CN111654911A - Region identification method, device and storage medium - Google Patents
Region identification method, device and storage medium Download PDFInfo
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- CN111654911A CN111654911A CN202010479513.0A CN202010479513A CN111654911A CN 111654911 A CN111654911 A CN 111654911A CN 202010479513 A CN202010479513 A CN 202010479513A CN 111654911 A CN111654911 A CN 111654911A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/90—Details of database functions independent of the retrieved data types
- G06F16/903—Querying
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
Abstract
The embodiment of the invention discloses a region identification method, a device and a storage medium; the method comprises the following steps: acquiring first information; the first information represents the spatial characteristics of the position of the electronic equipment in a first space; receiving a first signal and obtaining second information according to the first signal; the second information represents the wireless signal characteristics of the position where the electronic equipment is located; and determining the area of the position of the electronic equipment in the first space based on the first information and the second information, so that the accuracy of the determined area of the position of the electronic equipment in the first space is greatly improved.
Description
Technical Field
The invention relates to the field of smart home, in particular to a region identification method and device and a storage medium.
Background
Cleaning robots, such as floor sweeping robots, are becoming more popular because they can autonomously and intelligently perform cleaning of indoor floors, saving people from monotonous and increasingly heavy physical exertion. In the related art, before the cleaning robot is placed in a certain area (here, the area refers to a block with a boundary, such as a living room, a bedroom, etc.) in a room for cleaning, the area needs to be identified, and the spatial characteristics of the corresponding area are called from the stored map data according to the area identification result, so as to plan the cleaning path.
However, in the related art, when the cleaning robot performs the area recognition, there is a problem that the recognition accuracy is poor.
Disclosure of Invention
In view of the above, embodiments of the present invention are directed to a method, an apparatus, and a storage medium for region identification.
The technical scheme of the embodiment of the invention is realized as follows:
the embodiment of the invention provides a region identification method, which comprises the following steps:
acquiring first information; the first information represents the spatial characteristics of the position of the electronic equipment in a first space;
receiving a first signal and obtaining second information according to the first signal; the second information represents the wireless signal characteristics of the position where the electronic equipment is located;
and determining the area of the position of the electronic equipment in the first space based on the first information and the second information.
In the above solution, the determining, based on the first information and the second information, a region of the first space where the electronic device is located includes:
according to the first information, identifying the area where the electronic equipment is located to obtain a first identification result;
according to the second information, identifying the area where the electronic equipment is located to obtain a second identification result;
comparing the first identification result with the second identification result to obtain a comparison result;
and determining the area of the position of the electronic equipment in the first space based on the comparison result.
In the foregoing solution, the determining, based on the comparison result, a region of the electronic device in the first space includes:
and when the first identification result is the same as the second identification result, taking the first identification result or the second identification result as the area of the electronic equipment in the first space.
In the foregoing solution, the determining, based on the comparison result, a region of the electronic device in the first space includes:
when the first identification result is different from the second identification result, acquiring historical data identified based on the first information and historical data identified based on the second information;
determining an identification mode with higher accuracy according to the two acquired historical data;
and taking the identification result corresponding to the identification mode with higher accuracy in the first identification result and the second identification result as the area of the electronic equipment in the first space.
In the above scheme, the first signal is sent by a wireless signal access point, and when the number of the wireless signal access points includes one, the second information includes strength information of the wireless signal;
the identifying the area where the electronic device is located according to the second information to obtain a second identification result includes:
matching the second information with data in a first database to obtain a matching result; the first database comprises a corresponding relation between the position of each region in a first space and the strength reference range of the wireless signal of each region;
and obtaining the second identification result according to the matching result.
In the above scheme, the first signal is sent by a wireless signal access point, and when the number of the wireless signal access points includes a plurality of wireless signal access points, the second information includes strength information of a plurality of wireless signals and attribute information of a wireless signal access point corresponding to each of the plurality of wireless signals;
the identifying the area where the electronic device is located according to the second information to obtain a second identification result includes:
for the intensity information of each wireless signal in the intensity information of the plurality of wireless signals, matching the intensity information of the corresponding wireless signal with the corresponding relation between the intensity reference range of the wireless signal sent by the corresponding wireless signal access point in each area in the first space in the first database and the position of each area according to the attribute information of the wireless signal access point corresponding to the intensity information of the corresponding wireless signal to obtain a corresponding matching result; obtaining a plurality of matching results according to the intensity information of the plurality of wireless signals;
and aiming at the plurality of matching results, obtaining the second recognition result by utilizing a Bayesian criterion.
