CN113518305A

CN113518305A - Bluetooth signal calibration method and device, robot, storage medium and electronic equipment

Info

Publication number: CN113518305A
Application number: CN202110424824.1A
Authority: CN
Inventors: 何建敏
Original assignee: Beijing CHJ Automotive Information Technology Co Ltd
Current assignee: Beijing CHJ Automotive Information Technology Co Ltd
Priority date: 2021-04-20
Filing date: 2021-04-20
Publication date: 2021-10-19
Anticipated expiration: 2041-04-20
Also published as: CN113518305B

Abstract

The invention discloses a Bluetooth signal calibration method and device, a robot, a storage medium and electronic equipment, wherein the method comprises the following steps: scanning the calibration room to obtain a map of the calibration room; receiving a map marked with test points, wherein the map marked with the test points is generated by adding a plurality of test points based on the map of the calibration room; moving to the target mobile terminal and clamping the target mobile terminal; and respectively moving the target mobile terminal to each test point based on the map marked with the test point, and sending the time point, the name of the test point and the distance between the robot and the vehicle when moving to the test point each time. According to the method provided by the embodiment of the invention, the mobile robot clamps the target mobile terminal and moves to different test points, so that a technician does not need to move back and forth at a plurality of test points, and the efficiency of calibrating the vehicle Bluetooth signal is improved.

Description

Bluetooth signal calibration method and device, robot, storage medium and electronic equipment

Technical Field

The invention relates to the field of vehicles, in particular to a Bluetooth signal calibration method and device, a robot, a storage medium and electronic equipment.

Background

In order to solve the problems that the traditional mechanical key is inconvenient to carry and easy to lose, people research a Bluetooth key, namely, a vehicle is controlled through a Bluetooth signal of equipment, the equipment can be called as the Bluetooth key, more and more technologies adopt a mobile phone as the Bluetooth key, and the vehicle lock is opened by adopting the Bluetooth signal of the mobile phone, so that the vehicle lock is convenient to carry.

However, at the present stage, the types of mobile phones are various, and there are an Android system and an iOS system. The same mobile phone brand has different series of mobile phones, and the strength of the Bluetooth signals of different types of mobile phones connected with the vehicle is different. The bluetooth signal of each type of mobile phone and vehicle connection is a time-consuming and labor-consuming process if data calibration is required.

At present, a calibration mode of a bluetooth signal for connecting a bluetooth key of a mobile phone and a vehicle is that a technician carries the mobile phone, records the strength of the signal for connecting the bluetooth of the mobile phone and the bluetooth of the vehicle at different test points in a calibration room, can move back and forth at a plurality of test points, takes 2-3 hours for calibrating the mobile phone, and data possibly has a recording error along with the increase of fatigue of a calibrating person, for example, the strength of the bluetooth signal at a test point a can be recorded as the strength of the bluetooth signal at a test point B, which causes inaccurate calibration.

Disclosure of Invention

Objects of the invention

The invention aims to provide a Bluetooth signal calibration method and device, a robot, a storage medium and electronic equipment.

(II) technical scheme

In order to solve the above problem, a first aspect of the present invention provides a bluetooth signal calibration method, which is applied to a movable robot, where the robot is capable of walking with a target mobile terminal, and the method includes: scanning a calibration room to obtain a map of the calibration room, wherein a vehicle and a target mobile terminal are parked in the calibration room, and the target mobile terminal is used for sending the intensity and time point of a Bluetooth signal connected with the vehicle Bluetooth to a server side in real time; receiving a map marked with test points, wherein the map marked with the test points is generated by adding a plurality of test points on the basis of the map of the calibration room; moving to the target mobile terminal and clamping the target mobile terminal; and respectively moving the target mobile terminal to each test point based on the map marked with the test points, and sending the time point, the name of the test point and the distance between the robot and the vehicle at each test point.

According to the vehicle Bluetooth signal calibration method provided by the embodiment of the invention, the mobile robot clamps the target mobile terminal and moves to different test points, the mobile terminal sends the strength and the time point of the Bluetooth signal connected with the vehicle Bluetooth in real time, the robot sends the time point and the distance between the time point and the vehicle at each test point, technicians do not need to move back and forth at a plurality of test points, and the vehicle Bluetooth signal calibration efficiency is improved.

Further, the moving the target mobile terminal to each test point based on the map marked with the test point includes: sequentially moving to each test point according to the moving sequence indicated by the map marked with the test points; or, the distance between the current test point and other test points in the preset range is obtained, and the next test point closest to the current test point is moved.

Further, after moving to each of the test points based on the map marked with the test points, the method further includes: determining a location of a vehicle cabin based on the location of the vehicle and the orientation of the vehicle head; moving to the vicinity of the position of the vehicle cabin, and placing the target mobile terminal in the vehicle cabin.

Further, the placing the target mobile terminal in the vehicle cabin includes placing the target mobile terminal on a seat of a driver seat of the vehicle.

Furthermore, a plurality of target mobile terminals of different types are placed in the calibration chamber, the target mobile terminals are also used for sending the types of the target mobile terminals in real time, and the robot is used for carrying each target mobile terminal one by one to calibrate the Bluetooth signals.

