reference point, and / or the reference object includes a normal vector; when the reference object is a reference point, the degree of change of the reference object of the second data is the distance value between the reference point of the first data and the reference point of the second data; when the reference object is a normal vector, the degree of change of the reference object of the second data is the angle between the normal vector of the first data and the normal vector of the second data.

[0040] In an embodiment of the present application, during the data fusion process of multiple devices, the device that collects incremental data will only send the corresponding incremental data to the other device when it detects that the degree of change in environmental data has reached a level that requires a map update. This can avoid frequent unnecessary data sending and receiving operations when data updates are not required, further save the transmission overhead of the device, and improve the utilization efficiency of transmission resources.

[0041] In combination with the second aspect, in certain implementations of the first aspect, before the second device sends the first information based on the first data, the method also includes: the second device sends first indication information to the first device, and the first indication information is used to indicate one or more of the geometric type supported by the second device, the attribute information supported by the second device, and the indication method of the location information supported by the second device.

[0042] In an embodiment of the present application, each device in multiple devices can pre-notify other devices of its own capability information so that when other devices send relevant messages to their own devices, they can send message types supported by their own devices, thereby further improving the utilization efficiency of transmission resources.

[0043] In combination with the second aspect, in certain implementations of the first aspect, before sending the first request message to the first device, the method also includes: the second device receives first configuration information sent by the first device, and the first configuration information is used to configure the reference object and the first threshold.

[0044] In an embodiment of the present application, the conditions for triggering transmission can be configured in advance between multiple devices, so that the device will only send or request to obtain incremental data when it detects that the degree of change in the current environmental data has reached a level that requires an environmental map update (that is, the configured triggering transmission conditions are met). This can further save the transmission overhead of the device and improve the utilization efficiency of transmission resources.

[0045] In a third aspect, a communications device is provided. The device is configured to execute the first aspect and any one of its embodiments. Specifically, the device includes a processor and a memory, the memory being configured to store a computer program; the processor being configured to retrieve and execute the computer program from the memory, thereby enabling the device to execute the first aspect and any one of its embodiments.

[0046] In combination with the third aspect, in some implementations of the first aspect, the device is a network device or a terminal device.

[0047] In a fourth aspect, a communications device is provided. The device is configured to execute the second aspect and any one of its embodiments. Specifically, the device includes a processor and a memory, the memory being configured to store a computer program; the processor being configured to retrieve and execute the computer program from the memory, thereby enabling the device to execute the second aspect and any one of its embodiments.

[0048] In combination with the fourth aspect, in some implementations of the first aspect, the device is a network device or a terminal device.

[0049] In a fifth aspect, a communication device is provided. The communication device is used to perform the method provided in the first aspect and any one of its embodiments, or the communication device is used to perform the method provided in the second aspect and any one of its embodiments. Specifically, the communication device may include units and / or modules (e.g., processing units, transceiver units) for performing the methods provided in the first to second aspects and any one of their embodiments.

[0050] In one implementation, the communication device is a terminal device. When the communication device is a terminal device, the transceiver unit may be a transceiver or an input / output interface. The processing unit may be at least one processor. Alternatively, the transceiver may be a transceiver circuit. Alternatively, the input / output interface may be an input / output circuit.

[0051] In another implementation, the communication device may be a chip, chip system, or circuit in a terminal device. In this case, the transceiver unit may be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip, chip system, or circuit; and the processing unit may be at least one processor, processing circuit, or logic circuit.

[0052] In a sixth aspect, the present application provides a processor for executing the methods provided in the first to second aspects above.

[0053] For the operations such as sending and acquiring / receiving involved in the processor, unless otherwise specified, or if they do not conflict with their actual functions or internal logic in the relevant descriptions, they can be understood as processor output, reception, input and other operations, and can also be understood as sending and receiving operations performed by the radio frequency circuit and antenna. This application does not limit this.

[0054] In a seventh aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, which, when executed on a communication device, causes the communication device to execute the method of any one of the implementations of the first to second aspects.

[0055] In an eighth aspect, a computer program product comprising instructions is provided. When the computer program product is run on a computer, the computer is caused to execute the method provided in any one of the implementations of the first to second aspects.

[0056] In a ninth aspect, a chip is provided, which includes a processor and a communication interface. The processor reads instructions through the communication interface and executes the method provided by any one of the implementation methods of the first to second aspects above.

[0057] Optionally, as an implementation method, the chip also includes a memory, the memory stores a computer program or instructions, and the processor is used to execute the computer program or instructions stored in the memory. When the computer program or instructions are executed, the processor is used to execute the method provided in any one of the implementation methods of the first to second aspects above.

[0058] In a tenth aspect, a communication system is provided, comprising the device provided by the third aspect and any one of its embodiments, and / or, comprising the device provided by the fourth aspect and any one of its embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] FIG1 is a schematic diagram of an application scenario applicable to an embodiment of the present application;

[0060] FIG2 is a schematic flow chart of a communication method provided in an embodiment of the present application;

[0061] FIG3 is a schematic flow chart of another communication method provided in an embodiment of the present application;

[0062] FIG4 is a schematic flow chart of another communication method provided in an embodiment of the present application;

[0063] FIG5 is a schematic flow chart of another communication method provided in an embodiment of the present application;

[0064] FIG6 is a schematic flow chart of another communication method provided in an embodiment of the present application;

[0065] FIG7 is a schematic flow chart of another communication method provided in an embodiment of the present application;

[0066] FIG8 is a schematic flow chart of another communication method provided in an embodiment of the present application;

[0067] FIG9 is a schematic flow chart of another communication method provided in an embodiment of the present application;

[0068] FIG10 is a schematic flow chart of another communication method provided in an embodiment of the present application;

[0069] FIG11 is a schematic diagram of a relative positional relationship between second data and first data when both the first data and the second data are of a plane geometry, provided by an embodiment of the present application;

[0070] FIG12 is a schematic diagram of a relative positional relationship between second data and first data when both the first data and the second data are of a sphere, provided by an embodiment of the present application;

[0071] FIG13 is a schematic diagram of a relative positional relationship between second data and first data when both the first data and the second data are of voxel geometry, provided by an embodiment of the present application;

[0072] FIG14 is a schematic diagram of a relative positional relationship between second data and first data when the geometric type of the first data is a cube and the geometric type of the second data is a plane, provided by an embodiment of the present application;

[0073] FIG15 is a schematic diagram of a relative positional relationship between second data and first data when the geometry type of the first data is a cube and the geometry type of the second data is a point, provided by an embodiment of the present application;

[0074] FIG16 is a schematic diagram of a relative positional relationship between second data and first data when the geometric type of the first data is a cylinder and the geometric type of the second data is a surface, provided by an embodiment of the present application;

[0075] FIG17 is a schematic diagram of a relative positional relationship between second data and first data when the geometric type of the first data is a sphere and the geometric type of the second data is a voxel, provided by an embodiment of the present application;

[0076] FIG18 is a schematic block diagram of a communication device provided in an embodiment of the present application;

[0077] FIG19 is a schematic diagram of another communication device provided in an embodiment of the present application;

[0078] FIG20 is a schematic diagram of a chip system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0079] In order to facilitate understanding of the embodiments of the present application, the following points are first explained.

