WO2019119954A1

WO2019119954A1 - Indoor network signal collection method and device and navigation robot

Info

Publication number: WO2019119954A1
Application number: PCT/CN2018/111085
Authority: WO
Inventors: 秦博
Original assignee: 北京三快在线科技有限公司
Priority date: 2017-12-20
Filing date: 2018-10-19
Publication date: 2019-06-27
Also published as: CN108307311A

Abstract

Provided in the present invention are an indoor network signal collection method and device and a navigation robot. The method, in one example, comprises: configuring a collection path according to map information; determining path nodes in the collection path, wherein the path nodes are location points in the collection path of which the structure does not change and which have a boundary; and in the process of allowing a measuring device to collect network signal parameters along the collection path, using a path node which the measuring device passes as a location reference point, wherein the network signal parameters comprise the intensity of network signals currently collected by the measuring device and information about the current location of the measuring device.

Description

Indoor network signal acquisition method, device and navigation robot

Cross-reference to related applications

The present application claims the priority of the Chinese patent application filed on Dec. 20, 2017, the application number of which is incorporated herein by reference. Incorporated herein.

Technical field

The application relates to an indoor network signal acquisition method, device and navigation robot.

Background technique

In the major shopping malls, whether it is the operator, the mall itself or the store in the mall, almost all WiFi (wireless fidelity) hotspots are arranged. With the development of indoor navigation technology, users can log in to a WiFi hotspot and use other Wi-Fi hotspots to determine the current location. When performing indoor positioning and navigation, there are various ways to collect network signals, such as: signal data acquisition of each indoor measurement point by a measuring person; or, based on a MEMS (Micro-Electro-Mechanical System) sensor Network signal acquisition of multiple collection points in the room.

Summary of the invention

In view of this, the present application provides an indoor network signal acquisition method, device, and navigation robot to improve the accuracy of indoor network signal acquisition.

According to a first aspect of the present application, an indoor network signal acquisition method is provided, the method comprising:

Set the acquisition path according to the map information;

Determining a path node in the acquisition path, where the path node is a location point in the collection path that does not change in a structure and has a boundary;

During the process of collecting the network signal parameters by the measuring device along the collecting path, the path node passing by the measuring device is used as a position reference point for position calibration, wherein the network signal parameter includes current collection of the measuring device The strength of the incoming network signal and the location information of the measuring device.

According to a second aspect of the present application, an indoor network signal acquisition apparatus is provided, the apparatus comprising:

a path determining module, configured to set an acquisition path according to the map information;

a path node determining module, configured to determine a path node in the collection path, where the path node is a location point in the collection path that does not change in a structure and has a boundary;

An acquisition and calibration module, configured to perform position calibration on a path node through which the measurement device passes as a position reference point in a process of acquiring a network signal parameter along the acquisition path, wherein the network signal parameter includes The strength of the network signal currently collected by the measurement device and the location information of the measurement device currently located.

According to a third aspect of the present application, there is provided a navigation robot comprising a driving device for traveling along the collection path according to control of the indoor network signal acquisition device according to the second aspect .

The indoor network signal acquisition method and device and the navigation robot provided by the embodiments of the present application realize accurate collection of signal parameters of the indoor designated location network. By updating the position reference point at the path node, the accumulated error of the collected data is reduced.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present application. Other drawings may also be obtained from those of ordinary skill in the art based on these drawings without the inventive labor.

1 is a flowchart of an indoor network signal acquisition method according to an embodiment of the present application;

2 is a flowchart of an indoor network signal collection method according to an embodiment of the present application;

3 is a plan view of a shopping mall floor in accordance with an embodiment of the present application;

4 is a structural diagram of an indoor network signal acquisition apparatus according to an embodiment of the present application;

FIG. 5 is a structural diagram of an indoor network signal acquisition apparatus according to an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present invention.