Further, the robot is provided with an SLAM laser radar and a vision camera; the obtaining of the map of the calibration room comprises: acquiring an indoor plane map generated by the SLAM laser radar; acquiring the position of a vehicle, the orientation of a vehicle head and the position of a target mobile terminal detected by the visual camera; and generating a map of a calibration room according to the indoor plane map, the position of the vehicle, the orientation of the vehicle head and the position of the target mobile terminal.

Further, the map marked with the test points is a map based on the calibration chamber, and is generated by adding at least one test point at least one preset distance away from the vehicle.

According to a second aspect of the present invention, there is provided a bluetooth signal calibration method, applied to a server, the method including: receiving a map of a calibration room, wherein the map of the calibration room is obtained by scanning the calibration room by a movable robot, a vehicle and a target mobile terminal are parked in the calibration room, and the target mobile terminal is used for sending the intensity and the time point of a Bluetooth signal connected with the vehicle Bluetooth to a server side in real time; adding a plurality of test points based on the map of the calibration room to generate a map marked with the test points; sending a map marked with test points to the robot; the robot is used for carrying a target mobile terminal to move to each test point respectively based on the map marked with the test points, and the time point, the names of the test points and the distance between the robot and the vehicle are all sent at each test point.

Further, the step of adding a plurality of test points to the map based on the calibration room to generate a map labeled with the test points includes: and adding at least one test point to the map of the calibration room at a plurality of preset distances from the vehicle to generate a map marked with the test point.

According to a third aspect of the present invention, there is provided a robot capable of walking with a target mobile terminal, the robot comprising: the system comprises a scanning module, a service end and a server side, wherein the scanning module is used for scanning a calibration room to obtain a map of the calibration room, a vehicle and a target mobile terminal are parked in the calibration room, and the target mobile terminal is used for sending the intensity and the time point of a Bluetooth signal connected with the vehicle Bluetooth to the server side in real time; the communication module is used for receiving a map marked with test points and sending time points, names of the test points and the distance between the robot and the vehicle at each test point of the mobile device; the map marked with the test points is generated by adding a plurality of test points on the basis of the map of the calibration room; and the control module is used for controlling the robot to move to a target mobile terminal, clamping the target mobile terminal, and moving the target mobile terminal carried by the map marked with the test points to each test point respectively.

Further, the control module is used for sequentially moving to each test point according to the moving sequence indicated by the map marked with the test points; or the control module is used for acquiring the distance between the current test point and other test points in a preset range and moving to the next test point closest to the current test point.

Further, the control module is further used for determining the position of a vehicle cabin based on the position of the vehicle and the orientation of the head of the vehicle after the robot moves to each test point; moving to the vicinity of the position of the vehicle cabin, and placing the first target mobile terminal in the vehicle cabin.

According to a fourth aspect of the present invention, there is provided a bluetooth signal calibration apparatus, comprising: the system comprises an information receiving module, a calibration room and a server, wherein the information receiving module is used for receiving a map of the calibration room, the map of the calibration room is obtained by scanning the calibration room by a movable robot, a vehicle and a target mobile terminal are parked in the calibration room, and the target mobile terminal is used for sending the intensity and time point of a Bluetooth signal connected with the vehicle Bluetooth to the server in real time; the map generation module is used for adding a plurality of test points based on the map of the calibration room to generate a map marked with the test points; the information sending module is used for sending a map marked with test points to the robot; the robot is used for carrying a target mobile terminal to move to each test point respectively based on the map marked with the test points, and the time point, the names of the test points and the distance between the robot and the vehicle are all sent at each test point.

According to a fifth aspect of the present invention, there is provided a bluetooth signal calibration apparatus, comprising: the target mobile terminal is used for sending the intensity and the time point of a Bluetooth signal connected with the vehicle Bluetooth to the server side in real time; the robot of the third aspect is configured to clamp the target mobile terminal, move to each test point, and send a time point, a name of the test point, and a distance between the robot and the vehicle to the service end at each test point.

According to a sixth aspect of the present invention, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the calibration method of the first aspect, or which, when executed by a processor, implements the calibration method of the second aspect.

According to a seventh aspect of the present invention, there is provided an electronic device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the calibration method of the first aspect when executing the program, or implements the calibration method of the second aspect when executing the program.

(III) advantageous effects

The technical scheme of the invention has the following beneficial technical effects:

according to the vehicle Bluetooth signal calibration method and device provided by the embodiment of the invention, the mobile robot clamps the target mobile terminal and moves to different test points, the mobile terminal sends the strength and the time point of the Bluetooth signal connected with the vehicle Bluetooth in real time, the robot sends the time point and the distance between the robot and the vehicle at each test point, technicians do not need to move back and forth at a plurality of test points, and the vehicle Bluetooth signal calibration efficiency is improved.