[0080] First, in this application, "used to indicate" can include being used for direct indication and being used for indirect indication. When describing that a certain indication information is used to indicate A, it can include that the indication information directly indicates A or indirectly indicates A, but it does not mean that the indication information must carry A.

[0081] The information indicated by the indication information is called the information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as but not limited to, directly indicating the information to be indicated, such as the information to be indicated itself or the index of the information to be indicated. The information to be indicated can also be indirectly indicated by indicating other information, wherein there is an association between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance. For example, it is also possible to use the arrangement order of each piece of information agreed in advance (such as specified in the protocol) to achieve the indication of specific information, thereby reducing the indication overhead to a certain extent. At the same time, it is also possible to identify the common parts of each piece of information and indicate them uniformly to reduce the indication overhead caused by indicating the same information separately.

[0082] Second, "at least one" shown in the present application refers to one or more, and "a plurality of" refers to two or more. In addition, in the embodiments of the present application, "first", "second" and various digital numbers (for example, "#1", "#2", etc.) are only for the purpose of describing the distinction made, and are not used to limit the scope of the embodiments of the present application. The size of the sequence number of each process below does not mean the order of execution. The execution order of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. It should be understood that the objects described in this way can be interchanged where appropriate, so as to be able to describe solutions other than the embodiments of the present application. In addition, in the embodiments of the present application, words such as "S501" are only for the purpose of describing the identification made for the convenience of description, and are not intended to limit the order of execution of steps.

[0083] Third, in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0084] Fourth, the term "storage" used in the embodiments of this application may refer to storage in one or more memories. The one or more memories may be provided separately or integrated into an encoder or decoder, a processor, or a communication device. The one or more memories may also be partially provided separately and partially integrated into a decoder, a processor, or a communication device. The type of memory may be any form of storage medium, and this application is not limited thereto.

[0085] Fifth, in the implementation of this application, "protocol" may refer to a standard protocol in the field of communications, for example, it may include the NR protocol and related protocols used in future communication systems, and this application does not limit this.

[0086] Sixth, in the embodiments of the present application, the terms “of”, “corresponding, relevant”, “corresponding” and “associate” can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings they intend to express are consistent.

[0087] Seventh, in the embodiments of the present application, "under the circumstances", "when", and "if" can sometimes be used interchangeably. It should be pointed out that when the distinction between them is not emphasized, the meanings they intend to express are consistent.

[0088] Eighth, the term "and / or" in this document simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0089] The technical solution in this application will be described below with reference to the accompanying drawings.

[0090] The technical solution provided in the embodiments of the present application can be applicable to wireless local area network (WLAN) scenarios, for example, supporting the Institute of Electrical and Electronics Engineers (IEEE) 802.11 related standards, such as 802.11a / b / g standards, 802.11n standards, 802.11ac standards, 802.11ax standards, IEEE 802.11ax next-generation Wi-Fi protocols, such as 802.11be, Wi-Fi 7, extremely high throughput (EHT), 802.11ad, 802.11ay or 802.11bf, such as the next generation of 802.11be, Wi-Fi 8, etc., and can also be applied to wireless personal area network systems based on ultra-wide band (UWB), such as the 802.15 series standards, and can also be applied to sensing systems, such as the 802.11bf series standards. The 802.11n standard is known as the high throughput (HT) standard, the 802.11ac standard is known as the very high throughput (VHT) standard, the 802.11ax standard is known as the high efficiency (HE) standard, and the 802.11be standard is known as the extremely high throughput (EHT) standard. 802.11bf includes two major categories of standards: low-frequency (e.g., sub7 GHz) and high-frequency (e.g., 60 GHz). The sub7 GHz implementation primarily relies on 802.11ac, 802.11ax, 802.11be, and their next-generation standards, while the 60 GHz implementation primarily relies on 802.11ad, 802.11ay, and their next-generation standards. 802.11ad may also be called a directional multi-gigabit (DMG) standard, and 802.11ay may also be called an enhanced directional multi-gigabit (EDMG) standard.

[0091] Although the embodiments of the present application are primarily described using the deployment of a WLAN network, particularly a network using the IEEE 802.11 system standard, as an example, those skilled in the art will readily appreciate that the various aspects of the embodiments of the present application can be extended to other networks using various standards or protocols, such as a high-performance wireless local area network (HIPERLAN), a wireless wide area network (WWAN), a wireless personal area network (WPAN), or other networks now known or developed in the future. Therefore, regardless of the coverage area and wireless access protocol used, the various aspects provided in the embodiments of the present application can be applied to any suitable wireless network.

[0092] The technical solutions of the embodiments of the present application can also be applied to various communication systems, such as: WLAN communication system, wireless fidelity (Wi-Fi) system, long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), universal mobile telecommunication system (UMTS), world-wide interoperability for microwave access (WiMAX) communication system, fifth generation (5G) system or new radio (NR), sixth generation (6G) system, Internet of Things (IoT) network, D2D communication (device-to-device communication) or vehicle to x (V2X), etc., where D2D communication refers to a communication mode in which two peer user nodes communicate directly with each other.

[0093] The technical solutions of the embodiments of the present application can be applied to scenarios involving data fusion such as multi-device perception, imaging, and environmental reconstruction.

[0094] The above-mentioned communication system applicable to the present application is only an example, and the communication system applicable to the present application is not limited to this. It is described uniformly here and will not be repeated below.

[0095] FIG1 is a schematic diagram of an application scenario applicable to an embodiment of the present application. As shown in FIG1 , the communication method provided by the present application is applicable to data fusion scenarios between multiple devices, such as perception, imaging, environmental reconstruction, etc. Taking the environmental reconstruction scenario as an example, multiple user devices (UE1, UE2, UE3, UE4) perceive the environmental perception area from different viewing directions, and send the obtained environmental perception results to the base station respectively, wherein UE1 obtains a first environmental perception result by perceiving the environmental perception area and sends it to the base station, UE2 obtains a second environmental perception result by perceiving the environmental perception area and sends it to the base station, UE3 obtains a third environmental perception result by perceiving the environmental perception area and sends it to the base station, UE4 obtains a fourth environmental perception result by perceiving the environmental perception area and sends it to the base station, and after the base station receives the environmental perception results sent by multiple user devices, it fuses the received first environmental perception result, second environmental perception result, third environmental perception result, and fourth environmental perception result to obtain an environmental map.

[0096] It should be understood that the embodiment shown in FIG1 is merely a schematic illustration of the scenario to which the present application is applicable. For example, the fusion operation of the environmental perception results can also be performed by any one of UE1, UE2, UE3, and UE4.

[0097] Currently, in the process of multi-device data fusion, the terminal device or base station directly compresses all the newly collected data and sends it to the opposite device. However, not all perceived data is helpful for the fusion result. Since the correlation between the newly collected data and the existing data of the current opposite device is not considered, redundant information is not fully removed, resulting in a waste of transmission resources and low data transmission efficiency.

[0098] For example, FIG2 shows a schematic flow chart of a communication method 200 provided in an embodiment of the present application. As shown in FIG2 , the method 200 includes the following steps:

[0099] S201: The first device obtains first information.

[0100] In some embodiments, the first device obtains the first information, which can be the first device receiving the first information sent by the second device. At this time, the first information includes one or more of the geometric type of the first data of the first environment, the attribute information of the first data, and the location information of the first data. In addition, the first information may also include the resolution information of the first data and / or the first environment map corresponding to the first data.

