WO2023221878A1 - Geomagnetic-signal collection method and related apparatus thereof - Google Patents

Abstract

A geomagnetic-signal collection method and a related apparatus thereof, which relate to the field of magnetic-field positioning. The method comprises: acquiring a first image (310), wherein the first image is an image collected by a first geomagnetic-signal collection apparatus at the current pose during the process of collecting geomagnetic signals; and acquiring guidance for a collection route (320), wherein the guidance for a collection route comprises a recommended route for collecting geomagnetic signals, and the guidance for a collection route is generated on the basis of first data, which comprises a preset collection specification, a pose and a first contextual characteristic, which collection specification is used for indicating a specification for geomagnetic-signal collection, and which first contextual characteristic is obtained on the basis of images including the first image. A contextual characteristic is obtained by means of an image acquired in real time, and guidance for a collection route is generated in real time on the basis of the contextual characteristic, such that geomagnetic signals can be collected on the basis of the guidance for a collection route, thereby improving the efficiency of geomagnetic-signal collection.

Description

A geomagnetic signal acquisition method and related devices

This application claims priority to the Chinese patent application submitted to the China Patent Office on May 20, 2022, with the application number 202210552167.3 and the application title "A geomagnetic signal acquisition method and related devices", the entire content of which is incorporated by reference in in this application.

Technical field

The present application relates to the field of magnetic field positioning, and in particular to a geomagnetic signal acquisition method and related devices.

Background technique

With the development of science and technology, positioning technology has been widely used in people's life, work and travel scenarios. When the signal strength of the global positioning system (GPS) is weak, magnetic field positioning technology can be used. The premise of magnetic field positioning technology is to collect geomagnetic signals. The currently known method of collecting geomagnetic signals is to plan the collection route in advance based on the floor plan of the area to be collected, and prepare a geomagnetic collection instruction manual for the area. The collector then conducts geomagnetic collection on foot according to the geomagnetic collection instruction manual. work, and during the geomagnetic acquisition process, the collector also needs to judge by himself whether the trajectory during the acquisition process is consistent with the route indicated in the geomagnetic acquisition instruction manual. Therefore, the current geomagnetic signal acquisition method is relatively inefficient.

Therefore, it is urgent to provide a geomagnetic signal acquisition method to improve the efficiency of geomagnetic signal acquisition.

Contents of the invention

This application provides a geomagnetic signal acquisition method and related devices, in order to improve the efficiency of geomagnetic signal acquisition.

In the first aspect, this application provides a geomagnetic signal acquisition method. The method can be executed by a geomagnetic signal acquisition device, or by components configured inside the geomagnetic signal acquisition device, such as chips, chip systems, etc., or it can be It is implemented by a logic module or software that has part or all of the geomagnetic signal acquisition device functions. This application does not limit this.

Exemplarily, the method includes: collecting a first image, which is an image collected in the current position and posture during the process of collecting geomagnetic signals by the first geomagnetic signal collecting device; obtaining guidance of the collection route, the The guidance of the collection route includes the recommended route for collecting geomagnetic signals. The guidance of the collection route is generated based on the first data. The first data includes the preset collection specification, posture and first environmental characteristic (contextual characteristic). The collection specification is used for Indicating the specification for collecting geomagnetic signals, the first environment feature is obtained based on images including the first image.

Based on the above solution, the first geomagnetic signal acquisition device can collect geomagnetic signals while collecting images for acquiring environmental characteristics, and can then obtain guidance on the acquisition route generated based on the environmental characteristics to guide the first geomagnetic acquisition device to continue to collect geomagnetic signals. . In this solution, there is no need to obtain a plan view of the area to be geomagnetic collected in advance. The guidance of the collection route is adjusted in real time according to the environmental characteristics within the image coverage, and then the geomagnetic signal is collected based on the guidance of the collection route, reducing manual labor. Participation and guidance in real-time adjustment of collection routes based on environmental characteristics are also conducive to obtaining more reasonable collection routes and avoiding unnecessary route planning. Overall, it is beneficial to improve the efficiency of collecting geomagnetic signals.

Combined with the first aspect, in some possible implementations of the first aspect, the method also includes: obtaining the first map, The first map is a map within the first range covered by the first image, and the first map includes first environmental features.

Optionally, obtaining the first map includes: constructing the first map based on the collected image; or receiving the first map from the server.

If the geomagnetic signal acquisition device has strong computing power, the first map can be constructed independently in real time based on the images collected in real time; if the geomagnetic signal acquisition device does not have strong computing power, the first map can be constructed by the server, The geomagnetic signal collecting device may receive the first map from the server. The setting of the computing power of the geomagnetic acquisition device is relatively flexible. Regardless of whether the geomagnetic signal acquisition device has strong computing power, the magnetic signal acquisition device can acquire the first map. That is to say, in this solution, not only does it not need to obtain a plan view of the area to be geomagnetic collected in advance, but a map can also be constructed based on the obtained environmental characteristics.

In conjunction with the first aspect, in some possible implementations of the first aspect, obtaining guidance for the collection route includes: generating guidance for the collection route based on the first data; or receiving guidance for the collection route from a server.

If the geomagnetic signal acquisition device has strong computing power, it can independently generate the guidance of the collection route in real time based on the images collected in real time; if the geomagnetic signal acquisition device does not have strong computing power, the server can generate the guidance of the collection route. Guidance: the geomagnetic signal collection device can receive guidance on the collection route from the server. The setting of the computing power of the geomagnetic acquisition device is relatively flexible. Regardless of whether the geomagnetic signal acquisition device has strong computing power, the magnetic signal acquisition device can obtain the guidance of the acquisition route.

In conjunction with the first aspect, in some possible implementations of the first aspect, the collection specification indicates a preset width value, and before generating the guidance of the collection route based on the first data, the method further includes: obtaining a third value based on the first image. An environmental feature; based on the first environmental feature, determine the width of the accessible road; based on the width of the accessible road and the preset width value, segment the accessible road to obtain at least one collection channel, and the width of each collection channel is less than Or equal to the preset width value; determine at least one collection route corresponding to at least one collection channel, and each collection route is located within the range of the corresponding collection channel.

Optionally, the collection specification also indicates the direction in which the accessible road is divided, and the direction is parallel to the direction of the accessible road.

There is no need to manually survey the accessible roads, nor do you need to rely on experience to manually calculate and divide the accessible roads after the survey to obtain the collection route, which saves labor costs and also helps improve efficiency.

Optionally, the collection specification also indicates a method for determining at least one necessary collection location, which is a location where geomagnetic signal collection must be performed. The method also includes: based on the first environmental characteristics, determining one or more of the accessible roads. necessary collection location.

Optionally, based on the first environmental characteristics, determining one or more necessary collection locations in the accessible road includes: based on the first environmental characteristics, determining that the accessible road is an intersection; based on the collection specification, determining at least one of the intersections A necessary collection location is located in the central area of this intersection.

Combined with the first aspect, in some possible implementations of the first aspect, the first data also includes a collected route, and the collected route is a route in which geomagnetic signals have been collected.

Optionally, the guidance of the collection route includes the guidance of the uncollected route, the uncollected route is the route to be collected for geomagnetic signals, and the uncollected route is determined based on the collected route.

Combined with the first aspect, in some possible implementations of the first aspect, the method further includes: obtaining the collected route.