Drawings

Fig. 1 is a schematic flowchart of a bluetooth signal calibration method according to a first embodiment of the present invention;

FIG. 2 is a flowchart illustrating a method for calibrating a Bluetooth signal according to a second embodiment of the present invention;

FIG. 3 is a schematic diagram of a mobile robot according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of a calibration apparatus for bluetooth signals according to a fourth embodiment of the present invention;

fig. 5 is a schematic structural diagram of a calibration apparatus for bluetooth signals according to a fifth embodiment of the present invention;

fig. 6 is a schematic diagram of an electronic device provided in accordance with a sixth embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Before discussing the embodiments of the present invention in detail, technical terms related to the present invention will be introduced.

A robot arm is an automated mechanical device that is most widely used in the field of robotics, and is applied to fields such as industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, and space exploration, and can receive an instruction and perform an operation by being accurately positioned at a certain point in a three-dimensional (or two-dimensional) space. In the embodiment of the invention, the mechanical arm is mainly used for clamping the mobile terminal according to the instruction of the robot.

A mobile Robot (Robot) is a machine device that automatically performs work. The method can execute the command according to the received instruction, run a pre-programmed program, and execute the corresponding instruction according to the rule pre-established by the artificial intelligence technology. In the embodiment of the invention, the robot mainly has the function of clamping the mobile terminal by the mechanical arm according to the received instruction and moving the mobile terminal to the test point.

Bluetooth is an open global specification for wireless data and voice communications, and is a special short-range wireless technology connection that establishes a communication environment for fixed and mobile devices based on low-cost short-range wireless connections.

Slam (simultaneous localization and localization), also called cml (current localization and localization), is used to construct an instantaneous positioning and Mapping, or to construct a Mapping and positioning at the same time, which means that a robot is placed at an unknown position in an unknown environment, and the robot is moved while gradually depicting a complete map of the environment, so that the complete map (a) refers to every corner where the robot can enter the room without obstacles.

Fig. 1 is a schematic flowchart of a bluetooth signal calibration method according to a first embodiment of the present invention.

As shown in fig. 1, a method for calibrating a bluetooth signal of a vehicle is applied to a mobile robot, and the robot can walk with a target mobile terminal, and the method includes:

step S101, scanning a calibration room to obtain a map of the calibration room, parking a vehicle and a target mobile terminal in the calibration room, wherein the target mobile terminal is used for sending the intensity and the time point of a Bluetooth signal connected with the vehicle Bluetooth to a server side in real time.

In some embodiments, a placing table is placed in the calibration room, and a vehicle to be calibrated is parked, and at least one target mobile terminal is placed in the placing table.

In some embodiments, the robot described above is provided with a SLAM lidar and a vision camera; the SLAM laser radar is arranged on a chassis of the movable robot and used for scanning the environment of the calibration room and generating a plane map of the calibration room.

Obtaining a map of a calibration room, comprising: acquiring an indoor plane map generated by the SLAM laser radar; acquiring the position of a vehicle, the orientation of a vehicle head and the position of a mobile terminal detected by a visual camera; and generating a map of the calibration room according to the indoor plane map, the position of the vehicle, the direction of the vehicle head and the position of the mobile terminal.

Step S102, receiving a map marked with test points, wherein the map marked with the test points is generated by adding a plurality of test points based on the map of the calibration room.

Specifically, the map marked with the test points is generated by adding a plurality of test points to the map of the calibration room on the service side.

In some embodiments, after the calibration room is scanned to obtain the map of the calibration room, before the map marked with the test points is received, the map of the calibration room is sent to the server, and then the map marked with the test points sent by the server is received. Alternatively, in some embodiments, after the calibration room is scanned to obtain the map of the calibration room, the generated map of the calibration room may also be automatically synchronized to the server. For example, a robot-generated map of the calibration room may also be stored directly in the server.

In some embodiments, the map labeled with test points is a calibration room based map and is generated by adding at least one test point at least one preset distance from the vehicle.

Specifically, the map marked with the test points is generated by adding at least one test point at least one preset distance away from the vehicle on the basis of the map of the calibration room of the service terminal.

Optionally, the map marked with the test points is obtained by adding at least one test point on the map of the calibration room, on the basis of two sides of a preset reference line of the vehicle, and at a plurality of preset distances from the preset reference line.

The preset reference line is, for example, a center line in a vehicle length direction, a center line in a vehicle width direction, a diagonal line of the vehicle or an edge line of the vehicle body, an edge line of the vehicle head, an edge line of the vehicle body, or a parallel line of the edge line of the vehicle body.

Optionally, the map marked with the test points is obtained by adding at least one test point on the basis of a plurality of preset distances from a preset reference point on the vehicle on the map of the calibration room.

The preset reference point is, for example, a center point of the vehicle, a lamp, a driver seat, a sub-driver seat, a plurality of vertexes of a corner of the vehicle, or the like.

In one embodiment, the preset test points include: four vertices of a vehicle corner, wherein the predetermined distance is, for example, 0-15 meters, and further, for example, one or more of 1 meter, 2 meters, 3 meters, 5 meters, 10 meters, and 15 meters.

In some embodiments, the map labeled with test points is generated based on a map of a calibration room based on randomly adding at least one test point at least one preset distance from a preset reference point on the vehicle.

It can be understood that, in the above embodiment, since the map of the calibration room can display the orientation and the contour of the vehicle head, the server may automatically generate the map marked with the test points according to the position of the preset reference point (or the position of the preset reference line), the size of the preset distance from the reference point, and the number of the test points selected at each preset distance.