[0101] In some other embodiments, the first device obtains the first information, and the first device itself may collect the first information. In this case, the first information includes first data of the first environment.

[0102] The first environment may be, for example, a service area of ​​the first device, or may be, for example, a network coverage area of ​​the first device.

[0103] Among them, the first data of the first environment can be understood as the initial data of the first environment. According to the first data of the first environment, the first device can obtain the preliminary environment map corresponding to the first environment (that is, the first environment map corresponding to the above-mentioned first data) through data fusion.

[0104] Optionally, the geometry type of the first data may include one or more of the following geometry types: point, line, surface, voxel, sphere, polyhedron (eg, cube, cylinder, etc.), octree, etc.

[0105] Optionally, the attribute information of the first data may include one or more of the following information: texture pixel density, color, magnetic permeability, dielectric constant, scattering coefficient, material, quality, etc.

[0106] Optionally, the location information of the first data may include coordinate information of the first data. For example, when the geometry type of the first data is a point, the location information of the first data may be point coordinates. For another example, when the geometry type of the first data is a plane, the location information of the first data may include coordinate information of feature points in the plane and may also include spatial location information of the plane. For another example, when the geometry type of the first data is a sphere, the location information of the first data may include coordinate information of the center of the sphere and the radius of the sphere. In addition, the location information of the first data may also include the coverage range of the first data.

[0107] S202: The first device collects second data of the first environment based on the first information, wherein the second data is incremental data relative to the first data of the first environment.

[0108] Optionally, the first data of the first environment may be, for example, low-resolution perception / environmental data; or, for example, partial data of the first environment (eg, data of a partial hotspot coverage area in the first environment).

[0109] Optionally, the second data of the first environment may be, for example, high-resolution perception / environmental data; for example, it may also be partial data of the first environment that is different from the first data (for example, data of a part of a newly explored area in the first environment).

[0110] S203: The first device sends second information to the second device.

[0111] The second information includes second data of the first environment.

[0112] Optionally, the second information may further include one or more of the following: a geometric type of the second data, attribute information of the second data, and a relative positional relationship between the second data and the first data.

[0113] Optionally, the geometry type of the second data may include one or more of the following geometry types: point, line, surface, voxel, sphere, polyhedron (eg, cube, cylinder, etc.), octree, etc.

[0114] Optionally, the attribute information of the second data may include one or more of the following information: texture pixel density, color, magnetic permeability, dielectric constant, scattering coefficient, material, quality, etc.

[0115] Optionally, the relative position relationship between the second data and the first data may include the absolute position relationship of the second data relative to the first data, or may include the relative position relationship of the second data relative to the first data, wherein the absolute position relationship of the second data relative to the first data may include a position indication of the second data in the coordinate system where the first data is located, and the relative position relationship of the second data phenomenon to the first data may include a position indication of the second data in a coordinate system established with the first data as the origin, and its specific position indication will be introduced in detail in subsequent embodiments.

[0116] In some embodiments, the relative positional relationship between the second data and the first data may be a relative spatial relationship between the second data and the first data represented by parameters such as coordinates and distances.

[0117] Optionally, the second information may further include resolution information of the second data.

[0118] Optionally, the second device can be understood as part of the devices in the first environment, or as all the devices in the first environment, or as a certain device in the first environment. The first device can send the second information to the second device via broadcast, multicast or unicast.

[0119] Among them, the second data refers to incremental environmental map data based on the environmental map corresponding to the first data (such as newly added environmental map data, or changed environmental map data, etc.), and the geometric type of the second data can be the same as or different from the geometric type of the first data.

[0120] In some embodiments, the geometric type of the second data is the same as the geometric type of the first data. The second information may not carry the geometric type of the second data, but may carry a first identifier, which is used to indicate that the second data and the geometric type of the second data are the same.

[0121] In some embodiments, if the geometric type of the second data is different from the geometric type of the first data, the second information includes the geometric type of the second data. For example, the corresponding geometric type can be represented by a specific type identifier, such as an enumeration value, index, bitmap, or other identification method.

[0122] The second data may include, for example, one or more of a point, a plane / facet, a cube, a sphere, a cylinder, and a voxel.

[0123] The indication method of the second data is adapted to the type of the second data, specifically:

[0124] (1) When the second data is a point, the corresponding indication method can be Cartesian coordinates (x, y, z), polar coordinates or cylindrical coordinates etc.

[0125] (2) When the second data is a plane / facet, the corresponding indication method can be a polygon {number of points, coordinates / index of each point}, a plane ax+by+cz+d=0 {plane parameters abcd, plane range}, etc.;

[0126] (3) When the second data is a cube, the corresponding indication method can be {number of points, coordinates / index of each point}, {number of plane points, coordinates / index of each plane point, height of the cube}, etc.;

[0127] (4) When the second data is a sphere, the corresponding indication method may be {center point, radius}.

[0128] (5) When the second data is a cylinder, the corresponding indication method may be: {center point, (direction), radius, height};

[0129] (6) When the second data is a voxel, the corresponding indication method can be: {starting point, box size, voxel size, whether the voxel is empty}, {starting point, number of voxels in each direction, voxel size, whether the voxel is empty}, etc.

[0130] Optionally, after receiving the second information, the second device further updates the map of the first environment according to the second information, and then performs the task based on the updated map of the first environment.

[0131] In one implementation, the first device is a base station, and the second device is a terminal device.

[0132] In another implementation, the first device is a terminal device, and the second device is a base station.

[0133] In an embodiment of the present application, during the data fusion process of multiple devices, after a device collects new data, it does not need to send all the perceived data to the opposite device, but instead sends incremental data (new data or updated data) relative to the existing data among all the perceived data. In this method, since there is no need to send part of the data that overlaps with the existing data of the target device to the target device, it can save the transmission overhead of the device, improve data transmission efficiency, and also improve the utilization efficiency of transmission resources.

[0134] For example, FIG3 shows a schematic flow chart of another communication method 300 provided in an embodiment of the present application. As shown in FIG3 , the method 300 includes the following steps:

[0135] S301: The second device obtains first data of a first environment.

[0136] The first environment may be, for example, a service area of ​​the first device, or may be, for example, a network coverage area of ​​the first device.

[0137] In one implementation, the first device obtains the first data of the first environment in the following manner: the first device itself collects the first data of the first environment.

[0138] In another implementation, the first device obtains the first data of the first environment in the following manner: the first device receives the first data of the first environment sent by a third device located in the first environment, where the third device is different from the first device.

[0139] S302: The second device sends first information to the first device, or it can be described as: the first device receives the first information sent by the second device.

[0140] Among them, the first information is used by the first device to collect second data of the first environment. The second data of the first environment is incremental data relative to the first data of the first environment. The first information includes one or more of the geometric type of the first data, the attribute information of the first data, and the location information of the first data.

[0141] The explanation of the geometric type of the first data, the attribute information of the first data, and the location information of the first data has been explained in detail in the embodiment shown in FIG2 , and will not be repeated here for the sake of brevity.

[0142] Optionally, the first information may further include resolution information of the first data and / or a first environment map corresponding to the first data.