Optionally, obtaining the collected route includes: receiving the collected route from the server; or collecting the second geomagnetic signal The device receives the collected route of the second geomagnetic signal collecting device. The collected route of the second geomagnetic signal collecting device is the route along which the second geomagnetic signal collecting device has collected geomagnetic signals within a preset range.

The second geomagnetic signal acquisition device may refer to one or more geomagnetic signal acquisition devices other than the first geomagnetic signal acquisition device, which is not limited in this application.

The first geomagnetic signal acquisition device can receive the collected route of the second geomagnetic signal acquisition device from the server or the second geomagnetic signal acquisition device, and can also update its own marked collected route according to the obtained collected route. The first geomagnetic signal acquisition device does not need to repeatedly collect the routes collected by other geomagnetic signal acquisition devices, which can save a certain amount of time and improve the collection efficiency.

Combined with the first aspect, in some possible implementations of the first aspect, the first data also includes a target area, the target area is an area where geomagnetic signals need to be collected again, and the guidance of the collection route generated based on the first data includes the target area. Guidance on collected routes within.

Optionally, the method also includes: acquiring geomagnetic signals collected within a preset range; dividing the preset range to obtain at least one area; analyzing the geomagnetic signals in each area of the at least one area to obtain The unique value of the geomagnetic signal in each area; determine the target area where the geomagnetic signal needs to be collected again based on the unique value of the geomagnetic signal in each area.

Optionally, the method further includes: receiving location information of the target area from the server; and determining the target area based on the location information.

Consider the quality of the geomagnetic signals collected within the preset range, and determine whether it is necessary to collect again according to the uniqueness of the geomagnetic signals in different areas within the preset range to ensure the quality of the collected geomagnetic signals. Moreover, when the first geomagnetic signal acquisition device is a handheld device, a wearable device, a vehicle-mounted terminal, or other device capable of human-computer interaction, the user who controls the first geomagnetic signal acquisition device to collect geomagnetic signals does not need to With high experience requirements, users only need to follow the guidance of the collection route displayed by the first geomagnetic signal collection device to collect again areas with poor geomagnetic signal uniqueness, which is beneficial to improving collection efficiency.

In conjunction with the first aspect, in some possible implementations of the first aspect, the method further includes: guided collection of geomagnetic signals based on the collection route.

The geomagnetic signal acquisition device can independently collect geomagnetic signals, which can further reduce manual participation and reduce labor costs.

In conjunction with the first aspect, in some possible implementations of the first aspect, the method further includes: displaying a first map and collection route guidance on a user interface; collecting geomagnetic signals in response to a user's operation, and collecting the first map and collection route guidance are used for users to decide the next collection location.

The geomagnetic signal collection device can interact with the user based on the user interface, and can collect geomagnetic signals based on the guidance of the map and collection route according to the user's wishes, with a certain degree of flexibility.

Optionally, the collection routes displayed on the user interface include collected routes and/or uncollected routes. The collected routes are the routes for which geomagnetic signals have been collected. The uncollected routes are the routes for which geomagnetic signals are to be collected. The collected routes are the same as those for which geomagnetic signals have been collected. The display forms of the uncollected routes mentioned above are different.

Combined with the first aspect, in some possible implementations of the first aspect, the method further includes: pausing the collection of geomagnetic signals; and recording the termination position of this collection.

The end position of this collection can be recorded, so that the next collection can be based on the end position of the last collection to determine the starting position of the next collection, which can avoid repeated collection of the collected area that does not need to be collected again. It can save time and improve collection efficiency.

In the second aspect, this application provides a geomagnetic signal acquisition method. This method can be executed by a server, or by components configured inside the server, such as chips, chip systems, etc. It can also be executed by a server that has part or all of the server. Functional logic modules or software, etc. This application does not limit this.

Exemplarily, the method includes: acquiring an image from at least one geomagnetic signal acquisition device among a plurality of geomagnetic signal acquisition devices, where the image includes a first image, and the first image is during the process of acquiring geomagnetic signals by the first geomagnetic signal acquisition device, In the image collected at the current pose, the first geomagnetic signal acquisition device is any one of at least one geomagnetic signal acquisition device, and the pose of the first geomagnetic signal acquisition device is obtained; based on the first data, the first geomagnetic signal acquisition device is generated Guidance on the collection route of the geomagnetic signal collection device. The collection route is the recommended route for collecting geomagnetic signals. The first data includes preset collection specifications, the posture of the first geomagnetic signal collection device and the first environmental characteristics. The collection specifications are used for instructions. Specification for collecting geomagnetic signals, the first environment feature is obtained based on images including the first image; guidance of the collection route is sent to the first geomagnetic signal collection device.

Based on the above solution, the server can obtain images and other data from the geomagnetic signal device, generate guidance on the collection route based on the first data, and then send the guidance on the collection route to the geomagnetic signal collection device, without exceeding the computing power of the geomagnetic signal collection device. For high requirements, the geomagnetic signal acquisition device only needs to obtain the guidance of the acquisition route from the server.

Combined with the second aspect, in some possible implementations of the second aspect, the method further includes: obtaining corresponding collected routes from multiple geomagnetic signal collecting devices, where the collected routes are routes for which geomagnetic signals have been collected; The corresponding collected routes of multiple geomagnetic signal acquisition devices are fused to obtain a fused collected route. The fused acquired route is the sum of the routes of multiple geomagnetic signal acquisition devices that have collected geomagnetic signals; to multiple geomagnetic signals The collection device delivers the fused collected route.

Multiple geomagnetic signal acquisition devices can cooperate to perform acquisition work. The first geomagnetic signal acquisition device can update its own acquired route according to the fused acquired route. As a result, the first geomagnetic signal acquisition device does not need to repeatedly acquire other geomagnetic signals. The routes collected by the signal collection device can save time and improve collection efficiency.

Combined with the second aspect, in some possible implementations of the second aspect, the method further includes: acquiring geomagnetic signals collected within a preset range from multiple geomagnetic signal acquisition devices; dividing the preset range to obtain At least one area; analyze the geomagnetic signal in each area in at least one area to obtain the uniqueness value of the geomagnetic signal in each area; determine the need to collect the geomagnetic signal again based on the uniqueness value of the geomagnetic signal in each area target area; deliver the location information of the target area to multiple geomagnetic signal collection devices.

The server can determine the target area that needs to collect geomagnetic signals again, and then send the location information of the target area to the geomagnetic signal collection device. There are no excessive requirements on the computing power of the geomagnetic signal collection device. The geomagnetic signal collection device only needs to receive data from The location information of the target area of the server is enough.

In conjunction with the second aspect, in some possible implementations of the second aspect, the method further includes: obtaining from the plurality of geomagnetic signal acquisition devices the current position of each geomagnetic signal acquisition device in the plurality of geomagnetic signal acquisition devices. The image collected by the pose; constructing a first map based on the acquired image, the first map is a map within the first range covered by the acquired image, the first map includes a first environmental feature, and the first environmental feature is Obtained based on images including the first image; delivering the first map to multiple geomagnetic signal acquisition devices.

The server can construct the first map in real time based on the acquired image, and then send the first map to the geomagnetic signal acquisition device. There is no excessive requirement on the computing power of the geomagnetic signal acquisition device. The geomagnetic signal acquisition device only needs to receive the data from the server. The first map is enough.