An indoor network signal collection method provided by an embodiment of the present application can be used for indoor positioning technology. Indoor positioning technology can be located based on network signals or geomagnetically induced signals collected in a closed building. Indoor positioning technology includes: neighbor method, triangulation method and pattern matching method.

The neighboring method positioning means that the mobile terminal obtains an acquisition result by collecting the network signal parameters of the current location, and compares the collection result with the preset data in the hot spot location database to obtain a positioning result. The result of the location is the location of the currently connected network signal hotspot stored in the hotspot location database. In order to perform indoor positioning services, firstly, various signal indicators that can be used for positioning in the room, such as WiFi, cellular signals, and base station signals, are measured. You can use the dot test method to measure various signal indicators.

Referring to Figure 1, there is shown a flow chart of an indoor network signal acquisition method in accordance with an embodiment of the present invention.

Step 110: Set an acquisition path according to the map information.

In the embodiment of the present application, first, map information of a building that needs to perform an indoor positioning service is acquired, and according to the collected map information, an acquisition path is designed for a navigation device of a measuring device, such as a navigation robot. There must be no physical barriers to the passage of the measuring device on the acquisition path.

Step 120: Determine a path node in the collection path, where the path node is a location point in the collection path that does not change and has a boundary.

In the embodiment of the present application, the path node in the acquisition path needs to be determined. The path node includes at least one start node and one end node. The starting node is the first node to perform position calibration, and the end node is the last node to perform position calibration. In addition, the path node is a position point in the acquisition path where the structure does not change and has a boundary, such as a certain corner or support column in the room, and the position point helps the measurement device to recognize.

Step 130: The measurement device collects network signal parameters along the collection path. The network signal parameter includes the strength of the network signal currently collected by the measurement device and the current location information of the measurement device; wherein, after passing the path node in the acquisition path, the path node may be used as the location reference point. Position calibration of the position information of the measuring device.

In this step, the measuring device traverses each path node in the acquisition path under the control of the navigation system, and collects the network signal strength in the path. The position information of the current measurement device based on the position reference point is recorded at the same time as the network signal strength is collected. The path node before the current location of the measurement device can be selected as the location reference point. For example, the last path node where the measuring device is currently located is selected as the position reference point, which can further reduce the accumulated error of the collected data and obtain relatively accurate network signal parameters.

The network signal parameter includes a network signal strength and location information of a current measurement device. In an embodiment, the network signal includes a WiFi signal or a cellular signal; the parameters of the WiFi signal include a service set identifier (SSID), a medium access control (MAC) address, and a WiFi signal strength of the WiFi hotspot; the parameters of the cellular signal include a cellular signal. Cell identity, signal strength of cellular signals.

In the embodiment of the present application, the indoor positioning service can be applied to the location of the location of the indoor personnel. In view of the current popularity of smart phones, it is possible to use a smart phone carried by an indoor person to perform a positioning service through a WiFi signal or a cellular signal. The indoor positioning method can adopt the above neighboring method, wherein the intensity of the collected network signal changes with the position, so the position of the indoor person can be determined according to the position where the signal is strongest.

In summary, the method for collecting indoor network signals provided by the embodiment of the present application, the application sets the acquisition path according to the map information, determines the path node in the acquisition path, and controls the navigation robot to collect network signal parameters along the collection path, and After the path node in the acquisition path is passed, the path node is used as the position reference point for position calibration. In this way, accurate acquisition of network signal parameters at designated locations within the room is achieved. For example, in the case of acquiring a network signal by using a MEMS sensor, the present application reduces the accumulated error of the collected data by updating the position reference point based on the set path node, and solves the problem that the acquisition error is large when the MEMS sensor collects the signal.

Referring to FIG. 2, a flow chart of an indoor network signal acquisition method according to an embodiment of the present invention is shown. The indoor network signal acquisition method includes steps 210-240.

Step 210: Set an acquisition path according to the map information.