[0143] Optionally, the second device may send the first information to the first device by broadcasting, multicasting, or unicasting.

[0144] In one implementation, when the first device sends the first information via broadcast or multicast, the first information may carry identification information of the first device. When the device receives the first information, it performs identity matching and responds to the first information after the identity matching is successful.

[0145] In another implementation, when the second device sends the first information by broadcasting or multicasting, the devices within the range perform location matching based on the location information of the first data in the first information after receiving the first information, and respond to the first information after the location matching is successful.

[0146] Optionally, the first data of the first environment may be, for example, low-resolution perception / environmental data; or, for example, partial data of the first environment (eg, data of a partial hotspot coverage area in the first environment).

[0147] Optionally, the second data of the first environment may be, for example, high-resolution perception / environmental data; for example, it may also be partial data of the first environment that is different from the first data (for example, data of a part of a newly explored area in the first environment).

[0148] S303: The first device collects second data of the first environment based on the first information.

[0149] S304: The first device sends second information to the second device.

[0150] The explanation of this step is the same as that of S203 in the embodiment shown in FIG. 2 , and will not be repeated here for the sake of brevity.

[0151] In one implementation, the first device is a base station, and the second device is a terminal device.

[0152] In another implementation, the first device is a terminal device, and the second device is a base station.

[0153] In an embodiment of the present application, during the data fusion process of multiple devices, after the device collects new data, what is sent to the target device is not all the perceived data, but the incremental data (new data or updated data) of all the perceived data relative to the existing data of the target device, as well as the geometric type and location information of these incremental data. In this way, after receiving the incremental data, the target device can perform data fusion based on the existing data. In this method, since there is no need to send part of the data that overlaps with the existing data of the target device to the target device, the transmission overhead of the device can be saved, the data transmission efficiency can be improved, and the utilization efficiency of transmission resources can also be improved.

[0154] For example, FIG4 shows a schematic flow chart of another communication method 400 provided in an embodiment of the present application. As shown in FIG4 , the method 400 includes the following steps:

[0155] S401: A first device collects first information, where the first information includes first data of a first environment.

[0156] The explanation of the first data of the first environment has been explained in detail in the embodiments shown in FIG. 2 and FIG. 3 , and will not be repeated here for the sake of brevity.

[0157] S402: The first device sends first information to the second device.

[0158] Specifically, the first device sends first data of the first environment to the second device.

[0159] S403: The first device collects second data of the first environment based on the first information.

[0160] Optionally, the first data of the first environment may be, for example, low-resolution perception / environmental data; or, for example, partial data of the first environment (eg, data of a partial hotspot coverage area in the first environment).

[0161] Optionally, the second data of the first environment may be, for example, high-resolution perception / environmental data; for example, it may also be partial data of the first environment that is different from the first data (for example, data of a part of a newly explored area in the first environment).

[0162] S404: The first device sends second information to the second device.

[0163] The explanation of this step is the same as that of S203 in the embodiment shown in FIG. 2 , and will not be repeated here for the sake of brevity.

[0164] In one implementation, the first device is a base station, and the second device is a terminal device.

[0165] In another implementation, the first device is a terminal device, and the second device is a base station.

[0166] In an embodiment of the present application, during the data fusion process of multiple devices, after a device collects new data, it does not need to send all the perceived data to the opposite device. Instead, it sends incremental data (new data or updated data) relative to the existing data in all the perceived data, as well as the geometric type and location information of these incremental data. In this method, since there is no need to send part of the data that overlaps with the existing data of the target device to the target device, it can save the transmission overhead of the device, improve data transmission efficiency, and also improve the utilization efficiency of transmission resources.

[0167] For example, FIG5 shows a schematic flow chart of another communication method 500 provided in an embodiment of the present application. As shown in FIG5 , the method 500 includes the following steps:

[0168] S501 to S502 are the same as S201 to S202 in the embodiment shown in FIG2 , and are not described again for the sake of brevity.

[0169] S503: When the first device detects that the degree of change of the reference object of the second data compared with the reference object of the first data is greater than a first threshold, the first device sends second information to the second device.

[0170] Optionally, the reference object may be a reference point, and / or the reference object may be a normal vector; in addition, the reference object may also be other objects that can be used to measure changes in environmental data.

[0171] In some embodiments, when the reference object is a reference point, the degree of change of the reference object of the second data is the distance value between the reference point of the first data and the reference point of the second data; wherein, the reference point can be understood as a feature point in the environmental data, for example, when the type of the environmental data is a cube, the reference point can be a vertex of the cube, and the degree of change of the reference object of the second data is the distance between the corresponding vertex in the first data and the corresponding vertex in the second data, for example, when the type of the environmental data is a triangular plane, the reference point can be the center point of the triangular plane, and the degree of change of the reference object of the second data is the distance between the corresponding center point in the first data and the corresponding center point of the second data.

[0172] In some further embodiments, when the reference object is a normal vector, the degree of change of the reference object of the second data is the angle between the normal vector of the first data and the normal vector of the second data; for example, when the type of environmental data is a triangular plane, the reference point can be the normal vector of the triangular plane, and the degree of change of the reference object of the second data is the distance value between the corresponding normal vector in the first data and the normal vector corresponding to the second data.

[0173] Optionally, the reference object may also be an environmental reconstruction performance indicator of the first environment, such as: the current data resolution and environmental reconstruction accuracy information corresponding to the first environment or the first area in the first environment, wherein the environmental reconstruction accuracy information may include, for example, chamfer distance, perception task accuracy, etc., wherein the perception task may be positioning, beam tracking, interruption / occlusion prediction, etc. Correspondingly, when the reference object is different, the corresponding first threshold is also different.

[0174] The degree of change of the environmental data is greater than the first threshold, for example, the degree of change of the environmental data of the first area in the first environment is greater than the first threshold.

[0175] In one implementation, the first device is a base station, and the second device is a terminal device.

[0176] In another implementation, the first device is a terminal device, and the second device is a base station.

[0177] In some implementations, the term "degree of change" may be replaced with "magnitude of change."

[0178] In an embodiment of the present application, during the data fusion process of multiple devices, the device that collects incremental data will only send the corresponding incremental data to the other device when it detects that the degree of change in environmental data has reached a level that requires a map update. This can further save the transmission overhead of the device and improve the utilization efficiency of transmission resources.

[0179] For example, FIG6 shows a schematic flow chart of another communication method 600 provided in an embodiment of the present application. As shown in FIG6 , the method 600 includes the following steps:

[0180] S601 is the same as S201 in the embodiment shown in FIG2 , and will not be described again for the sake of brevity.

[0181] S602: When the second device detects that the degree of change of the reference object of the current data of the first environment compared with the reference object of the first data is greater than a first threshold, the second device sends a first request message to the first device, where the first request message is used to obtain second information.

[0182] The explanation of the reference object has been explained in detail in S503 of the embodiment shown in FIG. 5 , and will not be repeated here for the sake of brevity.

[0183] Optionally, the reference object may also be an environmental reconstruction performance indicator of the first environment, such as: the current data resolution and environmental reconstruction accuracy information corresponding to the first environment or the first area in the first environment, wherein the environmental reconstruction accuracy information may include, for example, chamfer distance, perception task accuracy, etc., wherein the perception task may be positioning, beam tracking, interruption / occlusion prediction, etc. Correspondingly, when the reference object is different, the corresponding first threshold is also different.