For example, the preset reference point is the center point of the vehicle, and the preset distances are 3, 5 and 10 meters from the reference point, respectively. Each preset distance requires the generation of 5 test points. The server generates 3 concentric circles respectively with each preset distance as a radius, and generates 5 test points on the 3 concentric circles respectively at random, thereby generating a map marked with the test points.

In other embodiments, the map of the calibration room may also be manually labeled with the test points to generate a map labeled with the test points.

For example, the information of the test points is set in advance in the map management software of the server, and after the server obtains the map of the calibration room, a plurality of test points are marked on the map of the calibration room according to the information of the test points, so that the map marked with the test points is generated. The calibration point information includes a preset reference point or a preset reference line, a preset distance, and the number of test points corresponding to each preset distance. And then the server side sends the map marked with the test points to the robot.

And step S103, moving to the target mobile terminal, and clamping the target mobile terminal.

In some embodiments, the robot moves to the object placing table according to the instruction for starting calibration and the map marked with the test point, and clamps the target mobile terminal.

And step S104, respectively moving the target mobile terminal carried by the map marked with the test points to each test point, and sending the time point, the name of the test point and the distance between the robot and the vehicle at each test point.

In some embodiments, the robot sends the point in time, the test point name, and the distance of the robot from the vehicle to the server.

It can be understood that, in this embodiment, the server receives the real-time bluetooth signal strength and the time point sent by the target mobile terminal, and the name and the time point of the test point sent by the robot. The server can obtain the signal intensity of the Bluetooth connected between the mobile terminal and the vehicle Bluetooth at the test point according to the name and the time point of the test point, so that the calibration of the Bluetooth signal is realized.

In some embodiments, moving the target mobile terminal to each test point based on the map marked with the test point includes: and moving to each test point in turn according to the moving sequence indicated by the map marked with the test points.

In some embodiments, moving the target mobile terminal to each test point based on the map marked with the test point includes: and obtaining the distance between the current test point and other test points in a preset range, and moving to the next test point closest to the current test point.

In some embodiments, after moving to each test point position based on the map marked with the test points, the method further comprises:

step S105 determines the position of the vehicle cabin based on the position of the vehicle and the orientation of the vehicle head.

And S106, moving to the position near the vehicle cabin, and placing the target mobile terminal in the vehicle cabin.

In some specific embodiments, placing the target mobile terminal in a vehicle cabin includes: sending a window descending instruction to the vehicle, wherein the window descending instruction is used for indicating the vehicle to descend the window; and placing the target mobile terminal in a vehicle cabin.

For example, placing the target mobile terminal in a cabin of the vehicle may include placing the target mobile terminal in a cabin seat of the vehicle.

In some embodiments, the robot sends the location of the driver's seat to the server at the same time or after placing the mobile terminal in the vehicle cabin.

In this embodiment, after the robot moves to all the test points, the target mobile terminal is further placed in the vehicle cabin, the test point sent by the robot is received by the server and is the vehicle cabin, and the target mobile terminal sends the intensity of the bluetooth signal connected with the vehicle bluetooth in the vehicle cabin to the server, so as to determine the intensity of the bluetooth signal of the target mobile terminal in the vehicle cabin.

In some embodiments, a plurality of different types of target mobile terminals are placed in the calibration chamber, the target mobile terminals are further used for sending the types of the target mobile terminals in real time, and the robot is used for carrying each target mobile terminal one by one to calibrate the bluetooth signal.

In some embodiments, after moving the target mobile terminal carried by the map labeled with the test point to each test point, the method further includes:

putting the target mobile terminal back to the original position, and clamping another target mobile terminal;

the target mobile terminal which is clamped and carried on the map marked with the test points is moved to each test point, and the time point, the name of the test point and the distance between the robot and the vehicle are sent when the target mobile terminal moves to the test point each time.

In some embodiments, after placing the target mobile terminal on the driver seat, the method further comprises: and clamping the target mobile terminal from the seat of the driving seat. And moving to the original position of the target mobile terminal, and replacing the target mobile terminal to the original position. And clamping another target mobile terminal, and moving the clamped target mobile terminal to each test point position respectively based on the map marked with the test points, wherein the time point, the test point name and the distance between the robot and the vehicle are sent when the clamped target mobile terminal moves to the test point position each time.

In this embodiment, after calibrating the intensity of the bluetooth signal of one target mobile terminal connected to the vehicle, the intensity of the bluetooth signal of another target mobile terminal connected to the vehicle may be calibrated.

In some embodiments, after moving the target mobile terminal to each test point based on the map marked with the test point, the method further includes: and repeatedly executing the step that the target mobile terminal is carried to move to each test point respectively based on the map marked with the test points, and the time point, the name of the test point and the distance between the robot and the vehicle are sent at each test point for preset times.

In some embodiments, the preset number of times is, for example, five times, that is, the step S104 is repeatedly executed five times for the same target mobile terminal.