In the above scheme, the method further comprises:
and establishing the first database.
An embodiment of the present invention further provides an area identification apparatus, including:
an acquisition unit that acquires first information; the first information represents the spatial characteristics of the position of the electronic equipment in a first space;
a receiving unit for receiving the first signal,
the first determining unit is used for obtaining second information according to the first signal; the second information represents the wireless signal characteristics of the position where the electronic equipment is located;
and the second determining unit is used for determining the area of the position of the electronic equipment in the first space based on the first information and the second information.
An embodiment of the present invention further provides an area identification apparatus, including: a processor and a memory for storing executable instructions capable of being executed on the processor, wherein the processor is configured to perform any of the steps of the above method when the executable instructions are executed.
Embodiments of the present invention also provide a computer-readable storage medium, on which executable instructions are stored, and when executed by a processor, the executable instructions implement any one of the steps of the above method.
The embodiment of the invention discloses a region identification method, a device and a storage medium; the method comprises the following steps: acquiring first information; the first information represents the spatial characteristics of the position of the electronic equipment in a first space; receiving a first signal and obtaining second information according to the first signal; the second information represents the wireless signal characteristics of the position where the electronic equipment is located; and determining the area of the position of the electronic equipment in the first space based on the first information and the second information. In the embodiment of the invention, the information capable of characterizing the spatial characteristics of the position of the electronic equipment in the first space and the signal capable of characterizing the wireless signal characteristics of the position of the electronic equipment are utilized together to determine the area of the position of the electronic equipment in the first space. That is to say, in the embodiment of the present invention, the two kinds of data with different dimensions are comprehensively considered to perform the region identification, so that the accuracy of the region where the determined position of the electronic device is located in the first space is greatly improved.
Drawings
Fig. 1 is a schematic flow chart illustrating an implementation of a region identification method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a specific implementation flow of performing area identification by using first information and second information in the area identification method according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a region identification apparatus according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a hardware component structure of the area identification apparatus according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments.
In the related art, the application of laser and/or radar navigation technology in the mapping and path planning of the cleaning robot is mature. The cleaning robot with laser and/or radar navigation can meet the use scenes of most household users. In practical application, when the cleaning robot is moved and placed in a certain indoor area, the cleaning robot obtains spatial features (such as distances from four walls and the like) of the position where the cleaning robot is located based on single-line laser and/or radar scanning, and matches the scanned spatial features with stored map data, so that the purpose of identifying the area where the position where the cleaning robot is located belongs to in the indoor area is achieved. However, due to the limitations of single line laser and/or radar scanning, the area identification scheme in the related art is prone to area positioning errors for relatively similar house types and furniture furnishings. That is, when the cleaning robot performs area recognition, there is a problem that recognition accuracy is poor.
The inventor finds that, at present, there are wireless Access points (english can be expressed as Access Point, and english can be expressed as AP) in general indoor, and the number and distance of walls at different indoor locations and separated from the wireless Access points are different, that is, the strength of the wireless signal transmitted by the wireless Access Point and the position parameters at different indoor locations received at different indoor locations have a certain relationship, based on this, the wireless signal positioning cannot perform indoor positioning with fine granularity, but can be used to evaluate and calculate with coarse granularity whether the wireless signal positioning is in a certain area, and in combination with laser and/or radar navigation, the identification success rate can be greatly improved for area identification.
Based on the above, in the embodiments of the present invention, the information capable of characterizing the spatial characteristics of the electronic device in the first space and the signal capable of characterizing the wireless signal of the electronic device in the first space are utilized together to determine the area of the electronic device in the first space. That is to say, in the embodiment of the present invention, the two kinds of data with different dimensions are comprehensively considered to perform the region identification, so that the accuracy of the region where the determined position of the electronic device is located in the first space is greatly improved.