[0184] S603: In response to receiving the first request message, the first device collects second data of the first environment.

[0185] The explanation of this step is similar to the explanation of S202 in the embodiment shown in FIG. 2 , and will not be repeated here for the sake of brevity.

[0186] S604: The first device sends second information to the second device.

[0187] The explanation of this step is the same as that of S203 in the embodiment shown in FIG. 2 , and will not be repeated here for the sake of brevity.

[0188] In one implementation, the first device is a base station, and the second device is a terminal device.

[0189] In another implementation, the first device is a terminal device, and the second device is a base station.

[0190] It should be understood that the execution order of steps S602 and S603 is not limited. The first device can collect and send the second data after receiving the request message sent by the second device; the first device can also periodically collect the second data after obtaining the first information, and send the second data to the second device when receiving the request message sent by the second device.

[0191] In an embodiment of the present application, during the data fusion process of multiple devices, a device will only send incremental data to other devices when it receives a request message sent by other devices to obtain incremental data. This can avoid frequent and unnecessary data transmission between devices, further save the transmission overhead of the device, and improve the utilization efficiency of transmission resources.

[0192] For example, based on the embodiment shown in FIG5 , FIG7 shows a schematic flow chart of another communication method 700 provided in an embodiment of the present application. As shown in FIG7 , the method 700 includes the following steps:

[0193] S701: A first device receives first configuration information sent by a second device, or the first device and the second device agree on first configuration information, where the first configuration information is used to configure a reference object and a first threshold.

[0194] It can be understood that the first configuration information can be configuration information jointly agreed upon by the first device and the second device; it can also be configuration information that the second device notifies the first device after determining it; it can also be configuration information that the first device notifies the second device after determining it. This application does not limit this.

[0195] In an example, the first threshold may be configured by the first device and the second device through radio resource control (RRC) or medium access control (MAC) or physical downlink control channel (PDCCH).

[0196] In some embodiments, the first device and the second device send the first configuration information to each other via broadcast, multicast, or unicast.

[0197] S702 to S704 are the same as S501 to S503 in the embodiment shown in FIG5 , and are not described again for the sake of brevity.

[0198] In one example, the first configuration information is used to configure the reference object and the first threshold to be a reference point (for example, a vertex of a polyhedron, the center point of a polyhedron, the center point of a plane, etc.) and a first distance threshold, respectively. When the distance between the reference point of the second data and the reference point of the first data is greater than the first distance threshold, the first device sends the second information to the second device.

[0199] In some further embodiments, the first configuration information is used to configure the reference object and the first threshold to be a normal vector and a first angle threshold, respectively. When the angle formed by the normal vector of the second data and the normal vector of the first data is greater than the first angle threshold, the first device sends second information to the second device.

[0200] In one implementation, the first device is a base station, and the second device is a terminal device.

[0201] In another implementation, the first device is a terminal device, and the second device is a base station.

[0202] In an embodiment of the present application, the conditions for triggering transmission between multiple devices can be configured in advance, so that the device will only send or request to obtain incremental data when it detects that the degree of change in the current environmental data has reached a level that requires an environmental map update. This can further save the transmission overhead of the device and improve the utilization efficiency of transmission resources.

[0203] For example, based on the embodiment shown in FIG6 , FIG8 shows a schematic flow chart of another communication method 800 provided in an embodiment of the present application. As shown in FIG8 , the method 800 includes the following steps:

[0204] S801: The second device receives first configuration information sent by the first device, or the first device and the second device agree on first configuration information, where the first configuration information is used to configure a reference object and a first threshold.

[0205] It can be understood that the first configuration information can be configuration information jointly agreed upon by the first device and the second device; it can also be configuration information that the second device notifies the first device after determining it; it can also be configuration information that the first device notifies the second device after determining it. This application does not limit this.

[0206] In some embodiments, the first device and the second device send the first configuration information to each other via broadcast, multicast, or unicast.

[0207] S802 to S805 are the same as S601 to S604 in the embodiment shown in FIG6 , and are not described again for the sake of brevity.

[0208] In one example, the first configuration information is used to configure the reference object and the first threshold to be a reference point (for example, a vertex of a polyhedron, the center point of a polyhedron, the center point of a plane, etc.) and a first distance threshold, respectively. When the distance between the reference point of the second data and the reference point of the first data is greater than the first distance threshold, the first device sends the second information to the second device.

[0209] In some further embodiments, the first configuration information is used to configure the reference object and the first threshold to be a normal vector and a first angle threshold, respectively. When the angle formed by the normal vector of the second data and the normal vector of the first data is greater than the first angle threshold, the first device sends second information to the second device.

[0210] In one implementation, the first device is a base station, and the second device is a terminal device.

[0211] In another implementation, the first device is a terminal device, and the second device is a base station.

[0212] In an embodiment of the present application, the conditions for triggering transmission between multiple devices can be configured in advance, so that the device will only send or request to obtain incremental data when it detects that the degree of change in the current environmental data has reached a level that requires an environmental map update. This can further save the transmission overhead of the device and improve the utilization efficiency of transmission resources.

[0213] For example, FIG9 shows a schematic flow chart of another communication method 900 provided in an embodiment of the present application. As shown in FIG9 , the method 900 includes the following steps:

[0214] S901: The first device receives first indication information sent by the second device, where the first indication information is used to indicate one or more of the geometric type supported by the second device, the attribute information supported by the second device, and the indication method of the location information supported by the second device.

[0215] The explanation of the geometric type and attribute information has been described in detail in the embodiment shown in FIG2 , and will not be repeated here for the sake of brevity.

[0216] In some embodiments, the second device sends the first indication information to the first device via broadcast, multicast, or unicast.

[0217] Optionally, the second device supports indicating the location information in a manner including: expressing the relative spatial relationship between the second data and the first data through parameters such as distance, coordinates, and direction angle.

[0218] Optionally, the method 900 may further include step S902: the first device sends second indication information to the second device, where the second indication information is used for one or more of a geometry type supported by the first device, attribute information supported by the first device, and a location information indication method supported by the first device, so that the second device can send the first information to the first device according to the second indication information.

[0219] S903 to S906 are the same as S301 to S304 in the embodiment shown in FIG3 , and are not described again for the sake of brevity.

[0220] In one implementation, the first device is a base station, and the second device is a terminal device.

[0221] In another implementation, the first device is a terminal device, and the second device is a base station.

[0222] In an embodiment of the present application, each device in multiple devices can pre-notify other devices of its own capability information so that when other devices send relevant messages to their own devices, they can send message types supported by their own devices, thereby further improving the utilization efficiency of transmission resources.

[0223] For example, FIG10 shows a schematic flow chart of another communication method 1000 provided in an embodiment of the present application. As shown in FIG10 , the method 1000 includes the following steps:

[0224] S1001: A first device receives first indication information sent by a second device, where the first indication information is used to indicate one or more of a geometry type supported by the second device, attribute information supported by the second device, and an indication method of location information supported by the second device.

[0225] The explanation of the geometric type and attribute information has been described in detail in the embodiment shown in FIG2 , and will not be repeated here for the sake of brevity.

[0226] In some embodiments, the second device sends the first indication information to the first device via broadcast, multicast, or unicast.