Step 220: Determine a path node in the collection path, where the path node is a location point in the collection path that does not change and has a boundary.

In the embodiment of the present application, the map information of the building that needs to perform the indoor positioning service may be acquired in advance, and the collection path is designed for the navigation system of the navigation robot according to the collected map information. By using a position point where the structure does not change and having a boundary as a path node, a reference point for which position calibration is required when subsequently acquiring network signal parameters is determined.

For example, an indoor positioning company has signed an indoor positioning service order with a shopping mall, and the indoor positioning company dispatches an engineering team to collect map information for the floor where the shopping mall needs to provide positioning services. As shown in Figure 3, it shows a schematic plan view of a shopping mall floor. The engineering team draws the map information of the store floor through the survey of the mall floor, and marks the location of the wireless signal hotspot and the location of the corner or support column that does not change and has a boundary, and determines the location point. A to G are path nodes through which the navigation robot will pass.

Step 230, controlling the navigation robot to travel to the starting node in the path node by the navigation measuring device.

In the embodiment of the present application, before the navigation robot is controlled to traverse the path node in the acquisition path, the measurement personnel are required to accurately place the navigation robot on the start node in the path node. Considering the inaccuracy of manual placement, the navigation measuring device can control the navigation robot to travel to the starting node according to the built-in map information to achieve accurate measurement data.

In one embodiment, the surveyor places the navigation robot near the departure point A of FIG. 3, and then the navigation measurement device controls the navigation robot to travel to the departure point A.

Step 240, collecting network signal parameters along the collection path, where the network signal parameters include the strength of the network signal currently collected by the navigation robot and the location information of the navigation robot currently located; wherein, the path node in the acquisition path After that, the path node can be used as a position reference point to perform position calibration on the position information of the navigation robot.

This step can refer to step 130, and details are not described herein again.

In an embodiment, collecting the network signal parameters along the acquisition path is performed by a navigation robot.

In the embodiment of the present application, the action of collecting the network signal parameters along the collection path may be performed by a navigation robot, which is a device capable of moving by remote control, and the navigation robot is equipped with a navigation measurement device. For example, lidar to be able to measure distance and azimuth. In this way, the surrounding environment of the navigation robot is measured by the laser radar, and an indoor map can be established to obtain the relative position of the navigation robot. In addition, the lidar can also accept navigation commands to navigate the navigation robot. Moreover, the navigation robot is also equipped with a network signal acquisition device capable of collecting network signal parameters in the room.

In an embodiment, step 240 may further include sub-step 2401, sub-step 2402, or sub-step 2403.

Sub-step 2401, the network signal parameters are collected throughout the entire acquisition path.

In the embodiment of the present application, the navigation robot continuously calibrates the current position information of the navigation robot with the previous path node of the current location as the position reference point in the process of collecting the network signal parameters along the acquisition path, and Determine if the navigation robot is driving to the path node.

If the navigation robot arrives at the path node, the location reference point is updated to the newly arrived path node, and the network signal parameters are continuously collected according to the updated location reference point.

In the embodiment of the present application, the navigation robot continuously collects network signal parameters during the process of traversing all the path nodes along the acquisition path, and each time the position is adjusted by using the previous path node of the current position of the navigation robot as the position reference point. And updating the location reference point to the newly arrived path node whenever the navigation robot reaches a path node. In this way, before reaching the next path node, the location information of the navigation robot and the network strength signal of the current location can be collected based on the updated location reference point, and it is determined whether a new path node is reached.

It should be noted that, considering the inaccuracy of the path node selection and the navigation process of the navigation robot, a distance error may occur between adjacent two path nodes. If the starting node is used as the position reference point for position calibration, There may be cumulative errors in the position information acquired by the navigation robot, and the cumulative error of the position information is maximized at the end node. The present application improves the acquisition accuracy by minimizing the accumulated error in the acquisition path by updating the position reference point to the newly arrived path node every time a path node is driven.