The embodiment of the invention provides a region identification method, and fig. 1 is a schematic flow chart illustrating the implementation of the region identification method according to the embodiment of the invention. As shown in fig. 1, the method comprises the steps of:
step 101: acquiring first information; the first information represents the spatial characteristics of the position of the electronic equipment in a first space;
step 102: receiving a first signal and obtaining second information according to the first signal; the second information represents the wireless signal characteristics of the position where the electronic equipment is located;
step 103: and determining the area of the position of the electronic equipment in the first space based on the first information and the second information.
The electronic device in the embodiment of the present invention may include a robot that needs to perform area identification, such as a cleaning robot, and more specifically, may be a sweeping robot, a mopping robot, and the like, but is not limited thereto.
Wherein, in step 101, the first space can be understood as an indoor location having a boundary, and the location includes at least one area. In practice, the first space may be a living space of a household, such as an indoor space of a family of households; and zones are functional blocks in the living space, such as a living room, a bedroom a, a bedroom B, etc., in an indoor space of a family residence.
In practical applications, the spatial feature of the electronic device in the first space may be understood as a positional feature exhibited when the electronic device is located in a certain position in a certain area in the first space, such as a distance from a four-sided wall in the area, a distance from a characteristic object (e.g., a bed, a dining table, etc.), and the like.
In practical application, the specific manner of acquiring the first information may include acquiring the first information through a first sensor arranged in the electronic device; wherein the first sensor includes at least a sensor capable of performing a distance measurement function. In practical applications, the first sensor may include one or more of a radar ranging sensor, a laser ranging sensor, an infrared ranging sensor, or an ultrasonic ranging sensor. The first sensor may further include a sensor capable of performing a camera function, such as a visible light camera, and the sensor with the camera function may be used to capture a view angle of a feature object (e.g., a bed, a dining table, etc.) around the electronic device when the electronic device is located in a certain area of the first space.
In practical application, when the first sensor comprises a radar ranging sensor, the radar lattice information of the position of the electronic equipment measured by the radar ranging sensor can be digitized to obtain the grid coordinate of the position of the electronic equipment.
In step 102, the first signal includes a wireless signal, such as a WIFI signal, or a ZigBee signal. The receiving of the first signal may be understood as a wireless signal received when the electronic device is at a certain position in a certain area in the first space. In practical applications, the wireless signal may be sent out by a wireless access point, such as a WIFI router, located in the first space or at a fixed position around the first space.
In practical applications, the wireless signal characteristic at the position of the electronic device may be understood as strength information of a wireless signal received when the electronic device is at a certain position in a certain area in the first space. In practical applications, the second information may be measured by a Received Signal Strength Indication (RSSI). When the wireless signal is a WIFI signal, the second information may be WIFI RSSI information.
In practical application, the specific manner of obtaining the second information according to the first signal may include obtaining, by a corresponding wireless signal strength test application program provided in the electronic device, strength information of a wireless signal received when the electronic device is located at a certain position in a certain area in the first space.
In step 103, the first information and the second information are mainly used together for region identification. Fig. 2 shows a specific implementation method for performing area identification by using first information and second information, and as shown in fig. 2, the method includes the following steps:
step 1031: according to the first information, identifying the area where the electronic equipment is located to obtain a first identification result;
step 1032: according to the second information, identifying the area where the electronic equipment is located to obtain a second identification result;
step 1033: comparing the first identification result with the second identification result to obtain a comparison result;
step 1034: and determining the area of the position of the electronic equipment in the first space based on the comparison result.
In step 1031, in actual application, the spatial feature data (e.g., the size of each region, the layout of a feature object, etc.) of each region in the first space and the position corresponding relationship of each region are stored in the electronic device in advance. According to the first information, a specific manner of identifying the area where the electronic device is located may include matching the spatial feature of the location where the electronic device is located with stored spatial feature data of each area in the first space, so as to match an area closest to the area where the electronic device is located. The first identification result here includes the position of the electronic device in the first space identified by means of the first information, that is, the area to which the electronic device belongs in the first space.