[0227] Optionally, the second device supports indicating the location information in a manner including: expressing the relative spatial relationship between the second data and the first data through parameters such as distance, coordinates, and direction angle.

[0228] S1002 to S1005 are the same as S401 to S404 in the embodiment shown in FIG4 , and are not described again for the sake of brevity.

[0229] In one implementation, the first device is a base station, and the second device is a terminal device.

[0230] In another implementation, the first device is a terminal device, and the second device is a base station.

[0231] In an embodiment of the present application, each device in multiple devices can pre-notify other devices of its own capability information so that when other devices send relevant messages to their own devices, they can send message types supported by their own devices, thereby further improving the utilization efficiency of transmission resources.

[0232] It should be understood that the above embodiments can be implemented individually or in combination.

[0233] In order to more clearly understand the first data and the second data described in the embodiments of the present application, as well as the relative positional relationship between the second data and the first data, the first data and the second data provided in the embodiments of the present application, as well as the relative positional relationship between the second data and the first data, are schematically explained below, exemplarily, in conjunction with Figures 11 to 17. Figures 11 to 13 are schematic diagrams of the relative positional relationship between the second data and the first data when the first data and the second data have the same geometric type; Figures 14 to 17 are schematic diagrams of the relative positional relationship between the second data and the first data when the first data and the second data have different geometric types.

[0234] FIG11 shows a schematic diagram of the relative positional relationship between the second data and the first data when the geometric types of the first data and the second data are both planes, provided by an embodiment of the present application.

[0235] As shown in FIG11 , the geometric types of the first data and the second data are both plane (ie, the first data and the second data are both plane data), and the position information of the second data can be indicated by relative coordinates or absolute coordinates.

[0236] 11 (a) shows a schematic diagram of indicating the position information of the second data in a relative coordinate indication manner. As shown in FIG11 (a), the relative position relationship of the second data A with respect to the first data can be represented by a vector Indicates, where P0 is the reference object of the first data, for example, it can be the upper left corner data anchor point of the plane corresponding to the first data, and P is the reference object of the second data A, for example, it can be the upper left corner data anchor point of the plane corresponding to the second data A; the spatial position relationship of the second data B relative to the first data can be represented by the distance d1 between the planes.

[0237] In some embodiments, the location information of the second data A also includes the plane size corresponding to the second data A, etc.

[0238] In some embodiments, the location information of the second data B also includes the plane size corresponding to the second data B, etc.

[0239] FIG11(b) shows a schematic diagram of indicating the position information of the second data in the form of absolute coordinate indication. As shown in FIG11(b), the absolute position of the second data A in the global coordinate system can be represented by the vector Indicated as follows, where O is the origin of the global coordinate system, P is the reference object of the second data A, for example, it can be the upper left corner data anchor point of the plane corresponding to the second data A; the spatial position relationship of the second data B relative to the first data can be expressed by the distance d1 between the planes and the normal vector express.

[0240] In some embodiments, the location information of the second data A also includes the plane size corresponding to the second data A, etc.

[0241] In some embodiments, the location information of the second data B also includes the plane size corresponding to the second data B, etc.

[0242] FIG12 is a schematic diagram showing a relative positional relationship between second data and first data when the geometric types of the first data and the second data are both spheres, provided by an embodiment of the present application.

[0243] As shown in FIG12 , the geometric types of the first data and the second data are both spheres (ie, the first data and the second data are both spherical data). The relative position relationship of the second data with respect to the first data can be expressed by vector Indicates that, P0 is the reference object of the first data, for example, it can be the center data anchor point of the sphere corresponding to the first data, and P is the reference object of the second data, for example, it can be the center data anchor point of the sphere corresponding to the second data.

[0244] Optionally, the position information of the second data may be indicated by an absolute coordinate indication method. The specific indication method is similar to that shown in (b) in FIG11 , and will not be described again for the sake of brevity.

[0245] Optionally, the position information of the second data may be represented by information such as the distance between the sphere center P0 corresponding to the first data and the sphere center P corresponding to the second data and the azimuth angle between P0 and P.

[0246] FIG13 shows a schematic diagram of the relative positional relationship between the second data and the first data when the geometric types of the first data and the second data are both voxels, provided by an embodiment of the present application.

[0247] As shown in FIG13 , the geometric types of the first data and the second data are both voxels (ie, the first data and the second data are both voxel data), and the relative position relationship of the second data with respect to the first data can be expressed by vector Indicated as follows, where P0 is the reference object of the first data, for example, it can be the upper left corner vertex data anchor point of the voxel corresponding to the first data, and P is the reference object of the second data, for example, it can be the upper left corner vertex data anchor point of the voxel corresponding to the second data. The spatial position relationship of the second data relative to the first data can be expressed as the normal vector express.

[0248] Optionally, the above-mentioned indication method may also be used to indicate information such as the size of the border (box) and the voxel value.

[0249] Optionally, the position information of the second data may be indicated by an absolute coordinate indication method. The specific indication method is similar to that shown in (b) in FIG11 , and will not be described again for the sake of brevity.

[0250] FIG14 shows a schematic diagram of the relative positional relationship between the second data and the first data when the geometric type of the first data is a cube and the geometric type of the second data is a plane, provided by an embodiment of the present application.

[0251] As shown in FIG14 , the geometric type of the first data is a cube, and the geometric type of the second data A is a plane. The relative position relationship of the second data A to the first data can be expressed by a vector Indicated as follows, where P0 is the reference object of the first data, for example, it can be the upper left corner vertex data anchor point of the cube corresponding to the first data, and P is the reference object of the second data A, for example, it can be the upper left corner vertex data anchor point of the plane corresponding to the second data A. The relative position relationship of the second data B with respect to the first data can be expressed by the distance d2 between a plane of the first data and the plane corresponding to the second data and the normal vector express.

[0252] In some embodiments, the location information of the second data A also includes the plane size corresponding to the second data A, etc.

[0253] In some embodiments, the location information of the second data B also includes the plane size corresponding to the second data B, etc.

[0254] Optionally, the position information of the second data may be indicated by an absolute coordinate indication method. The specific indication method is similar to that shown in (b) in FIG11 , and will not be described again for the sake of brevity.

[0255] FIG15 shows a schematic diagram of the relative positional relationship between the second data and the first data when the geometric type of the first data is a cube and the geometric type of the second data is a point, provided by an embodiment of the present application.

[0256] As shown in FIG15 , the geometric type of the first data is a cube, the geometric type of the second data A is a point, and the relative position relationship of the second data A to the first data can be expressed by a vector , where P0 is the reference object for the first data, for example, the upper left corner vertex data anchor point of the cube corresponding to the first data, and P is the reference object for the second data A, for example, any data anchor point among the multiple point data {Pn} corresponding to the second data A. The relative position of the second data B with respect to the first data can be represented by the distance d3 between a plane of the first data and multiple points corresponding to the second data B.

[0257] Similarly, the position of each of the multiple points corresponding to the second data may be indicated in the above manner.

[0258] Optionally, the position information of the second data may be indicated by an absolute coordinate indication method. The specific indication method is similar to that shown in (b) in FIG11 , and will not be described again for the sake of brevity.