Sub-step 2402, the network signal parameters are only collected at the path node.

In the embodiment of the present application, the acquisition logic of the navigation robot may be set, so that the navigation robot only collects the network signal parameters at the path node, so that the network signal parameters can be performed for the position points in the acquisition path that do not change and have boundaries. Collect and avoid excessive acquisitions.

Sub-step 2403, collecting the network signal parameters each time the preset acquisition distance is moved along the acquisition path.

In the embodiment of the present application, the collection distance of the navigation robot may also be set, so that the navigation robot does not collect the network signal parameter before the movement reaches the collection distance, and when the movement reaches the collection distance, the network signal is collected based on the current position reference point. parameter.

For example, referring to FIG. 3, when the engineering team collects map information for the floor where the shopping mall needs to provide the positioning service, the preset collection distance is 1 meter. After the position calibration of the starting point A before the collection, the navigation robot starts from the starting point A. Follow the preset acquisition path to the next node B. Before reaching the Node B, the A node is used as the position reference point. That is, the navigation robot collects the network signal parameters every 1 meter from the A node, based on Point A records the current position of the navigation robot "baseA+1m (m)", and judges whether to reach the Node B according to the recorded position information. When the Node B is reached, the position reference point is updated to the Node B, and each travels 1 meter. The network signal strength is measured once and the position is recorded. For example, when the third measurement is passed after the Node B, the measurement data "baseB+3m (meter)" is recorded, and the position reference point is updated to the C node after reaching the C node. And so on, until driving to the end point G, complete the measurement. In this way, by continuously modifying the position reference point according to the arrived path node when collecting the network signal parameters along the acquisition path, the distance error between the adjacent two path nodes can be effectively eliminated, and the cumulative error of the navigation robot when traveling to the end point is avoided.

In an embodiment, in step 230, the navigation measuring device comprises a laser radar, a geomagnetic positioning device or a camera.

Among them, the laser radar can measure the distance and azimuth, and the surrounding environment of the navigation robot is measured by the laser radar, and the indoor map can be established to obtain the relative position of the robot. In addition, the lidar can also accept navigation commands to navigate the navigation robot.

The geomagnetic positioning device can measure the geomagnetic information of the current position of the navigation robot. The magnetometer in the user's mobile terminal can measure the magnetic field strength, and the building causes some difference in the magnetic field at each position, and the magnetometer in the user's mobile terminal is measured. The obtained magnetic field strength is matched with the geomagnetic information measured by the geomagnetic positioning device to perform positioning.

The camera can measure the three-dimensional physical coordinates of the current position of the navigation robot, and then perform the panoramic scan with the camera of the mobile terminal to perform the current position query.

It should be noted that, in the embodiment of the present application, the navigation measurement device may be selected according to the actual situation, which is not limited by the embodiment of the present application.

In summary, the method for collecting indoor network signals provided by the embodiment of the present application, the method sets the acquisition path according to the map information, determines the path node in the acquisition path, and controls the navigation robot to collect network signal parameters along the collection path, and After the path node in the acquisition path is passed, the path node is used as the position reference point for position calibration. In this way, accurate acquisition of network signal parameters at designated locations within the room is achieved. For example, in the case of acquiring a network signal by using a MEMS sensor, the present application reduces the accumulated error of the collected data by updating the position reference point based on the set path node, and solves the problem that the acquisition error is large when the MEMS sensor collects the signal. For example, in the case of manually collecting network signals, the present application automatically collects signals by controlling the navigation robot, thereby reducing the acquisition cost, and the machine acquisition is more accurate than the manual acquisition, which reduces the problem of unstable manual acquisition errors.

Referring to FIG. 4, a structural diagram of an indoor network signal acquisition apparatus according to an embodiment of the present application is shown. The indoor network signal collection apparatus includes the following:

The path determining module 301 is configured to set an acquisition path according to the map information.