In a third aspect, the present application provides a geomagnetic signal acquisition system. The geomagnetic signal acquisition system includes a server and multiple geomagnetic signal acquisition devices, wherein the first geomagnetic signal acquisition device is used to acquire a first image, and the first image is a first image. In the process of collecting geomagnetic signals by a geomagnetic signal acquisition device, the first geomagnetic signal acquisition device is any one of multiple geomagnetic signal acquisition devices in the image collected at the current posture; the server is used to collect images from multiple geomagnetic signals. At least one geomagnetic signal acquisition device in the acquisition devices acquires an image, the image includes the first image, and acquires the pose of the first geomagnetic signal acquisition device; the server generates a collection route for the first geomagnetic signal acquisition device based on the first data. Guidance, the collection route is a recommended route for collecting geomagnetic signals. The first data includes a preset collection specification, the posture of the first geomagnetic signal collection device and the first environmental characteristics. The collection specification is used to indicate the specification for collecting geomagnetic signals. The first The environmental characteristics are obtained based on images including the first image; guidance of the collection route is sent to the first geomagnetic signal collection device.

Based on the above solution, the geomagnetic signal acquisition device can collect images for obtaining the first environmental characteristics while collecting geomagnetic signals according to the guidance of the collection route generated based on the first environmental characteristics, reducing manual participation, and the server can collect the geomagnetic signals in real time according to the guidance of the collection route generated based on the first environmental characteristics. The guidance of adjusting the collection route based on environmental characteristics is also conducive to obtaining a more reasonable collection route and avoiding unnecessary route planning. Overall, it is beneficial to improve the efficiency of collecting geomagnetic signals. The server generates the collection route guidance in real time and sends it to the geomagnetic signal collection device. There is no high requirement on the computing power of the geomagnetic signal collection device. The geomagnetic signal collection device only needs to receive the collection route guidance from the server.

In a fourth aspect, the present application provides a geomagnetic signal acquisition device, which can be used to implement the above-mentioned first aspect and the method in any possible implementation manner of the first aspect. The device includes corresponding modules for performing the above method. The modules included in the device can be implemented in software and/or hardware.

In a fifth aspect, the present application provides a geomagnetic signal acquisition device. The geomagnetic signal acquisition device includes a processor. The processor is coupled to a memory and can be used to execute a computer program in the memory to implement the first aspect and the first aspect. Geomagnetic signal acquisition method in any of the possible implementation methods.

Optionally, the geomagnetic signal acquisition device further includes a memory.

Optionally, the geomagnetic signal acquisition device further includes a communication interface, and the processor is coupled to the communication interface.

In a sixth aspect, this application provides a server, which can be used to implement the method in the above second aspect and any possible implementation manner of the second aspect. The server includes corresponding modules for performing the above methods. The modules included in the device can be implemented in software and/or hardware.

In a seventh aspect, this application provides a server, which includes a processor, which is coupled to a memory and can be used to execute a computer program in the memory to implement the second aspect and any possible implementation of the second aspect. Geomagnetic signal acquisition method.

Optionally, the server also includes storage.

Optionally, the server further includes a communication interface, and the processor is coupled to the communication interface.

In an eighth aspect, embodiments of the present application provide a chip system that includes at least one processor to support the implementation of the functions involved in the above-mentioned first aspect and any possible implementation of the first aspect, or, Used to support the implementation of the above second aspect and the functions involved in any possible implementation of the second aspect, for example, receiving or processing data involved in the above method, etc.

In a possible design, the chip system further includes a memory, the memory is used to store program instructions and data, and the memory is located within the processor or outside the processor.

The chip system can be composed of chips or include chips and other discrete devices.

In a ninth aspect, embodiments of the present application provide a computer-readable storage medium. The computer storage medium stores A computer program (which may also be called code, or instructions) is stored, and when the computer program is run by the processor, the method in any of the above-mentioned first aspects and any possible implementation manner of the first aspect is executed, or, The above second aspect and the method in any possible implementation manner of the second aspect are caused to be executed.

In a tenth aspect, embodiments of the present application provide a computer program product. The computer program product includes: a computer program (which may also be called a code, or an instruction). When the computer program is run, the above-mentioned first aspect is achieved. and the method in any possible implementation manner of the first aspect is executed, or the method in any possible implementation manner of the above second aspect and the second aspect is executed.

It should be understood that the fourth to tenth aspects of the embodiments of the present application correspond to the technical solutions of the first to third aspects of the embodiments of the present application, and the beneficial effects achieved by each aspect and corresponding feasible implementations are similar. ,No longer.

Description of the drawings

Figure 1 is a schematic diagram of a system architecture suitable for an embodiment of the present application;

Figure 2 is a schematic block diagram of a geomagnetic signal acquisition device provided by an embodiment of the present application;

Figure 3 is a schematic flow chart of a geomagnetic signal acquisition method provided by an embodiment of the present application;

Figure 4 is a schematic diagram of data interaction between modules provided by the embodiment of the present application;

Figure 5 is a schematic diagram of dividing accessible roads provided by the embodiment of the present application;

Figure 6 is a schematic diagram of marked collected roads provided by the embodiment of the present application;

Figure 7 is a schematic diagram of collaborative collection provided by the embodiment of the present application;

Figure 8 is a schematic distribution diagram of geomagnetic signals provided by an embodiment of the present application;

Figure 9 is a schematic block diagram of another geomagnetic signal acquisition device provided by an embodiment of the present application;

Figure 10 is a schematic block diagram of a server provided by an embodiment of the present application;

Figure 11 is a schematic block diagram of another server provided by an embodiment of the present application.

Detailed ways

The technical solutions in this application will be described below with reference to the accompanying drawings.

In order to clearly describe the technical solutions of the embodiments of the present application, the following description is first made.

First, in the embodiments of this application, words such as “first” and “second” are used to distinguish identical or similar items that have basically the same functions and effects. For example, the first geomagnetic signal acquisition device and the second geomagnetic signal acquisition device are used to distinguish different geomagnetic signal acquisition devices, and their order is not limited. Those skilled in the art can understand that words such as "first" and "second" do not limit the number and execution order, and words such as "first" and "second" do not limit the number and execution order.

Second, in the embodiments of this application, "at least one type" refers to one type or multiple types. "And/or" describes the association of associated objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B can be singular or plural. The character "/" generally indicates that the related objects are in an "or" relationship, but it does not exclude the situation that the related objects are in an "and" relationship. The specific meaning can be understood based on the context.

Third, in the embodiments of this application, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or product that includes a series of steps or units. The device does not Must be limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to the process, method, product or apparatus.

First, a brief explanation of the terms involved in this application will be given.

1. Depth information: Depth information can refer to the depth of an image scene. Depth information can represent the distance between the target and the sensing device, that is, the relative distance. Depth information can be represented by a depth map, which can refer to an image in which the distance (depth) value from the visual sensor to each point in the scene is used as a pixel value. Depth information (or depth map) can be obtained, for example, by using a camera or depth sensor (including direct use of active light technology (radar laser, structured light, etc.)), or by using a binocular camera, a multi-eye camera, or a binocular vision sensor. Or multi-eye vision sensors, etc., and use binocular or multi-eye matching algorithms to obtain it. In other words, visual sensors and cameras such as millimeter wave radar and lidar can obtain depth information. However, visual sensors cannot directly measure depth information. They need to be obtained through calculations, which are often greatly affected by angles. Camera calibration methods need to be used for data calibration. This application does not limit the specific method of obtaining depth information.