[0259] FIG16 shows a schematic diagram of the relative positional relationship between the second data and the first data when the geometric type of the first data is a cylinder and the geometric type of the second data is a surface, provided by an embodiment of the present application.

[0260] As shown in Figure 16, the geometric type of the first data is a cylinder, and the geometric type of the second data is a surface. The relative position relationship of the second data with respect to the first data can be expressed by the distance d4 between the surface envelope of the first data and the surface envelope corresponding to the second data. In addition, it can also be expressed in combination with normal vectors and / or coordinate points.

[0261] FIG17 shows a schematic diagram of the relative positional relationship between the second data and the first data when the geometric type of the first data is a sphere and the geometric type of the second data is a voxel, provided by an embodiment of the present application.

[0262] As shown in FIG17 , the geometric type of the first data is a sphere, and the geometric type of the second data A is a voxel. The relative position relationship of the second data A to the first data can be expressed by a vector and the normal vector , where P0 is the reference object for the first data, for example, the center data anchor point of the sphere corresponding to the first data, and P is the reference object for the second data A, for example, the upper left corner vertex data anchor point corresponding to the second data A. The relative position of the second data B with respect to the first data can be represented by the distance d5 between the spherical surface of the first data and a plane corresponding to the second data.

[0263] Optionally, the position information of the second data may be indicated by an absolute coordinate indication method. The specific indication method is similar to that shown in (b) in FIG11 , and will not be described again for the sake of brevity.

[0264] The communication apparatus provided in the embodiments of the present application is described in detail below with reference to Figures 18 to 20. It should be understood that the description of the apparatus embodiment corresponds to the description of the method embodiment. Therefore, for matters not described in detail, reference can be made to the method embodiment above. For the sake of brevity, some contents will not be repeated.

[0265] In the embodiment of the present application, the functional modules of the transmitting device or the receiving device can be divided according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation. The following is an example of dividing each functional module according to each function.

[0266] Figure 18 is a schematic block diagram of a communication device 10 provided in an embodiment of the present application. The device 10 includes a transceiver module 11 and a processing module 12. The transceiver module 11 can implement corresponding communication functions, and the processing module 12 is used to process data. In other words, the transceiver module 11 is used to perform operations related to receiving and sending, and the processing module 12 is used to perform other operations in addition to receiving and sending. The transceiver module 11 can also be referred to as a communication interface or communication unit.

[0267] Optionally, the device 10 may further include a storage module 13, which may be used to store instructions and / or data. The processing module 12 may read the instructions and / or data in the storage module so that the device implements the actions of the devices in the aforementioned method embodiments.

[0268] In a first design, the apparatus 10 may correspond to the first device in the above method embodiment, or a component (such as a chip) of the first device.

[0269] The device 10 can implement the steps or processes corresponding to those executed by the first device in the above method embodiment, wherein the transceiver module 11 can be used to perform the transceiver-related operations of the first device in the above method embodiment, and the processing module 12 can be used to perform the processing-related operations of the first device in the above method embodiment.

[0270] In one possible implementation, the transceiver module 11 is configured to receive first information sent by a second device, where the first information includes one or more of a geometric type of first data of a first environment, attribute information of the first data, and location information of the first data. In addition, the first information may further include resolution information of the first data and / or a first environment map corresponding to the first data.

[0271] The processing module 12 is configured to collect second data of the first environment based on the first information, wherein the second data is incremental data relative to the first data of the first environment.

[0272] The transceiver module 11 is configured to send second information to the second device, where the second information includes second data of the first environment.

[0273] In which, when the device 10 is used to execute any method in Figures 3 to 10, the transceiver module 11 can be used to execute the information sending steps in the method, such as steps S304, S402, S404 and S503; the processing module 12 can be used to execute the processing steps in the method, such as step S303.

[0274] It should be understood that the specific process of each unit executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0275] In another design, the apparatus 10 may correspond to the second device in the above method embodiment, or a component (such as a chip) of the second device.

[0276] The device 10 can implement the steps or processes corresponding to those executed by the second device in the above method embodiment, wherein the transceiver module 11 can be used to perform the transceiver-related operations of the second device in the above method embodiment, and the processing module 12 can be used to perform the processing-related operations of the second device in the above method embodiment.

[0277] It should also be understood that the device 10 here is embodied in the form of a functional module. The term "module" here may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor or a group processor, etc.) and memory for executing one or more software or firmware programs, a combined logic circuit and / or other suitable components that support the described functions. In an optional example, those skilled in the art will understand that the device 10 may be specifically the mobile management network element in the above-mentioned embodiment, and may be used to execute the various processes and / or steps corresponding to the mobile management network element in the above-mentioned method embodiments; or, the device 10 may be specifically the terminal device in the above-mentioned embodiment, and may be used to execute the various processes and / or steps corresponding to the terminal device in the above-mentioned method embodiments. To avoid repetition, it will not be described here.

[0278] The apparatus 10 of each of the above-described solutions has the function of implementing the corresponding steps performed by the devices (e.g., network devices, terminal devices) in the above-described methods. This function can be implemented by hardware, or by hardware executing corresponding software implementations. The hardware or software includes one or more modules corresponding to the above-described functions; for example, the transceiver module can be replaced by a transceiver (e.g., the transmitting unit in the transceiver module can be replaced by a transmitter, and the receiving unit in the transceiver module can be replaced by a receiver), and other units, such as the processing module, can be replaced by a processor to respectively perform the transceiver operations and related processing operations in each method embodiment.

[0279] In addition, the transceiver module 11 may also be a transceiver circuit (for example, may include a receiving circuit and a sending circuit), and the processing module may be a processing circuit.

[0280] Figure 19 is a schematic diagram of another communication device 20 provided in an embodiment of the present application. The device 20 includes a processor 21, which is configured to execute computer programs or instructions stored in a memory 22, or read data / signaling stored in the memory 22, to perform the methods described in the above method embodiments. Optionally, there are one or more processors 21.

[0281] Optionally, as shown in FIG19 , the device 20 further includes a memory 22 for storing computer programs or instructions and / or data. The memory 22 may be integrated with the processor 21 or may be separately provided. Optionally, there may be one or more memories 22.

[0282] Optionally, as shown in Figure 19, the device 20 further includes a transceiver 23, which is used to receive and / or send signals. For example, the processor 21 is used to control the transceiver 23 to receive and / or send signals.

[0283] As a solution, the device 20 is used to implement the operations performed by the network device or the terminal device in the above various method embodiments.

[0284] It should be understood that the processor mentioned in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0285] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory and / or a non-volatile memory. Among them, the non-volatile memory may 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), or a flash memory. The volatile memory may be a random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0286] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated into the processor.

[0287] It should also be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0288] 20 is a schematic diagram of a chip system 30 provided in an embodiment of the present application. The chip system 30 (or also referred to as a processing system) includes a logic circuit 31 and an input / output interface 32.

[0289] The logic circuit 31 may be a processing circuit in the chip system 30. The logic circuit 31 may be coupled to a storage unit and call instructions in the storage unit so that the chip system 30 can implement the methods and functions of the various embodiments of the present application. The input / output interface 32 may be an input / output circuit in the chip system 30, outputting information processed by the chip system 30 or inputting data or signaling information to be processed into the chip system 30 for processing.

[0290] As a solution, the chip system 30 is used to implement the operations performed by the network device or the terminal device in the above various method embodiments.