In step 1032, in actual application, a two-stage mode is adopted for region identification by using the second information, wherein: in the first stage, the wireless signal strength in each area in the first space is collected and recorded for multiple times, and the recorded result is processed and stored in an entry of a corresponding physical position in a database to form the establishment of a wireless signal map (hereinafter also referred to as a first database); and in the second stage, the second information is matched with the established wireless signal map, and a second identification result is obtained according to the matching result.
In an embodiment, the method further comprises:
and establishing the first database.
In practical applications, the wireless signal access points around the first space may include one or more, and it is understood that when the wireless signal access points include a plurality of wireless signal access points, the accuracy of the region identification result is higher.
Specifically, the method comprises the following steps: when the number of wireless signal access points comprises one; the establishing the first database comprises:
establishing a corresponding relation between the strength reference range of the wireless signal sent by the wireless signal access point in each area in the first space and the position of each area;
when the number of wireless signal access points includes a plurality; the establishing the first database comprises:
respectively establishing a corresponding relation between the strength reference range of the wireless signal sent by the corresponding wireless signal access point in each area in the first space and the position of each area aiming at each wireless signal access point in the plurality of wireless signal access points;
the first database is formed by a plurality of corresponding relations between the strength reference range of the wireless signals sent by the wireless signal access points in each area in the first space and the position of each area.
In practical applications, the number and distance of walls separated from the wireless access point at different positions in the first space are different, that is, the wireless signal strength of each area in the first space is different. A plurality of typical test points may be set for each of the areas in the first space, and the range of the wireless signal strength included in the plurality of test points is used as the strength reference range of the wireless signal of the area. In practical application, the wireless signal strength of the test point can be measured for multiple times, and the average value is obtained, so that a more stable and reliable wireless signal strength reference range for each area can be obtained. Here, a typical arrangement of test points is exemplified. Specifically, when one area is a rectangle, the typical test points may be set to five, and the five typical test points may be located at positions near four corners of the rectangle and at the center of the rectangle. In practical application, the setting number and the setting position of typical test points can be adjusted according to actual conditions.
The first database is built in the first stage, and then the second stage is entered. Specifically, the method comprises the following steps:
in one embodiment, the first signal is transmitted by a wireless signal access point, and when the number of the wireless signal access points comprises one, the second information comprises strength information of the wireless signal;
the identifying the area where the electronic device is located according to the second information to obtain a second identification result includes:
matching the second information with data in a first database to obtain a matching result; the first database comprises a corresponding relation between the position of each region in a first space and the strength reference range of the wireless signal of each region;
and obtaining the second identification result according to the matching result.
In an embodiment, the first signal is sent by a wireless signal access point, and when the number of the wireless signal access points includes a plurality of wireless signal access points, the second information includes strength information of a plurality of wireless signals and attribute information of a wireless signal access point corresponding to each of the plurality of wireless signals;
the identifying the area where the electronic device is located according to the second information to obtain a second identification result includes:
for the intensity information of each wireless signal in the intensity information of the plurality of wireless signals, matching the intensity information of the corresponding wireless signal with the corresponding relation between the intensity reference range of the wireless signal sent by the corresponding wireless signal access point in each area in the first space in the first database and the position of each area according to the attribute information of the wireless signal access point corresponding to the intensity information of the corresponding wireless signal to obtain a corresponding matching result; obtaining a plurality of matching results according to the intensity information of the plurality of wireless signals;
and aiming at the plurality of matching results, obtaining the second recognition result by utilizing a Bayesian criterion.
In practical applications, the second information may also be referred to as a location fingerprint, and the area identification based on the location fingerprint in the embodiment of the present invention is generally divided into two types. One is a deterministic algorithm that compares the signal characteristics with pre-computed statistics of the first database; another is a probabilistic algorithm that calculates the likelihood that a signal feature belongs to a certain distribution (stored in a fingerprint library). In practical applications, the area identification based on the location fingerprint may be performed by directly selecting one algorithm, or different algorithms may be selected according to the number of wireless signal access points. Specifically, the method comprises the following steps:
in practical application, the deterministic algorithm is simple, when the statistics of one wireless signal access point is used for area identification, the deterministic algorithm can be used, that is, the second information is matched with the corresponding relation between the position of each area in the first space in the first database and the intensity reference range of the wireless signal of each area, and when the second information belongs to the intensity reference range of the wireless signal of a certain area, the area is used as a second identification result.