2. Entropy value method: The entropy value method refers to a mathematical method used to determine the degree of dispersion of a certain indicator. The greater the degree of dispersion, the greater the impact of this indicator on the comprehensive evaluation. The entropy value can be used to judge the degree of dispersion of an indicator. According to the characteristics of entropy, we can judge the randomness and disorder of an event by calculating the entropy value. We can also use the entropy value to judge the degree of discreteness of an indicator. The greater the degree of discreteness of the indicator, the greater the impact of the indicator on the comprehensive evaluation. The greater the impact. In the embodiment of this application, entropy is a measure of the uniqueness of geomagnetic signals. The smaller the entropy value, the worse the uniqueness (or the weaker the uniqueness); the larger the entropy value, the better the uniqueness (or the weaker the uniqueness). the stronger).

3. Simultaneous localization and mapping (SLAM): Mainly used to solve the problem of positioning and map construction when moving in unknown environments. The system framework of SLAM is generally divided into five modules, namely sensor data module, visual odometry module, back-end module, map construction module and loopback detection module.

Among them, the sensor data module is mainly used to collect various types of raw data in the actual environment, such as laser scanning data, video image data and point cloud data.

The visual odometry module is mainly used to estimate the relative position of moving targets at different times, including the application of algorithms such as feature matching and direct registration.

The back-end module is mainly used to optimize the cumulative error caused by visual odometry, including algorithm applications such as filters and graph optimization.

The map building module is used for the construction of two-dimensional maps and/or three-dimensional maps.

The loopback detection module is mainly used to eliminate spatial accumulation errors.

The workflow of SLAM is roughly as follows. After the sensor data module reads the data, the visual odometry module estimates the relative motion at two moments. The back-end module processes the cumulative error of the estimation results of the visual odometry module. The map construction module determines the relative motion between the device and the back-end module. The map is built based on the motion trajectories obtained by the terminal module. The loop detection module considers images of the same scene at different times and provides spatial constraints to eliminate cumulative errors.

With the development of science and technology, positioning technology has been widely used in people's life, work and travel scenarios. When the GPS signal strength is weak, positioning is often inaccurate, such as in indoor underground garage scenarios. In this scenario, magnetic field positioning technology can be used. The premise of magnetic field positioning technology is to collect geomagnetic signals. Currently, the known method of collecting geomagnetic signals is to plan the collection route in advance based on the floor plan of the area to be collected, and prepare a geomagnetic collection instruction manual for the area. The collector then follows the geomagnetic collection instruction manual to carry out geomagnetic signal acquisition on foot. collection work, and during the geomagnetic collection process, the collector also needs to judge by himself whether the trajectory during the collection process is consistent with the geomagnetic collection instruction manual. The route shown is consistent. Therefore, the current geomagnetic signal acquisition method is relatively inefficient.

In response to the above problems, this application provides a geomagnetic signal collection method and related devices. By adjusting the guidance of the collection route in real time according to the environmental characteristics within the image coverage range, the geomagnetic signal is collected based on the guidance of the collection route, reducing the need for Manual participation and real-time adjustment of the collection route guidance based on environmental characteristics are also conducive to obtaining more reasonable collection routes and avoiding unnecessary route planning. Overall, it is beneficial to improve the efficiency of collecting geomagnetic signals.

It should be noted that this application provides a geomagnetic signal collection method and related devices that are not limited to applications in indoor underground garage scenarios, but can be applied in any scenario where geomagnetic signal collection is required, and this application is not limited to this.

Figure 1 is a schematic diagram of a system architecture suitable for an embodiment of the present application.

As shown in Figure 1, communication can be carried out between the geomagnetic signal collection device 110 and the server 120. For example, the geomagnetic signal collection device 110 may send the collected images to the server 120 , and the server 120 may send the generated collection route guidance and/or the generated map to the geomagnetic signal collection device 110 .

It should be noted that FIG. 1 is only an example. FIG. 1 shows only one geomagnetic signal acquisition device, namely the geomagnetic signal acquisition device 110 . In actual application scenarios, more geomagnetic signal acquisition devices may be included. In addition, the server 120 may be one physical device or a server cluster composed of multiple physical devices, which is not limited in this embodiment of the present application.

It should also be noted that in actual application scenarios, the geomagnetic signal acquisition device may not interact with the server, and may communicate between multiple geomagnetic signal acquisition devices, for example, the geomagnetic signal acquisition device 110 and other geomagnetic signal acquisition devices To communicate, this application does not limit this.

Figure 2 is a schematic block diagram of a geomagnetic signal acquisition device provided by an embodiment of the present application.

For example, the geomagnetic signal acquisition device 110 may include a processor, a memory, a communication module, an image acquisition component, a sensor module, etc. Among them, the communication module may include but is not limited to a mobile communication module and/or a wireless communication module for communicating with other equipment or devices, such as communicating with a server or other geomagnetic signal acquisition device; the image acquisition component may include but not Limited to monocular cameras, binocular cameras and multi-camera cameras, etc., for collecting images; the sensor module may include but is not limited to an accelerometer (also known as an acceleration sensor), a gyroscope (also known as a gyroscope sensor) and Magnetometer (also known as magnetic sensor), etc., accelerometer can be used to obtain motion status, gyroscope can be used to obtain orientation, magnetometer can be used to obtain geomagnetic signal; memory can be used to save computer programs and/or data; A processor may be used to execute a computer program in memory.

It should be noted that, although not shown in the figure, the geomagnetic signal acquisition device 110 may also include more components. For example, in some possible designs, the geomagnetic signal acquisition device may also include a display unit, such as a display screen, to It is used for human-computer interaction with users, and this application does not impose any restrictions on this.

It should also be noted that the geomagnetic signal collection device can be, for example, a handheld device, a wearable device, a vehicle-mounted terminal, or other device with the function of displaying a user interface, or it can be a robot, a drone, an autonomous vehicle, or other device that does not require human intervention. This application does not limit the specific form of the geomagnetic signal acquisition device.

In addition, server 120 may include a processor, memory, and communication modules. The communication module may include but is not limited to a mobile communication module and/or a wireless communication module for communicating with other devices or devices, such as one or more geomagnetic signal acquisition devices; the memory may be used to save the computer Program and/or data; a processor may be used to execute a computer program in memory.

Figure 3 is a schematic flowchart of a geomagnetic signal collection method provided by an embodiment of the present application.

This method can be performed by a geomagnetic signal acquisition device, or by components configured in the geomagnetic signal acquisition device. (such as chips, chip systems, etc.), and the embodiments of the present application do not limit this.

As shown in FIG. 3 , the method 300 includes step 310 and step 320 . Each step is explained in detail below.

In step 310, the first geomagnetic signal acquisition device acquires the first image.

Wherein, the first image is an image collected in the current posture during the process of collecting geomagnetic signals by the first geomagnetic signal collecting device. That is, the first geomagnetic signal acquisition device collects geomagnetic signals and images at the same time.

The current position and attitude of the first geomagnetic signal acquisition device can be understood as the current position and attitude (or orientation) of the first geomagnetic signal acquisition device.

It should be noted that the first geomagnetic signal acquisition device can be any geomagnetic signal acquisition device, which is not limited in the embodiments of the present application.