It can be understood that a certain fluctuation may occur in the intensity of the bluetooth signal of the target mobile terminal connected to the vehicle, and in order to ensure the accuracy of the calibration data, the robot needs to repeatedly execute the step S104 five times, and the server may average the intensity of the bluetooth signal at each test point obtained by the five execution steps, and calibrate the standard value of the intensity of the bluetooth signal of the target mobile terminal connected to the vehicle bluetooth at the test point.

In some embodiments, after the target mobile terminal is picked up from the driver seat, before the target mobile terminal is placed back to the home position, the method further includes:

and repeatedly executing the step that the target mobile terminal is carried to move to each test point respectively based on the map marked with the test points, the time point, the name of the test point, the distance between the robot and the vehicle and the position near the cabin of the vehicle are sent at each test point, and the target mobile terminal is placed in the cabin of the vehicle for preset times. The preset number of times is, for example, five times.

In some embodiments, moving the target mobile terminal to all test point positions based on the map marked with the test point includes: and after moving to the test point position each time and staying for a preset time, moving to the next test point.

In some embodiments, the preset time is 30 seconds or 60 seconds.

It can be understood that, the server sends the strength of the bluetooth signal of the vehicle received in real time, for example, once every few seconds or milliseconds, and if the robot moves to the next test point immediately after reaching the test point, it is easy to cause that only one data is tested at the test point, and errors are easily generated.

Fig. 2 is a flowchart illustrating a method for calibrating a bluetooth signal according to a second embodiment of the present invention.

The method is applied to a server, and as shown in fig. 2, the method includes:

step S201, receiving a map of a calibration room, wherein the map of the calibration room is obtained by scanning the calibration room by a movable robot, a vehicle and a target mobile terminal are parked in the calibration room, and the target mobile terminal is used for sending the intensity and the time point of a Bluetooth signal connected with the vehicle Bluetooth to a server side in real time.

Step S202, adding a plurality of test points based on the map of the calibration room to generate the map marked with the test points.

Step S203, sending a map marked with test points to a robot; the robot is used for carrying a target mobile terminal to move to each test point respectively based on the map marked with the test points, and the time point, the test point name and the distance between the robot and the vehicle are sent at each test point.

In some embodiments, step S202, adding a plurality of test points based on the map of the calibration room to generate a map labeled with the test points includes: and adding at least one test point on the map of the calibration room at a plurality of preset distances from the vehicle to generate a map marked with the test point.

Optionally, the step of adding at least one test point to a map located in the calibration room at a plurality of preset distances from the vehicle to generate a map labeled with the test point includes: on the map of the calibration room, at least one test point is added to generate a map marked with the test point based on the fact that the map is arranged on two sides of a preset reference line of the vehicle and is separated from the preset reference line by a plurality of preset distances.

Optionally, the step of adding at least one test point to a map located in the calibration room at a plurality of preset distances from the vehicle to generate a map labeled with the test point includes: and adding at least one test point on the map of the calibration room at a plurality of preset distances away from a preset reference point on the vehicle to generate the map marked with the test point.

The preset reference point is, for example, a center point of the vehicle, a driving seat, a sub-driving seat, a lamp, a plurality of vertexes of a corner of the vehicle, or the like.

In some embodiments, the test points marked on the map of the scanned calibration room include: four vertices of a vehicle corner, wherein the predetermined distance is, for example, 0-15 meters, and further, for example, one or more of 1 meter, 2 meters, 3 meters, 5 meters, 10 meters, and 15 meters.

In some embodiments, the map labeled with test points is a service-based calibration room map generated based on the random addition of at least one test point at least one predetermined distance from a predetermined reference point on the vehicle.

In some embodiments, the server calculates an average value of the strengths of the plurality of bluetooth signals at the same test point to obtain a standard value of the strength of the bluetooth signal of the target mobile terminal connected to the vehicle bluetooth at the test point.

Fig. 3 is a schematic structural diagram of a mobile robot according to a second embodiment of the present invention, as shown in fig. 3, the mobile robot being capable of walking with a target mobile terminal, the mobile robot including: the device comprises a scanning module, a communication module and a control module. Wherein the content of the first and second substances,

and the scanning module is used for scanning the calibration chamber to obtain a map of the calibration chamber, a vehicle and a target mobile terminal are parked in the calibration chamber, and the target mobile terminal is used for sending the intensity and the time point of the received Bluetooth signal of the vehicle in real time.

The communication module is used for receiving the map marked with the test points, and sending the time points, the names of the test points and the distance between the robot and the vehicle at each test point of the mobile device; the test point marked map is generated by adding a plurality of test points to a calibration room based map.

And the control module is used for controlling the robot to move to the target mobile terminal, clamping the target mobile terminal, and moving the target mobile terminal carried by the map marked with the test points to each test point respectively.

In some embodiments, the mobile robot is provided with a mechanical arm, and a control module of the mobile robot is used for controlling the mechanical arm to clamp the target mobile terminal.

In some embodiments, the movable device is further provided with a moving module, and the control module is used for controlling the moving module to move so that the robot moves to the test point position.

For example, the control module of the robot is configured to control the moving module to move to the target mobile terminal according to the calibration start instruction sent by the server and the map marked with the test point, and control the mechanical arm to clamp the target mobile terminal after moving to the target mobile terminal.