The path node determining module 302 is configured to determine a path node in the collection path, where the path node is a location point in the collection path where the structure does not change and has a boundary.

The collecting and calibrating module 303 is configured to perform position calibration on the path node passing by the measuring device as a position reference point in the process of acquiring the network signal parameter along the collecting path, where the network signal parameter includes The strength of the network signal currently collected by the measurement device and the location information of the measurement device currently located.

In summary, an indoor network signal collection device provided by the embodiment of the present application, the device sets an acquisition path according to the map information, determines a path node in the acquisition path, and controls the measurement device to collect network signal parameters along the collection path, and After the path node in the acquisition path is passed, the path node is used as the position reference point for position calibration. In this way, accurate acquisition of network signal parameters at designated locations within the room is achieved. For example, in the case of collecting a network signal by using a MEMS sensor, the present application reduces the accumulated error of the collected data by updating the position reference point based on the set path node, and solves the problem that the acquisition error is large when the MEMS sensor collects the signal.

Referring to FIG. 5, a structural diagram of an indoor network signal collection apparatus according to an embodiment of the present application is shown. The indoor network signal collection apparatus includes the following:

The path determining module 401 is configured to set an acquisition path according to the map information.

The path node determining module 402 is configured to determine a path node in the collection path, where the path node is a location point in the collection path where the structure does not change and has a boundary.

The collecting and calibrating module 403 is configured to perform position calibration on the path node passing by the measuring device as a position reference point in the process of collecting the network signal parameters along the collecting path, where the network signal parameter includes The strength of the network signal currently collected by the measurement device and the location information of the measurement device currently located.

In an embodiment, the measuring device comprises a navigation robot.

In an embodiment, the acquisition and calibration module 403 further includes:

The first collection sub-module 4031 is configured to enable the measurement device to collect the network signal parameters on the collection path.

The second collection sub-module 4032 is configured to enable the measurement device to collect the network signal parameter when reaching each of the path nodes.

The third collection sub-module 4033 is configured to enable the measurement device to collect the network signal parameters each time the preset acquisition distance is moved from each of the path nodes.

The control module 404 is configured to control the measuring device to travel to a starting node in the path node.

In summary, an indoor network signal collection device provided by the embodiment of the present application, the device sets an acquisition path according to the map information, determines a path node in the acquisition path, and controls the measurement device to collect network signal parameters along the collection path, and After the path node in the acquisition path is passed, the path node is used as the position reference point for position calibration. In this way, accurate acquisition of network signal parameters at designated locations within the room is achieved. For example, in the case of acquiring a network signal by using a MEMS sensor, the present application reduces the accumulated error of the collected data by updating the position reference point based on the set path node, and solves the problem that the acquisition error is large when the MEMS sensor collects the signal. For example, in the case of manually collecting network signals, the present application automatically collects signals by controlling the navigation robot, thereby reducing the acquisition cost, and the machine acquisition is more accurate than the manual acquisition, which reduces the problem of unstable manual acquisition errors.

The embodiment of the present application provides a navigation robot, including a driving device, and the driving device is configured to travel along the collection path according to the control of the indoor network signal collecting device.

In the embodiment of the present application, the navigation robot may further include: a navigation measuring device, a position sensor (calculating the robot mileage and the rudder angle), and a mobile device. The position of the robot relative to the starting point can be calculated by the mobile device; the surrounding environment of the mobile robot can be measured by the navigation measuring device, and the indoor map can be established to obtain the relative building position of the robot.

The navigation measuring device may comprise a laser radar, a geomagnetic positioning device or a camera.

Among them, the laser radar can measure the distance and azimuth. The surrounding environment of the navigation robot can be measured by laser radar. The indoor map can be established to obtain the relative position of the robot. In addition, the laser radar can also receive navigation commands to navigate the navigation robot.