Figure 4 is a schematic diagram of data interaction between modules provided by the embodiment of the present application.

As shown in Figure 4, the figure shows a data collection module, a feature processing module, a feature database, an image analysis module, a map database, a map generation module, and a collection route guidance generation module.

Among them, the data acquisition module can include a gyroscope, an accelerometer, a magnetometer, a camera, etc., and the data acquisition module can be used to collect data.

For example, an accelerometer can be used to obtain the motion state of the geomagnetic signal collection device, such as acceleration; a gyroscope can be used to obtain the orientation of the geomagnetic signal collection device; and a camera can be used to obtain the current posture of the geomagnetic signal collection device. Image; the magnetometer can be used to obtain the geomagnetic signal of the current posture of the geomagnetic signal acquisition device.

The feature processing module can obtain data from the data acquisition module, and can process the data obtained from the data acquisition module to obtain corresponding feature data. The feature database can be used to store these feature numbers. The feature database can include a feature database in the cloud. , may also be included in the feature database of the local machine (geomagnetic signal acquisition device), which is not limited in this application. The feature database can be used for positioning by different applications.

The image analysis module can also obtain data from the data acquisition module, and can analyze the images or images collected by the camera in real time based on the data obtained from the data acquisition module. Specifically, the image processing module can identify and analyze images collected by the camera in real time, extract feature data such as points, lines, surfaces, and depth information of the image, and integrate the feature data of the image to obtain environmental features ( For example, geographical features and other object features in the environment, etc.), and provide the feature data to the guidance generation module of the collection route, and then the guidance generation module of the collection route can generate guidance for the collection route based on the data analyzed by the image analysis module.

In addition, the guidance generation module for collecting routes is also used to plan routes, record previously traveled paths (trajectories), and visualize on the user interface. These require previous paths (trajectories) and current location data (positions can include relative positions and /or absolute position). Therefore, the image analysis module can fuse data collected by images or images and other sensors (such as gyroscopes, accelerometers, magnetometers, etc.) to position the geomagnetic signal collection device, and convert the positioning data (relative position or absolute position) ) is provided to the image analysis module to generate guidance for the collection route.

In some implementations, the image analysis module can also perform positioning with reference to GPS positioning data to provide positioning data to the guidance generation module of the collection route to assist the guidance generation module of the collection route in generating guidance for the collection route.

In addition, in some implementations, the image analysis module can also perform positioning based on the historical feature data in the previously obtained feature database to provide positioning data to the guidance generation module of the collection route to assist in the generation of the guidance generation module of the collection route. Collection route guidance. After the image analysis module obtains the location data, it can also provide the location data to the feature processing module, so that the feature processing module can obtain different collection locations and the geomagnetic signals collected at each of these locations, and can convert the feature data stored in the feature database.

The map generation module can generate a new map, such as a new floor plan, based on the data parsed by the image analysis module. The map database can store maps, for example, known existing floor plans and new floor plans can be stored. The map database can be in the cloud. The map database may also be a map database in the local machine (geomagnetic signal acquisition device), which is not limited in this application.

It should be noted that the collection route guidance generation module can also use the map data in the map database to generate collection route guidance. Specifically, when the map database stores a known existing floor plan, the collection route guidance generation module can also preliminarily plan the collection route based on the existing floor plan and reproduce the collection route guidance, and the image analysis module can also generate the collection route guidance for the existing floor plan. There are floor plans for analysis, and this application does not make any restrictions on this.

The geomagnetic signal acquisition device may be equipped with an accelerometer, a gyroscope, a camera (an image acquisition component or an example of an image acquisition component), a magnetometer, etc.

The geomagnetic signal acquisition device can acquire its own motion state, such as acceleration, based on an accelerometer; the geomagnetic signal acquisition device can acquire its own orientation based on a gyroscope; the geomagnetic signal acquisition device can acquire an image of the current posture based on a camera; geomagnetic The signal acquisition device can acquire the geomagnetic signal at the current position based on the magnetometer.

The data collected by accelerometers, gyroscopes, magnetometers and cameras can be transferred to the feature processing module for processing to obtain corresponding feature data. Feature data can include, for example, different collection locations and the location of each of these locations. The collected geomagnetic signals can be stored in the feature database. Moreover, as mentioned above, the image analysis module can obtain position data, and can provide the position data to the feature processing module, so that the feature processing module can obtain different collection locations and the geomagnetic field collected at each of these locations. Signal and other characteristic data, and the characteristic data can be stored in the characteristic database.

In addition, the historical feature data in the feature database can also be used to assist the feature processing module to process the subsequently collected data, for example, to determine whether the quality of the subsequently collected geomagnetic signals reaches the preset standard, and then to determine whether it is necessary Re-acquisition is performed to obtain new geomagnetic signals and new characteristic data that meet the preset standards.

It should be understood that FIG. 4 only exemplarily shows the data interaction between some modules. In actual applications, data interaction between more or less modules may be included, and this application does not make any limitation on this.

In addition, although the actions that each module in Figure 4 can be used to perform are described above, in actual applications, the actions that each module in Figure 4 can perform are not limited to the above. Modules can also have different work assignments. Figure 4 should not limit this application in any way.

Optionally, the method 300 further includes: the first geomagnetic signal acquisition device acquires a first map, the first map is a map within the first range covered by the first image, and the first map includes the first environmental feature.

Wherein, the first environment feature is obtained based on images including the first image. The first environmental features may include geographical features, such as edges of roads, etc.

As mentioned above, the map generation module can generate a new map based on the data analyzed by the image analysis module. The first map may be constructed based on the data collected by the first geomagnetic signal collecting device at the current position and posture. The data collected at the current position and posture include data such as images or images. The first map is the first The image or the map within the first range covered by the image collected by the geomagnetic signal acquisition device at the current position and orientation.

It should be understood that the first map is updated in real time based on the collected images or images, or it can be said that the first map is updated in real time based on the first environmental characteristics.

As shown in Figure 4, the image processing module can identify and analyze images or images collected by the camera in real time. Extract feature data such as points, lines, surfaces, and depth information of the image, and integrate the feature data of the image or image to obtain the first environment features. For example, the first environment features may include geographical features such as road edges, and then The first map can be constructed and generated in real time based on the first environment characteristics, and the first map can also be stored in the map database.

It should be understood that as more and more images are collected by the camera, the map generation module can also generate a new first map based on the generated historical map. In other words, the first map is continuously updated with the collected images. .

In addition, in some areas covered by wireless fidelity (Wi-Fi) signals, the geomagnetic signal collection device can also sense the Wi-Fi signal and combine it with the Wi-Fi signal to assist positioning, thereby determining the geomagnetic signal collection The position of the device is within the first range covered by the image collected by the current posture. As a result, the position of the geomagnetic signal collection device can be determined more accurately. In this case, the data collection module shown in Figure 4 may also include a Wi-Fi signal sensing component. The embodiments of this application do not limit this in any way.

In a possible implementation, the first geomagnetic signal acquisition device acquiring the first map may include: the first geomagnetic signal acquisition device constructing the first map based on the collected image.

As an example, the first geomagnetic signal acquisition device can collect images of the current position and orientation based on the camera, and extract feature data such as points, lines, surfaces, and depth information of the image, and then obtain the first geomagnetic signal based on the feature data of the image. environmental characteristics. As mentioned above, the first environmental feature may include, for example, geographical features such as the edge of a road. The edge of the road may be used to plan the collection route and/or the collection speed.