In some embodiments, the control module is configured to move to each test point in turn in a movement sequence indicated by the map labeled with the test points.

In some embodiments, the control module is configured to obtain a distance between a current test point and another test point within a preset range, and move to a next test point closest to the current test point.

In some embodiments, the control module is further configured to determine a position of the vehicle cabin based on the position of the vehicle and the orientation of the vehicle head after the robot moves to each of the test point locations, respectively; and moving to the position near the vehicle cabin, and placing the target mobile terminal in the vehicle cabin.

Specifically, the control module is further configured to determine a position of a vehicle driving seat based on the position of the vehicle and the orientation of the vehicle head after the robot moves to each test point position; and moving the target mobile terminal to the position near the driving position of the vehicle, and placing the target mobile terminal on the driving position seat of the vehicle.

In some embodiments, the communication module is further configured to send a map of the calibration room to the server, and then receive the map labeled with the test point sent by the server.

In some embodiments, the map marked with test points is based on a map of a calibration room, and at least one test point is added at least one preset distance from the vehicle.

In some embodiments, a scanning module, comprising: the SLAM laser radar is used for scanning the calibration room to generate an indoor plane map; the visual camera is used for detecting the position of the vehicle, the orientation of the vehicle head and the position of the target mobile terminal; and the control unit generates a map of the calibration room according to the indoor plane map and the position of the vehicle, the orientation of the vehicle head and the position of the mobile terminal.

In some embodiments, the control module is further configured to determine a position of the vehicle cabin based on the position of the vehicle and the orientation of the head of the vehicle, and move to a vicinity of the position of the vehicle cabin after the robot moves to all the test point positions, respectively. Sending a window descending instruction to the vehicle, wherein the window descending instruction is used for indicating the vehicle to descend the window; the control module is also used for controlling the mechanical arm to place the target mobile terminal in the vehicle cabin.

In some embodiments, the control module is further configured to control the robotic arm to place the target mobile terminal in a cabin of the vehicle, including, the control module is further configured to control the robotic arm to place the target mobile terminal in a cabin seat of the vehicle.

In some embodiments, the communication module is configured to send the position of the driving seat to the server while or after the robotic arm places the target mobile terminal on the driving seat.

In some embodiments, a plurality of different types of target mobile terminals are placed in the calibration chamber, and the target mobile terminals are further used for sending the types of the target mobile terminals in real time.

In some embodiments, the control module is further configured to control the robot to place the target mobile terminal back to the original position and clamp another target mobile terminal after the target mobile terminal carried on the map marked with the test points moves to each test point respectively; the method comprises the steps that a clamped target mobile terminal is carried on a map marked with test points and moves to each test point, and the time point, the name of the test point and the distance between a robot and a vehicle are sent when the target mobile terminal moves to the test point each time.

In some embodiments, the control module is further configured to control the mechanical arm to clamp the target mobile terminal from the driver seat, and control the robot to move to a home position of the target mobile terminal; and controlling the mechanical arm to place the target mobile terminal back to the original position and clamp another target mobile terminal.

Based on a map marked with test points, the clamped target mobile terminal is moved to each test point position respectively, and the time point, the test point name and the distance between the robot and the vehicle are sent when the target mobile terminal is moved to the test point position each time.

In some embodiments, the control module is further configured to, after moving to the last test point, control the robot to repeatedly perform "move to all test point positions respectively" on the same target mobile terminal, and send the time point, the test point name, and the distance between the robot and the vehicle "for a preset number of times each time the robot moves to the test point position, where the preset number of times is, for example, five times.

In some embodiments, the control module is further configured to, after the robot arm grips the target mobile terminal from the cab seat, repeatedly perform "move to all test point positions respectively, send the time point, the test point name, and the distance between the robot and the vehicle each time the robot moves to the test point position" before controlling the robot to move to the original position of the target mobile terminal, and place the target mobile terminal on the cab seat of the vehicle "for a preset number of times.

And the control module is used for controlling the mobile terminal to move to the next test point after the mobile terminal carries the target mobile terminal and stays for the preset time after moving to all the test point positions based on the map marked with the test points.

In some embodiments, the control module is used for sequentially moving to all the test point positions according to the sequence indicated by the map marked with the test points.

In some embodiments, the control module is configured to obtain distances between the current test point and other test points within a preset distance, and control the robot to move to a next test point closest to the current test point until all test point positions are sequentially moved.

Fig. 4 is a schematic structural diagram of a bluetooth signal calibration apparatus according to a fourth embodiment of the present invention.

As shown in fig. 4, the apparatus is, for example, a server, and the apparatus includes: the map generation device comprises an information receiving module, a map generation module and an information sending module.

The information receiving module is used for receiving a map of a calibration room, the map of the calibration room is obtained by scanning the calibration room by a movable robot, a vehicle and a target mobile terminal are parked in the calibration room, and the target mobile terminal is used for sending the intensity and the time point of a Bluetooth signal connected with the vehicle Bluetooth to a server side in real time.

And the map generation module is used for adding a plurality of test points based on the map of the calibration room to generate a map marked with the test points.