In practical applications, the actual wireless signal strength information is considered to be more closely distributed. Therefore, when area identification is performed using statistics of a plurality of wireless signal access points, a joint probability distribution (a joint probability distribution because there are a plurality of wireless signal access points) can be used as a location fingerprint. Specifically, the joint probability distribution obtained by collecting the wireless signal strength information is notIt is a simple matter because the correlation between the wireless signal strength information from the respective wireless signal access points is not obvious, and the distributions of the wireless signal strength information generated by the respective wireless signal access points are theoretically independent, and then the product of the edge distributions of the wireless signal strength information is simply used as the joint distribution. Assume that the received wireless signal strength vector is r ═ r1，r2，r3，…，rN]When estimating the position, a region is selected where the highest probability of generating r is possible. For a given r, the probability of generating the r of all the areas is calculated, and the position of the electronic device is estimated by using Bayesian criterion as the second identification result of the area to which the electronic device belongs. In practical applications, the probability that r can be generated in a certain region is the prior art, and is not described herein again.
The basic idea of the bayesian criterion here includes that under incomplete intelligence, subjective probability estimation is used for partially unknown states, then bayesian formula is used for correcting occurrence probability, and finally, an optimal decision is made by using an expected value and the correction probability. In practical applications, besides the bayesian criterion, other pattern matching algorithms can be applied to estimate the position of the electronic device, such as statistical learning theory, support vector machine, neural network, and the like.
In step 1033, the two recognition results obtained by the two different region recognition methods are compared to obtain a comparison result.
In step 1034, a membership area of the final location of the electronic device in the first space is determined according to the same or different comparison results.
In an embodiment, the determining, based on the comparison result, a region of the first space where the electronic device is located includes:
and when the first identification result is the same as the second identification result, taking the first identification result or the second identification result as the area of the electronic equipment in the first space.
In practical applications, in an embodiment, the determining, based on the comparison result, a region where the electronic device is located in the first space includes:
when the first identification result is different from the second identification result, acquiring historical data identified based on the first information and historical data identified based on the second information;
determining an identification mode with higher accuracy according to the two acquired historical data;
and taking the identification result corresponding to the identification mode with higher accuracy in the first identification result and the second identification result as the area of the electronic equipment in the first space.
In practical application, when the first recognition result is the same as the second recognition result, the two recognition modes both point to the same recognition result, and the obtained result of the area recognition is necessarily more accurate.
In practical applications, when the first recognition result is different from the second recognition result, there is inevitably a case where the recognition result of one recognition method is erroneous. In practical application, the characteristics of the position where the electronic equipment is located can be combined for further judgment. Specifically, the method comprises the following steps: when the electronic equipment is located at a position close to the edge in a certain area and the first recognition result is different from the second recognition result, the result identified based on the first information mode, that is, the first recognition result, can be used as the area where the electronic equipment is located in the first space; when the electronic device is located at a position close to the center in a certain area and the first recognition result is different from the second recognition result, it may be considered to acquire a recognition mode with a higher recognition accuracy of the two recognition modes, and use a recognition result of the recognition mode with the higher recognition accuracy of the first recognition result and the second recognition result as the area where the electronic device is located in the first space. In practical application, whether the electronic device is located at a position close to the edge or a position close to the center in a certain area can be determined through the first information. The identification mode with higher accuracy in the two can be determined by the historical data identified based on the first information and the historical data identified based on the second information.
In practical application, the feature of the position of the electronic device may also be disregarded, and the recognition result corresponding to the recognition mode with the higher accuracy in the first recognition result and the second recognition result may be directly selected as the area of the position of the electronic device in the first space.