[0291] For example, the logic circuit 31 is used to implement the processing-related operations performed by the network device or terminal device in the above method embodiment; the input / output interface 32 is used to implement the sending and / or receiving-related operations performed by the network device or terminal device in the above method embodiment.

[0292] An embodiment of the present application further provides a computer-readable storage medium on which computer instructions for implementing the methods executed by the device in the above-mentioned method embodiments are stored.

[0293] For example, when the computer program is executed by a computer, the computer can implement the methods executed by the network device or the terminal device in each embodiment of the above method.

[0294] An embodiment of the present application also provides a computer program product, comprising instructions, which, when executed by a computer, implement the methods performed by the network device or the terminal device in the above-mentioned method embodiments.

[0295] An embodiment of the present application also provides a communication system, including the aforementioned network device and terminal device.

[0296] The explanation of the relevant contents and beneficial effects of any of the above-mentioned devices can be referred to the corresponding method embodiments provided above, which will not be repeated here.

[0297] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0298] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. For example, the computer can be a personal computer, a server, or a network device, etc. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)). For example, the aforementioned available medium includes, but is not limited to, various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0299] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A communication method, characterized in that: The method comprises: The first device acquires first information; The first device collects second data of the first environment based on the first information, where the second data is incremental data relative to the first data of the first environment; The first device sends second information to the second device, where the second information includes the second data.

2. The method according to claim 1, characterized in that The second information also includes one or more of the geometric type of the second data, attribute information of the second data, and a relative position relationship between the second data and the first data.

3. The method according to claim 1 or 2, characterized in that The first device acquires the first information, including: The first device receives the first information sent by the second device, where the first information includes one or more of the geometry type of the first data, attribute information of the first data, and location information of the first data.

4. The method according to claim 3, characterized in that The first information also includes resolution information of the first data and / or the first environment map corresponding to the first data.

5. The method according to claim 1 or 2, characterized in that: The first device acquires the first information, including: The first device collects the first information, where the first information includes first data of the first environment.

6. The method according to claim 5, characterized in that Before the first device sends the second information to the second device, the method further includes: The first device sends first data of the first environment to the second device.

7. The method according to any one of claims 1 to 6, characterized in that The first device sends the second information to the second device, including: when the first device detects that the change degree of the reference object of the second data compared with the reference object of the first data is greater than a first threshold, the first device sends the second information to the second device.

8. The method according to claim 7, characterized in that The reference object comprises a reference point, and / or the reference object comprises a normal vector; When the reference object is a reference point, the change degree of the reference object of the second data is the distance value between the reference point of the first data and the reference point of the second data; When the reference object is a normal vector, the degree of change of the reference object of the second data is the angle between the normal vector of the first data and the normal vector of the second data.

9. The method according to claim 7 or 8, characterized in that Before the first device sends the second information to the second device, the method further includes: The first device receives first configuration information sent by the second device, where the first configuration information is used to configure the reference object and the first threshold.

10. The method according to any one of claims 1 to 9, characterized in that The first device sending second information to the second device includes: The first device receives a first request message sent by the second device, where the first request message is used to request to obtain the second information; In response to the first request message, the first device sends the second information to the second device.

11. The method according to any one of claims 1 to 10, characterized in that Before the first device sends the second information to the second device, the method further includes: The first device receives first indication information sent by the second device, where the first indication information is used to indicate one or more of a geometry type supported by the second device, attribute information supported by the second device, and an indication method of location information supported by the second device.

12. The method according to claim 2, characterized in that The geometric type includes at least one of the following: point, line, surface, voxel, sphere, polyhedron, octree; the attribute information includes at least one of the following: texture pixel density, color, magnetic permeability, dielectric constant, scattering coefficient.

13. A communication method, characterized in that: The method comprises: The second device acquires first data of the first environment; The second device sends first information to the first device based on the first data, where the first information is used by the first device to collect second data of the first environment, where the second data is incremental data relative to the first data, and the first information includes one or more of the geometry type of the first data, attribute information of the first data, and location information of the first data; The second device receives second information sent by the first device, where the second information includes the second data.

14. The method according to claim 13, characterized in that The second information also includes one or more of the geometric type of the second data, the attribute information of the second data, and the relative position relationship of the first data.

15. The method according to claim 13 or 14, characterized in that The second device acquires first data of the first environment, including: The second device receives first data of the first environment sent by a third device, where the third device is different from the first device.

16. The method according to claim 13 or 14, characterized in that The second device acquires first data of the first environment, including: The second device collects first data of the first environment.

17. The method according to any one of claims 13 to 16, characterized in that Before the second device receives the second information sent by the first device, the method further includes: When the second device detects that the change degree of the reference object of the second data compared with the reference object of the first data is greater than a first threshold, it sends a first request message to the first device, where the first request message is used to request to obtain the second information.

18. The method according to any one of claims 13 to 16, characterized in that The second device receives the second information sent by the first device, including: The second device receives second information sent by the first device when the first device detects that a change degree of the reference object of the second data compared with the reference object of the first data is greater than a first threshold.

19. The method according to claim 17 or 18, characterized in that The reference object comprises a reference point, and / or the reference object comprises a normal vector; When the reference object is a reference point, the change degree of the reference object of the second data is the distance value between the reference point of the first data and the reference point of the second data; When the reference object is a normal vector, the degree of change of the reference object of the second data is the angle between the normal vector of the first data and the normal vector of the second data.

20. The method according to any one of claims 17 to 19, characterized in that Before sending the first request message to the first device, the method further includes: The second device receives first configuration information sent by the first device, where the first configuration information is used to configure the reference object and the first threshold.

21. The method according to any one of claims 13 to 20, characterized in that The first information also includes resolution information of the first data and / or the first environment map corresponding to the first data.

22. The method according to any one of claims 13 to 21, characterized in that Before the second device sends first information based on the first data, the method further includes: The second device sends first indication information to the first device, where the first indication information is used to indicate one or more of a geometry type supported by the second device, attribute information supported by the second device, and an indication method of location information supported by the second device.

23. The method of claim 14, wherein: The geometric type includes at least one of the following: point, line, surface, voxel, sphere, polyhedron, octree; the attribute information includes at least one of the following: texture pixel density, color, magnetic permeability, dielectric constant, scattering coefficient.

24. A communication device, characterized in that: The device includes a processor and a memory, wherein the processor and the memory are coupled, and the memory is used to store a computer program. When the processor runs the computer program, the device executes the method according to any one of claims 1 to 12, or executes the method according to any one of claims 13 to 23.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a device, the device executes the method according to any one of claims 1 to 12, or executes the method according to any one of claims 13 to 23.

26. A computer program product, characterized in that Contains instructions, and when the computer instructions are executed on a device, the device executes the method according to any one of claims 1 to 12, or executes the method according to any one of claims 13 to 23.

27. A chip, characterized in that: The chip includes a processor and a communication interface. The processor reads and runs instructions through the communication interface. When the chip is installed in a device, the device executes the method as described in any one of claims 1-12, or executes the method as described in any one of claims 13-23.

28. A communication system, characterized in that: The communication system comprises a first device and a second device; wherein, The first device is used to execute the method according to any one of claims 1 to 12, and the second device is used to execute the method according to any one of claims 13 to 23.

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