After the first geomagnetic signal acquisition device obtains the first environmental characteristics, the first geomagnetic signal acquisition device can construct a first map based on the first environmental characteristics, and can update the first map in real time based on images continuously collected during its own movement. That is to say, the map generation module shown in Figure 4 can be deployed on the first geomagnetic signal acquisition device, and the first map is generated by the first geomagnetic signal acquisition device. In this implementation, the geomagnetic signal acquisition device can have strong computing power, so the first geomagnetic signal acquisition device can independently complete the construction of the first map.

In another example, the first geomagnetic signal acquisition device can send the image and other data collected by itself to the server. The server receives the image and other data from each geomagnetic signal acquisition device for the same geomagnetic signal acquisition area, and extracts the points and lines of the image. , surface, depth information and other feature data, and then obtain the first environment features based on the feature data of these images. For example, the first environment features may include geographical features such as road edges. As mentioned above, the first environment characteristics may also include characteristics of other objects. For the sake of simplicity, they will not be described again here.

After obtaining the first environmental characteristics, the server may send the first environmental characteristics to the first geomagnetic signal acquisition device. Then, the first geomagnetic signal acquisition device may construct the first map based on the first environmental characteristics. In this implementation, the geomagnetic signal acquisition device can have certain computing capabilities.

Optionally, the first environment characteristics may also include characteristics of other objects in the environment, such as the locations of other vehicles in motion or vehicles in stationary state, and distances from other vehicles.

The geomagnetic signal acquisition device can determine the appropriate acquisition speed based on the distance between the geomagnetic signal acquisition device and the vehicle in front and/or behind the vehicle, and can maintain an appropriate distance from the vehicle in front and/or behind, as well as vehicles on the roadside, so as to Avoid or reduce the interference of the collected geomagnetic signals by other vehicles.

In another possible implementation, the first geomagnetic signal acquisition device acquiring the first map may include: the first geomagnetic signal acquisition device receiving the first map from the server. Correspondingly, the server acquires the image collected by each geomagnetic signal acquisition device in the current position and orientation of the multiple geomagnetic signal acquisition devices from the multiple geomagnetic signal acquisition devices; the server constructs the first map based on the acquired images; the server Deliver the first map to multiple geomagnetic signal acquisition devices.

For example, the first geomagnetic signal acquisition device can send the image and other data collected by itself to the server. The server receives the image and other data from each geomagnetic signal acquisition device for the same geomagnetic signal acquisition area, and extracts the points and lines of the image. , surface, depth information and other feature data, and then obtain the first environment features based on the feature data of these images. For example, the first environment features may include geographical features such as road edges. As mentioned above, the first environment characteristics may also include characteristics of other objects. For the sake of simplicity, they will not be described again here.

After obtaining the first environmental characteristics, the server can construct a first map based on the first environmental characteristics, and then send the first map to each geomagnetic signal collection device. Correspondingly, the first geomagnetic signal collecting device may receive the first map from the server. Moreover, the first geomagnetic signal acquisition device can send images and other data collected during its own movement to the server in real time. The server can update the first map in real time based on the received images and other data and send it to the first geomagnetic signal acquisition device. .

That is to say, the map generation module shown in Figure 4 can also be deployed on the server, and the first map is generated by the server. In this implementation manner, the first geomagnetic signal acquisition device does not need to have strong computing power and can directly receive the first map from the server.

It should be understood that the images and other data used by the server to construct the first map can come from multiple geomagnetic signal acquisition devices. These multiple geomagnetic signal acquisition devices can cooperate to collect geomagnetic signals in the same range at the same point in time. Geomagnetic signal acquisition device. As a result, the server can construct the first map based on images from different perspectives from the plurality of geomagnetic signal collection devices.

In addition, the images and other data used by the server to construct the first map may also be images from the same geomagnetic signal acquisition device at different time points. This application does not make any limitation on this.

It should be noted that SLAM can be used to construct the first map, and this application does not impose any limitation on this.

It should also be noted that obtaining the first map is only an optional solution. Without obtaining the first map, the collection route can be planned based on the first environmental characteristics. Therefore, the embodiment of the present application is not limited to the first map. Map construction and acquisition.

In step 320, the first geomagnetic signal collection device obtains guidance for the collection route.

The guidance of the collection route includes a recommended route for collecting geomagnetic signals, that is, a route provided to guide the first geomagnetic acquisition device to collect geomagnetic signals in the next step. The guidance of the collection route is generated based on the first data. The first data includes a preset collection specification, the posture and orientation of the first geomagnetic signal collection, and the first environmental characteristics. The collection specification can be used to indicate the specifications for collecting geomagnetic signals.

Optionally, the guidance of the collection route may include recommended speeds for the geomagnetic signal collection device.

For example, the geomagnetic signal acquisition device can be configured on a vehicle, and the speed recommended to the geomagnetic signal acquisition device can be understood as the recommended vehicle speed. The distance between the geomagnetic signal acquisition device and the vehicle in front and/or behind can be used to determine the appropriate acquisition speed, so that the vehicle equipped with the geomagnetic signal acquisition device can keep pace with the vehicle in front and/or behind, as well as vehicles on the roadside. Appropriate distance to avoid reducing the collected geomagnetic signal from being interfered by other vehicles.

In a possible implementation, the first geomagnetic signal acquisition device obtains the guidance of the collection route, including: the first geomagnetic signal acquisition device generates the guidance of the collection route based on the first data.

Illustratively, as shown in Figure 4, the first geomagnetic signal acquisition device can generate real-time data through the guidance generation module of the acquisition route based on preset acquisition specifications, its own posture and first environment characteristics, etc. Collection route guidance, real-time planning of collection routes and/or collection speeds.

That is to say, the guidance generation module of the collection route shown in Figure 4 can be deployed on the first geomagnetic signal collection device On the ground, the first geomagnetic signal acquisition device generates guidance for the acquisition route. In this implementation, the first geomagnetic signal acquisition device may have strong computing power. Therefore, the first geomagnetic signal acquisition device may independently complete the generation of guidance for the acquisition route.

In another possible implementation, the first geomagnetic signal acquisition device obtains the guidance of the collection route, including: the first geomagnetic signal acquisition device receives the guidance of the collection route from the server. Correspondingly, the server acquires an image from at least one geomagnetic signal acquisition device among the plurality of geomagnetic signal acquisition devices, the image includes a first image, the first geomagnetic signal acquisition device is any one of the at least one geomagnetic signal acquisition device, and acquires the third The position and orientation of a geomagnetic signal collection device; the server generates guidance for the collection route of the first geomagnetic signal collection device based on the first data; the server sends the collection route guidance to the first geomagnetic signal collection device.

Illustratively, as shown in Figure 4, the server can generate the data in real time through the guidance generation module of the collection route based on the preset collection specifications, the posture of the first geomagnetic signal collection device, and the first environmental characteristics. Guidance of the collection route: planning and navigation of the collection route in real time, and sending the guidance of the collection route generated in real time to the first geomagnetic signal collection device to the first geomagnetic signal collection device.

That is to say, the guidance generation module for the collection route shown in Figure 4 can be deployed on the server, and the server generates the guidance for the collection route. In this implementation, the first geomagnetic signal collection device does not need to have strong computing power, and can directly receive the guidance of the collection route from the server.