The embodiment of the invention discloses a region identification method, a device and a storage medium; the method comprises the following steps: acquiring first information; the first information represents the spatial characteristics of the position of the electronic equipment in a first space; receiving a first signal and obtaining second information according to the first signal; the second information represents the wireless signal characteristics of the position where the electronic equipment is located; and determining the area of the position of the electronic equipment in the first space based on the first information and the second information. In the embodiment of the invention, the information capable of characterizing the spatial characteristics of the position of the electronic equipment in the first space and the signal capable of characterizing the wireless signal characteristics of the position of the electronic equipment are utilized together to determine the area of the position of the electronic equipment in the first space. That is to say, in the embodiment of the present invention, the two kinds of data with different dimensions are comprehensively considered to perform the region identification, so that the accuracy of the region where the determined position of the electronic device is located in the first space is greatly improved.
The present invention is described in further detail below with reference to application scenarios.
In the application scenario, the electronic equipment is a sweeping robot; the first space is an indoor space of a set of family residence; the first information is lattice information of laser or radar; the second information is WIFI RSSI information in the indoor space; area identification is room identification. In this application scenario, the scheme of area identification or room identification provided by the present invention is as follows:
the method comprises the steps of scanning the environment around the sweeping robot by using a laser or radar navigation component to obtain lattice information reflecting the spatial characteristics of the sweeping robot, and digitizing the lattice information to obtain grid coordinates of the sweeping robot. Meanwhile, based on a single or a plurality of wireless access points arranged at fixed positions around the indoor (in practical application, only one wireless access point may be arranged in the indoor space of a family house, at this time, the use environment of the wireless access points can be achieved by the wireless access points arranged in the neighboring family houses), single WIFI RSSI information or multi-WIFI RSSI information in the area where the sweeping robot is located is continuously explored, relatively stable evaluation points are determined, information fingerprints are generated and stored in the map information together with the grid coordinates, wherein the key point is that the WIFI RSSI information and the lattice information of the laser or the radar are mutually fused and corrected, correct composite information is determined and then stored in the map information.
The WIFI RSSI information that can scan in the combination room, the wall in room has very big influence to the decay of WIFI signal, can set up an intensity threshold interval, combines the room information that divides in the quick-witted walking of sweeping the floor and the construction picture, combines a plurality of rectangle blocks that have WIFI RSSI information together, fuses signal strength information when relocating at every turn.
In the scheme of area identification or room identification, WIFI RSSI information is used for recording block information with a relatively coarse granularity, lattice information of laser or radar is used for recording accurate information of grid points in blocks with a relatively fine granularity, and meanwhile, inertial navigation and a gyroscope can be used for eliminating accumulated errors caused by the drift of the lattice information of the laser or radar in practical application. That is to say, the WIFI signal positioning is utilized, although fine-grained indoor positioning cannot be carried out, the WIFI signal positioning can be used for evaluating whether calculation is carried out in a certain area in a coarse-grained mode, and meanwhile, the WIFI signal positioning is combined with laser or radar navigation components for accurate positioning, so that a good data fusion effect can be generated.
In the application embodiment of the invention, when the traditional laser radar navigation component is used for identifying the room, a threshold value of the intensity range of a wireless signal is added for limiting the room positioning and identification, so that the success rate of the identification for the room identification can be greatly improved. In addition, the wireless signal position fingerprint is directly provided by the original indoor or existing wireless access points around the indoor, and additional hardware investment is not needed, so that the room identification scheme of the application embodiment of the invention has low implementation cost and better popularization.
In order to implement the method according to the embodiment of the present invention, an area identification apparatus 300 is further provided in the embodiment of the present invention, fig. 3 is a structural diagram of the apparatus according to the embodiment of the present invention, and as shown in fig. 3, the area identification apparatus 300 includes:
an acquisition unit 301 that acquires first information; the first information represents the spatial characteristics of the position of the electronic equipment in a first space;
a receiving unit 302 for receiving a first signal,
a first determining unit 303, configured to obtain second information according to the first signal; the second information represents the wireless signal characteristics of the position where the electronic equipment is located;
a second determining unit 304, configured to determine, based on the first information and the second information, a region in the first space where the electronic device is located.
In an embodiment, the second determining unit 304 includes:
the first identification module is used for identifying the area where the electronic equipment is located according to the first information to obtain a first identification result;
the second identification module is used for identifying the area where the electronic equipment is located according to the second information to obtain a second identification result;
the comparison module is used for comparing the first identification result with the second identification result to obtain a comparison result;
and the determining module is used for determining the area of the position of the electronic equipment in the first space based on the comparison result.