The elements and algorithm steps of the examples described in connection with the embodiments disclosed in the embodiments of the present application can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods to implement the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present application.

A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

In the embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

The foregoing is only a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application. It should be covered by the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the claims.

Claims

An indoor network signal acquisition method includes:

Set the acquisition path according to the map information;

Determining a path node in the acquisition path, where the path node is a location point in the collection path that does not change in a structure and has a boundary;

During the process of collecting the network signal parameters by the measuring device along the collecting path, the path node passing by the measuring device is used as a position reference point for position calibration, wherein the network signal parameter includes current collection of the measuring device The strength of the incoming network signal and the location information of the measuring device.
The method according to claim 1, wherein the measuring device is configured to collect the network signal parameters along the collection path, including any of the following:

And causing the measuring device to collect the network signal parameters on the collection path;

Having the measuring device acquire the network signal parameters upon reaching each of the path nodes; and

And causing the measuring device to collect the network signal parameter every time the preset acquisition distance is moved from each of the path nodes.
Method according to claim 1 or 2, characterized in that the measuring device comprises a navigation robot.
The method of claim 1, wherein the method further comprises: before the measuring device is configured to collect the network signal parameters along the collection path, the method further comprising:

The measuring device is controlled to travel to a starting node in the path node.
The method of claim 1 wherein said measuring device comprises a laser radar, a geomagnetic positioning device, or a camera.
The method of claim 1 wherein said network signal comprises a WiFi signal or a cellular signal.
The method of claim 6 wherein:

The parameters of the WiFi signal include a service set identifier SSID, a MAC address, and a WiFi signal strength of the WiFi hotspot;

The parameters of the cellular signal include the cell identity of the cellular signal and the signal strength of the cellular signal.
The method according to claim 1, wherein the performing the position calibration by using the path node passing by the measuring device as a position reference point comprises:

Taking the previous one of the path nodes next to the current location of the measuring device as the position reference point;

The position information currently being measured by the measuring device is calibrated based on the position reference point.
The method according to claim 8, wherein the previous one of the path nodes immediately adjacent to the location of the measuring device is used as the location reference point, including:

Each time the measuring device arrives at one of the path nodes, the location reference point is updated to the path node that the measuring device has recently arrived at.
An indoor network signal acquisition device includes:

a path determining module, configured to set an acquisition path according to the map information;

a path node determining module, configured to determine a path node in the collection path, where the path node is a location point in the collection path that does not change in a structure and has a boundary;

An acquisition and calibration module, configured to perform position calibration on a path node through which the measurement device passes as a position reference point in a process of acquiring a network signal parameter along the acquisition path, wherein the network signal parameter includes The strength of the network signal currently collected by the measurement device and the location information of the measurement device currently located.
The apparatus of claim 10 wherein said acquisition and calibration module comprises any of the following:

a first collection submodule, configured to enable the measurement device to collect the network signal parameters on the collection path;

a second collection submodule, configured to enable the measurement device to acquire the network signal parameter when reaching each of the path nodes; and

The third collection sub-module is configured to enable the measurement device to collect the network signal parameter each time the preset acquisition distance is moved from each of the path nodes.
The device according to claim 10, further comprising:

And a control module, configured to control the measuring device to travel to a starting node in the path node.
The apparatus according to claim 10, wherein the calibrating the path node through which the measuring device passes as a position reference point comprises:

Taking the previous one of the path nodes immediately adjacent to the current location of the measuring device as the position reference point; and

The position information currently being measured by the measuring device is calibrated based on the position reference point.
The device according to claim 13, wherein the previous one of the path nodes next to the current location of the measuring device is used as the location reference point, including:

Each time the measuring device arrives at one of the path nodes, the location reference point is updated to the path node that the measuring device has recently arrived at.
A navigation robot characterized in that the navigation robot comprises a driving device for traveling along the collection path according to the control of the indoor network signal acquisition device according to any one of claims 10-14.