The information sending module is used for sending a map marked with the test points to the robot; the robot is used for carrying a target mobile terminal to move to each test point respectively based on the map marked with the test points, and the time point, the name of the test point and the distance between the robot and the vehicle are sent at each test point.

In some embodiments, the map generation module is configured to generate a map labeled with test points by adding at least one test point to the map at a calibration room at a plurality of preset distances from the vehicle.

Optionally, the map generating module is configured to add at least one test point on the map of the calibration room on the basis of a plurality of preset distances between the map of the calibration room and the preset reference line and on both sides of the preset reference line of the vehicle, and generate the map marked with the test point.

Optionally, the map generating module is configured to add at least one test point on the map of the calibration room at a plurality of preset distances from a preset reference point on the vehicle to generate the map marked with the test point.

In some embodiments, the map generation module is configured to generate a map labeled with test points based on randomly adding at least one test point at least one preset distance away from a preset reference point on the vehicle based on a map of the calibration room.

In some embodiments, the server further comprises: and the calibration module is used for averaging the intensities of the plurality of Bluetooth signals at the same test point to obtain a standard value of the intensity of the Bluetooth signal of the target mobile terminal connected with the vehicle Bluetooth at the test point.

In some embodiments, the server further comprises: and the storage module is used for storing the intensity and the time point of a Bluetooth signal which is sent by the target mobile terminal and connected with the Bluetooth of the vehicle, a map of a calibration room and a map marked with the test point.

Fig. 5 is a schematic structural diagram of a bluetooth signal calibration apparatus according to a third embodiment of the present invention.

As shown in fig. 5, the vehicle bluetooth signal calibration apparatus includes: target mobile terminal, mobile robot.

The target mobile terminal is used for sending the intensity and the time point of the received Bluetooth signal of the vehicle to the server side in real time.

The mobile robot of the third embodiment is configured to clamp the target mobile terminal, move to each test point, and send the time point, the test point name, and the distance between the robot and the vehicle to the server when moving to the test point position each time.

In some embodiments, the bluetooth signal calibration apparatus further includes: and a server side. And the server is used for generating a map marked with the test points according to the map of the calibration room scanned by the robot.

In some embodiments, the service end is used for adding at least one test point to the map at the calibration room at a plurality of preset distances from the vehicle to generate a map marked with the test point.

In some embodiments, the service end is configured to add at least one test point on the map of the calibration room to generate the map marked with the test point based on a plurality of preset distances between the map and a preset reference line of the vehicle.

In some embodiments, the service end is used for adding at least one test point on the map of the calibration room at a plurality of preset distances from a preset reference point on the vehicle to generate the map marked with the test point.

In some embodiments, the server is configured to generate a map labeled with test points based on a map of the calibration room by randomly adding at least one test point at least one preset distance away from a preset reference point on the vehicle.

In some embodiments, the bluetooth signal calibration apparatus further comprises: and the vehicle is used for connecting with the target mobile terminal through Bluetooth.

In some embodiments, the vehicle is further configured to send a status signal of the door lock to the service end in real time, so that the service end can calibrate the sensitivity of the mobile terminal as a bluetooth key to unlock the door lock.

It will be appreciated that some vehicles are provided with a bluetooth key that automatically unlocks the vehicle when the vehicle enters the 3 meter unlock zone. When the vehicle leaves the area of 3 meters, the lock is automatically locked, so that in the embodiment, the vehicle is set to upload the state of the door lock to the service end in real time, and the service end is convenient to obtain the calibration data of the bluetooth key and the door lock.

The fourth embodiment of the present invention further provides a storage medium, in which a computer program is stored, and when being executed by a processor, the computer program implements the calibration method of the first embodiment or the method of the second embodiment.

Fig. 6 is a schematic diagram of an electronic device provided in an embodiment of the invention.

As shown in fig. 6, the electronic device includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the calibration method of the first embodiment or the calibration method of the second embodiment is implemented.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, embodiments of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

The invention has been described above with reference to embodiments thereof. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the invention, and these alternatives and modifications are intended to be within the scope of the invention.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims

1. A Bluetooth signal calibration method is applied to a movable robot, wherein the robot can walk with a target mobile terminal, and the method comprises the following steps:

scanning a calibration room to obtain a map of the calibration room, wherein a vehicle and a target mobile terminal are parked in the calibration room, and the target mobile terminal is used for sending the intensity and time point of a Bluetooth signal connected with the vehicle Bluetooth to a server side in real time;

receiving a map marked with test points, wherein the map marked with the test points is generated by adding a plurality of test points based on the map of the calibration room;

moving to the target mobile terminal and clamping the target mobile terminal;

and respectively moving the target mobile terminal to each test point based on the map marked with the test points, and sending the time point, the name of the test point and the distance between the robot and the vehicle at each test point.

2. The method for calibrating the bluetooth signal according to claim 1, wherein the step of carrying the target mobile terminal to each test point based on the map marked with the test points comprises:

sequentially moving to each test point according to the moving sequence indicated by the map marked with the test points; alternatively, the first and second electrodes may be,

and obtaining the distance between the current test point and other test points in a preset range, and moving to the next test point closest to the current test point.