In an embodiment, the determining module is specifically configured to:
and when the first identification result is the same as the second identification result, taking the first identification result or the second identification result as the area of the electronic equipment in the first space.
In an embodiment, the determining module is specifically configured to:
when the first identification result is different from the second identification result, acquiring historical data identified based on the first information and historical data identified based on the second information;
determining an identification mode with higher accuracy according to the two acquired historical data;
and taking the identification result corresponding to the identification mode with higher accuracy in the first identification result and the second identification result as the area of the electronic equipment in the first space.
In one embodiment, the first signal is transmitted by a wireless signal access point, and when the number of the wireless signal access points comprises one, the second information comprises strength information of the wireless signal;
the second identification module is specifically configured to:
matching the second information with data in a first database to obtain a matching result; the first database comprises a corresponding relation between the position of each region in a first space and the strength reference range of the wireless signal of each region;
and obtaining the second identification result according to the matching result.
In an embodiment, the first signal is sent by a wireless signal access point, and when the number of the wireless signal access points includes a plurality of wireless signal access points, the second information includes strength information of a plurality of wireless signals and attribute information of a wireless signal access point corresponding to each of the plurality of wireless signals;
the second identification module is specifically configured to:
for the intensity information of each wireless signal in the intensity information of the plurality of wireless signals, matching the intensity information of the corresponding wireless signal with the corresponding relation between the intensity reference range of the wireless signal sent by the corresponding wireless signal access point in each area in the first space in the first database and the position of each area according to the attribute information of the wireless signal access point corresponding to the intensity information of the corresponding wireless signal to obtain a corresponding matching result; obtaining a plurality of matching results according to the intensity information of the plurality of wireless signals;
and aiming at the plurality of matching results, obtaining the second recognition result by utilizing a Bayesian criterion.
In an embodiment, the area identification apparatus 300 further includes: a building unit for
And establishing the first database.
In practical applications, the establishing unit, the obtaining unit 301, the receiving unit 302, the first determining unit 303, the second determining unit 304, the first identifying module, the second identifying module, the comparing module, and the determining module may be implemented by a processor in the area identifying device 300.
It should be noted that: the area recognition device provided in the above embodiment is only illustrated by the division of the program modules when performing area recognition, and in practical applications, the processing allocation may be completed by different program modules according to needs, that is, the internal structure of the device may be divided into different program modules to complete all or part of the processing described above. In addition, the area identification device and the area identification method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments and are not described herein again.
Based on the hardware implementation of the program module, and in order to implement the method according to the embodiment of the present invention, an embodiment of the present invention further provides an area identification apparatus 400, where the area identification apparatus 400 includes:
a memory 401 for storing executable instructions;
the processor 402 is configured to implement the region identification method provided by the embodiment of the present invention when the processor executes the executable instructions stored in the memory.
In practice, as shown in FIG. 4, the various components of the apparatus 400 are coupled together by a bus system 403. It will be appreciated that the bus system 403 is used to enable communications among the components connected. The bus system 403 includes a power bus, a control bus, and a status signal bus in addition to a data bus. But for clarity of illustration the various buses are labeled as bus system 403 in figure 4.
The embodiment of the invention also provides a storage medium, wherein the storage medium stores executable instructions, and when the executable instructions are executed by at least one processor, the area identification method provided by the embodiment of the invention is realized.
In some embodiments, the storage medium may be a Memory such as a magnetic random Access Memory (FRAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disc, or a compact disc Read-Only Memory (CD-ROM); or may be various devices including one or any combination of the above memories.
In some embodiments, executable instructions may be written in any form of programming language (including compiled or interpreted languages), in the form of programs, software modules, scripts or code, and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.
By way of example, executable instructions may correspond, but do not necessarily have to correspond, to files in a file system, and may be stored in a portion of a file that holds other programs or data, such as in one or more scripts in a hypertext markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).