Optionally, the collection specification indicates a preset width value. Before the first geomagnetic signal collection device generates the guidance of the collection route based on the first data, the method 300 may also include: the first geomagnetic signal collection device obtains the first geomagnetic signal based on the first image. Environmental characteristics; the first geomagnetic signal acquisition device determines the width of the accessible road based on the first environmental characteristics, such as road edges and other geographical features; the first geomagnetic signal acquisition device determines the width of the accessible road based on the width of the accessible road and the preset width value. The traffic road is divided to obtain at least one collection channel, and the width of each collection channel is less than or equal to a preset width value; the first geomagnetic signal collection device determines at least one collection route corresponding to the at least one collection channel, and each collection channel The route is within the range of the corresponding collection channel.

Exemplarily, the first geomagnetic signal acquisition device determines the width of the accessible road based on the first environmental feature. For example, when the first environmental feature includes the edge of the road, the first geomagnetic signal acquisition device determines the width of the road based on the edge of the road. .

Figure 5 is a schematic diagram of dividing a passable road provided by the embodiment of the present application.

As shown in Figure 5, the first geomagnetic signal acquisition device can determine the width of the accessible road to be m (m is a positive number) meters based on the side lines of the road. If the preset width value is n meters, the first geomagnetic signal acquisition device Based on the width m meters of the accessible road and the preset width value n meters, the accessible road is divided, as shown in a) of Figure 5, 4 acquisition channels can be obtained, and then the first geomagnetic signal acquisition device can then determine At least one collection route corresponding to at least one collection channel. As shown in b) of Figure 5, the intersection can be segmented in the same way, and four vertical collection channels and four horizontal collection channels can be obtained.

Optionally, the collection specification also indicates the direction in which the accessible road is divided, parallel to the direction of the accessible road.

For example, as shown in a) and b) of Figure 5, the accessible roads can be divided parallel to the direction of the accessible roads. It can also be understood that the accessible roads can be divided parallel to the edges of the accessible roads. Carry out segmentation.

In addition, the collection specification can also indicate the allowable deviation value between the actual walking route and the guided collection route. If the deviation value between the actual walking route and the guided collection route is greater than the allowable deviation value, unsatisfactory collection can be carried out. Normative tips.

In this implementation method, there is no need to manually survey the accessible roads, nor does it need to rely on the personal experience of the collectors to manually calculate and divide the accessible roads to obtain the collection routes after surveying the accessible roads, which saves manpower. costs, but also helps improve efficiency.

Optionally, the collection specification also indicates a method for determining at least one necessary collection location, which is a location where geomagnetic signal collection must be performed. The method 300 also includes: the first geomagnetic signal collection device determines that the geomagnetic signal collection device can collect the geomagnetic signal based on the first environmental characteristics. One or more necessary collection locations on the accessible road.

The first geomagnetic signal collection device or server can determine the geomagnetic signal collection that must be performed before generating the guidance for the collection route based on at least one necessary collection location and/or the determination method of at least one necessary collection location indicated in the collection specification. The location and/or the determination method of the necessary collection location are then combined with the collected environmental characteristics and/or the determination method of the necessary collection location to generate guidance for the collection route.

Optionally, the first geomagnetic signal acquisition device determines one or more necessary acquisition locations on the accessible road based on the first environmental characteristics, including: the first geomagnetic signal acquisition device determines that the accessible road is an intersection based on the first environmental characteristics. Intersection; the first geomagnetic signal acquisition device determines that at least one necessary acquisition location of the intersection is located in the central area of the intersection based on the acquisition specifications.

For example, as mentioned above, the first environmental feature may include the edge of the road. Therefore, the first geomagnetic signal acquisition device may determine whether the accessible road is an intersection based on the edge of the road.

When the first geomagnetic signal acquisition device determines that the current accessible road is an intersection based on the first environmental characteristics, the determination method of at least one necessary collection location corresponding to the intersection can be determined based on the determination method indicated in the collection specification, and then based on The method for determining at least one necessary collection position corresponding to the intersection is to determine at least one necessary collection position. The at least one necessary collection position can be located in the central area or central position of the intersection.

It should be noted that in this implementation method, the central area of the intersection must be collected for geomagnetic signals. Before generating guidance for the collection route of the intersection, it can be determined that the central area of the intersection must be collected for geomagnetic signals. position, that is, first determine at least one necessary collection position of the intersection, and then combine these positions to generate guidance for the collection route of the intersection.

After generating the guidance of the collection route of the intersection, the first geomagnetic signal collection device can perform higher-density collection in the central area or central position of the intersection, that is, adjacent areas where the first geomagnetic signal collection device collects geomagnetic signals The spacing between collection locations can be shorter.

It should be noted that the location for higher density collection may include but is not limited to the central area or central location of the intersection. The embodiments of this application do not limit this in any way.

Optionally, the method 300 may also include: the first geomagnetic signal collection device collects the geomagnetic signal based on the guidance of the collection route.

The first geomagnetic signal acquisition device can collect geomagnetic signals by itself based on the guidance of the generated acquisition route without human control. As a result, labor costs can be reduced. This implementation can be applied to equipment that does not require human intervention, such as robots, drones, and autonomous vehicles.

Optionally, the method 300 may also include: the first geomagnetic signal collection device displays the first map and collection route guidance on the user interface; and the first geomagnetic signal collection device collects geomagnetic signals in response to the user's operation.

Among them, the first map and the guidance of the collection route can be used by the user to decide the next collection location.

In the case where the first geomagnetic signal acquisition device has the function of human-computer interaction, for example, the first geomagnetic signal acquisition device It can be a device with a user interface display function such as a handheld device, a wearable device, a vehicle-mounted terminal, etc., then the first geomagnetic signal collection device can display the constructed first map and the guidance of the collection route on the user interface, that is, the collection route The guidance can be presented on the user interface to provide recommended routes for users (which can be understood as collectors).

The user can decide the next collection location based on the guidance of the first map and collection route, as well as the user's current location. The first geomagnetic signal collecting device can move with the movement of the user, and can collect the geomagnetic signal in response to the user's operation.

In a possible implementation, the first data also includes a collected route, which is a route on which geomagnetic signals have been collected.

For example, the first geomagnetic signal collection device can mark the collected route according to the collection status of the geomagnetic signal of each collection channel, and can mark the collection channel that has collected the geomagnetic signal as the collected route.

Alternatively, the first geomagnetic signal acquisition device can mark the collected routes and/or uncollected routes according to the collection status of the geomagnetic signals of each acquisition channel, and can mark the acquisition channels that have collected geomagnetic signals as collected routes, and/ Or, the collection channels that have not collected geomagnetic signals can be marked as uncollected routes. Among them, the uncollected route is the route for which geomagnetic signals are to be collected.

Optionally, the guidance of the collection route includes the guidance of the uncollected route, the uncollected route is the route to be collected for geomagnetic signals, and the uncollected route is determined based on the collected route.

For example, the first geomagnetic signal collection device can mark the collected routes according to the collection status of the geomagnetic signals of each collection channel, and then determine the collection routes that are not marked as collected routes as uncollected routes. Furthermore, the first geomagnetic signal collecting device can generate guidance for the uncollected route to guide movement to the uncollected route.