3. The method for calibrating bluetooth signals according to claim 1 or 2, further comprising, after moving to each of the test points based on the test point-marked map, respectively:

determining a location of a vehicle cabin based on the location of the vehicle and the orientation of the vehicle head;

moving to the vicinity of the position of the vehicle cabin, and placing the target mobile terminal in the vehicle cabin.

4. The method for calibrating the Bluetooth signal according to claim 3, wherein a plurality of different types of target mobile terminals are placed in the calibration chamber, the target mobile terminals are further used for sending the types of the target mobile terminals in real time, and the robot is used for carrying each target mobile terminal one by one to calibrate the Bluetooth signal.

5. The calibration method of the Bluetooth signal according to any one of claims 1-4, wherein the robot is provided with a SLAM laser radar and a vision camera; the obtaining of the map of the calibration room comprises:

acquiring an indoor plane map generated by the SLAM laser radar;

acquiring the position of the vehicle, the orientation of the vehicle head and the position of the target mobile terminal detected by the visual camera;

and generating a map of a calibration room according to the indoor plane map, the position of the vehicle, the orientation of the vehicle head and the position of the target mobile terminal.

6. A method for calibrating a Bluetooth signal according to any one of claims 1-5, characterized in that the test point-marked map is generated based on the map of the calibration room, with the addition of at least one test point at least one predetermined distance from the vehicle.

7. A Bluetooth signal calibration method is applied to a server side, and comprises the following steps:

receiving a map of a calibration room, wherein the map of the calibration room is obtained by scanning the calibration room by a movable robot, a vehicle and a target mobile terminal are parked in the calibration room, and the target mobile terminal is used for sending the intensity and the time point of a Bluetooth signal connected with the vehicle Bluetooth to a server side in real time;

adding a plurality of test points based on the map of the calibration room to generate a map marked with the test points;

sending a map marked with test points to the robot; the robot is used for carrying a target mobile terminal to move to each test point respectively based on the map marked with the test points, and the time point, the names of the test points and the distance between the robot and the vehicle are all sent at each test point.

8. The calibration method according to claim 7, wherein the adding a plurality of test points based on the map of the calibration chamber generates a map labeled with test points, comprising:

and adding at least one test point to the map of the calibration room at a plurality of preset distances from the vehicle to generate a map marked with the test point.

9. A robot capable of walking with a target mobile terminal, the robot comprising:

the system comprises a scanning module, a service end and a server side, wherein the scanning module is used for scanning a calibration room to obtain a map of the calibration room, a vehicle and a target mobile terminal are parked in the calibration room, and the target mobile terminal is used for sending the intensity and the time point of a Bluetooth signal connected with the vehicle Bluetooth to the server side in real time;

the communication module is used for receiving a map marked with test points and sending time points, names of the test points and the distance between the robot and the vehicle at each test point of the mobile device; the map marked with the test points is generated by adding a plurality of test points on the basis of the map of the calibration room;

and the control module is used for controlling the robot to move to a target mobile terminal, clamping the target mobile terminal, and moving the target mobile terminal carried by the map marked with the test points to each test point respectively.

10. The robot of claim 9, wherein the control module is configured to move to each of the test points in sequence according to a moving sequence indicated by the map labeled with the test points; alternatively, the first and second electrodes may be,

and the control module is used for acquiring the distance between the current test point and other test points in a preset range and moving the current test point to the next test point closest to the current test point.

11. A robot as claimed in claim 9 or 10, wherein the control module is further adapted to determine the position of a vehicle cab based on the position of the vehicle and the orientation of the vehicle head after the robot has moved to each of the test points respectively; moving to the vicinity of the position of the vehicle cabin, and placing the target mobile terminal in the vehicle cabin.

12. A bluetooth signal calibration device, characterized by, includes:

the system comprises an information receiving module, a calibration room and a server, wherein the information receiving module is used for receiving a map of the calibration room, the map of the calibration room is obtained by scanning the calibration room by a movable robot, a vehicle and a target mobile terminal are parked in the calibration room, and the target mobile terminal is used for sending the intensity and time point of a Bluetooth signal connected with the vehicle Bluetooth to the server in real time;

the map generation module is used for adding a plurality of test points based on the map of the calibration room to generate a map marked with the test points;

the information sending module is used for sending a map marked with test points to the robot; the robot is used for moving the target mobile terminal carried by the map marked with the test points to each test point respectively, and sending the time point, the name of the test point and the distance between the robot and the vehicle at each test point.

13. A bluetooth signal calibration device, characterized by, includes:

the target mobile terminal is used for sending the intensity and the time point of a Bluetooth signal connected with the vehicle Bluetooth to the server side in real time;

the robot according to any one of claims 9 to 11, configured to hold the target mobile terminal and move to each of the test points respectively and send a time point, a name of the test point and a distance between the robot and the vehicle to the service end at each of the test points.

14. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, implements the calibration method according to any one of claims 1 to 6; alternatively, the computer program, when executed by a processor, implements the calibration method of claim 7 or 8.

15. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a calibration method as claimed in any one of claims 1 to 6 when executing the program; alternatively, the processor, when executing the program, implements the calibration method as claimed in claim 7 or 8.