By way of example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
It should be noted that: "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In addition, the technical solutions described in the embodiments of the present invention may be arbitrarily combined without conflict.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (10)
1. A method for identifying a region, comprising:
acquiring first information; the first information represents the spatial characteristics of the position of the electronic equipment in a first space;
receiving a first signal and obtaining second information according to the first signal; the second information represents the wireless signal characteristics of the position where the electronic equipment is located;
and determining the area of the position of the electronic equipment in the first space based on the first information and the second information.
2. The method of claim 1, wherein the determining, based on the first information and the second information, a region in the first space where the electronic device is located comprises:
according to the first information, identifying the area where the electronic equipment is located to obtain a first identification result;
according to the second information, identifying the area where the electronic equipment is located to obtain a second identification result;
comparing the first identification result with the second identification result to obtain a comparison result;
and determining the area of the position of the electronic equipment in the first space based on the comparison result.
3. The method according to claim 2, wherein the determining, based on the comparison result, a region in the first space where the electronic device is located comprises:
and when the first identification result is the same as the second identification result, taking the first identification result or the second identification result as the area of the electronic equipment in the first space.
4. The method according to claim 2, wherein the determining, based on the comparison result, a region in the first space where the electronic device is located comprises:
when the first identification result is different from the second identification result, acquiring historical data identified based on the first information and historical data identified based on the second information;
determining an identification mode with higher accuracy according to the two acquired historical data;
and taking the identification result corresponding to the identification mode with higher accuracy in the first identification result and the second identification result as the area of the electronic equipment in the first space.
5. The method of claim 2, wherein the first signal is transmitted by a wireless signal access point, and when the number of wireless signal access points comprises one, the second information comprises strength information of the wireless signal;
the identifying the area where the electronic device is located according to the second information to obtain a second identification result includes:
matching the second information with data in a first database to obtain a matching result; the first database comprises a corresponding relation between the position of each region in a first space and the strength reference range of the wireless signal of each region;
and obtaining the second identification result according to the matching result.
6. The method of claim 2, wherein the first signal is transmitted by a wireless signal access point, and when the number of the wireless signal access points includes a plurality of wireless signal access points, the second information includes strength information of a plurality of wireless signals and attribute information of a wireless signal access point corresponding to each of the plurality of wireless signals;
the identifying the area where the electronic device is located according to the second information to obtain a second identification result includes:
for the intensity information of each wireless signal in the intensity information of the plurality of wireless signals, matching the intensity information of the corresponding wireless signal with the corresponding relation between the intensity reference range of the wireless signal sent by the corresponding wireless signal access point in each area in the first space in the first database and the position of each area according to the attribute information of the wireless signal access point corresponding to the intensity information of the corresponding wireless signal to obtain a corresponding matching result; obtaining a plurality of matching results according to the intensity information of the plurality of wireless signals;
and aiming at the plurality of matching results, obtaining the second recognition result by utilizing a Bayesian criterion.
7. The method of claim 5 or 6, further comprising:
and establishing the first database.
8. An area recognition apparatus, comprising:
an acquisition unit that acquires first information; the first information represents the spatial characteristics of the position of the electronic equipment in a first space;
a receiving unit for receiving the first signal,
the first determining unit is used for obtaining second information according to the first signal; the second information represents the wireless signal characteristics of the position where the electronic equipment is located;
and the second determining unit is used for determining the area of the position of the electronic equipment in the first space based on the first information and the second information.
9. An electronic device, comprising: a processor and a memory for storing executable instructions operable on the processor, wherein the processor is operable when executing the executable instructions to perform the steps of the method of any of claims 1 to 7.
10. A storage medium having stored thereon executable instructions, which when executed by a processor, carry out the steps of the method of any one of claims 1 to 7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113490232A (en) * | 2021-07-02 | 2021-10-08 | 北京鼎普科技股份有限公司 | Hot spot distribution detection method and system |
| CN113490232B (en) * | 2021-07-02 | 2024-05-10 | 北京鼎普科技股份有限公司 | Hot spot distribution detection method and system |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113490232A (en) * | 2021-07-02 | 2021-10-08 | 北京鼎普科技股份有限公司 | Hot spot distribution detection method and system |
| CN113490232B (en) * | 2021-07-02 | 2024-05-10 | 北京鼎普科技股份有限公司 | Hot spot distribution detection method and system |
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