That is to say, when there are uncollected routes, the guidance of the generated collection routes is guidance for the uncollected routes.

When the first geomagnetic signal acquisition device does not have a human-computer interaction function, or when the first geomagnetic signal acquisition device is not equipped with a display screen, for example, the first geomagnetic signal acquisition device is suitable for robots, drones, When using equipment such as self-driving vehicles that do not require human intervention, the first geomagnetic signal collection device does not need to be equipped with a display screen. It only needs to record which routes have been collected and which routes have not been collected. There is no need to display the collected routes and uncollected routes. come out. In this implementation, the first geomagnetic signal acquisition device can collect geomagnetic signals by itself based on the guidance of the generated acquisition route without human control, thereby reducing labor costs.

Optionally, the collection routes displayed on the user interface may include collected routes and/or uncollected routes, and the collected routes and uncollected routes have different display forms.

When the first geomagnetic signal acquisition device is equipped with a display screen, that is to say, when the first geomagnetic signal acquisition device has a human-computer interaction function, the first geomagnetic signal acquisition device can be equipped with a display screen, which can be The display screen shows the marking status of the collected routes and uncollected routes, that is, different display forms can be used to distinguish the collected routes and uncollected routes.

Figure 6 is a schematic diagram of marked collected roads provided by an embodiment of the present application.

As shown in a) and b) of Figure 6, the routes with filled marks in the figure can represent collected routes, and the routes without filled marks in the figure are uncollected routes.

It should be noted that Figure 6 is only exemplary. In practical applications, collected routes and uncollected routes can be distinguished through other display forms. For example, collected routes and uncollected routes can be distinguished through different display colors. Collection routes are distinguished, and the embodiments of this application do not impose any limitations on this.

In a possible implementation, method 300 may further include: the first geomagnetic signal acquisition device acquires the collected route.

It should be understood that multiple geomagnetic signal acquisition devices can cooperate to collect geomagnetic signals within the same range.

When multiple geomagnetic signal acquisition devices cooperate to collect geomagnetic signals within the same range, the first geomagnetic signal acquisition device can mark the collected routes and unseen routes according to its own collection of geomagnetic signals from each acquisition channel. In addition to the collection routes, you can also obtain the collected routes of other geomagnetic signal collection devices, and you can also update your own marked collected routes based on the obtained collected routes.

Figure 7 is a schematic diagram of collaborative collection provided by an embodiment of the present application.

As shown in Figure 7, the first geomagnetic signal acquisition device and the second geomagnetic signal acquisition device can cooperate to collect geomagnetic signals within the same range. The black solid line in the figure can represent the collected route, and the white dotted line can represent the uncollected route.

By fusing the collected routes of the first geomagnetic signal acquisition device and the second geomagnetic signal acquisition device, the collaborative acquisition results of the first geomagnetic signal acquisition device and the second geomagnetic signal acquisition device can be obtained, that is, the collaborative acquisition situation can be obtained The total number of collected routes.

It should be noted that the second geomagnetic signal acquisition device may refer to one or more geomagnetic signal acquisition devices other than the first geomagnetic signal acquisition device, which is not limited in this application.

It should also be noted that Figure 7 is only exemplary. In an actual collaborative collection scenario, more geomagnetic signal collection devices may be included. This application does not place any limit on the number of geomagnetic signal collection devices for collaborative collection.

Optionally, the first geomagnetic signal acquisition device obtains the collected route, which may include: the first geomagnetic signal acquisition device receives the collected route from the server; or the first geomagnetic signal acquisition device receives the second geomagnetic signal from the second geomagnetic signal acquisition device The collected route of the collecting device and the collected route of the second geomagnetic signal collecting device are the routes along which the second geomagnetic signal collecting device has collected geomagnetic signals within the preset range.

The preset range may be, for example, the range of the entire underground garage in an indoor underground garage scene, or the preset range may be the range of a part of the entire underground garage, which is not limited in this application.

Implementation method 1: the first geomagnetic signal acquisition device receives the collected route from the server. Correspondingly, the server obtains corresponding collected routes from multiple geomagnetic signal acquisition devices; the server fuses the corresponding collected routes of multiple geomagnetic signal acquisition devices to obtain a fused acquired route, and the fused acquired route is obtained. It is the sum of the routes that have been collected by multiple geomagnetic signal acquisition devices; the server sends the fused collected routes to multiple geomagnetic signal acquisition devices.

For example, when multiple geomagnetic signal acquisition devices cooperate to collect geomagnetic signals within the same range, the multiple geomagnetic signal acquisition devices can send their respective collected routes to the server, and the server sends the multiple geomagnetic signal acquisition devices to the server. The collected routes of the geomagnetic signal acquisition devices are fused to obtain the collected routes of collaborative collection, and the server can send the collected routes of collaborative collection to the multiple geomagnetic signal acquisition devices. The first geomagnetic signal acquisition device can update its own collected route according to the fused collected route.

As a result, the first geomagnetic signal acquisition device does not need to repeatedly collect the routes collected by other geomagnetic signal acquisition devices, which can save a certain amount of time and improve the collection efficiency.

In a second implementation manner, the first geomagnetic signal acquisition device receives the collected route of the second geomagnetic signal acquisition device from the second geomagnetic signal acquisition device.

For example, when multiple geomagnetic signal acquisition devices cooperate to collect geomagnetic signals within the same range, In this case, connections can be established between these multiple geomagnetic signal acquisition devices. For example, a connection can be established through Bluetooth, or a connection can be established through Wi-Fi direct connection, etc., as long as a connection can be established between multiple geomagnetic signal acquisition devices. The embodiment of the present application provides a The specific method of connection is not limited in any way.

After a connection is established between the multiple geomagnetic signal acquisition devices, data interaction can be performed between the multiple geomagnetic signal acquisition devices. The first geomagnetic signal acquisition device can receive the collected route of the second geomagnetic signal acquisition device from the second geomagnetic signal acquisition device. The first geomagnetic signal acquisition device can also update itself based on the collected route obtained from the second geomagnetic signal acquisition device. Marked collected routes.

As a result, the first geomagnetic signal acquisition device does not need to repeatedly collect the route collected by the second geomagnetic signal acquisition device, which can save a certain amount of time and thereby improve the collection efficiency.

In a possible implementation, the first data also includes a target area, which is an area where geomagnetic signals need to be collected again, and the guidance of the collection route generated based on the first data includes the guidance of the collected route in the target area.

For example, when all accessible roads have been marked as collected routes, the first geomagnetic signal collecting device can generate guidance to the target area where geomagnetic signals need to be collected again, that is, the first geomagnetic signal collecting device can Generate guidance for the collected route in the target area where geomagnetic signals need to be collected again to guide the first geomagnetic signal collecting device and/or the collecting personnel who control the first geomagnetic signal collecting device to move to the target area, and then according to the target area The geomagnetic signal is collected again in the target area based on the guidance of the collected route.

Optionally, method 300 also includes: the first geomagnetic signal acquisition device acquires geomagnetic signals collected within a preset range; the first geomagnetic signal acquisition device divides the preset range to obtain at least one area; the first geomagnetic signal acquisition device The device analyzes the geomagnetic signal in each area of at least one area to obtain the uniqueness value of the geomagnetic signal in each area; determines the target area that needs to collect the geomagnetic signal again based on the uniqueness value of the geomagnetic signal in each area. .

In this implementation, the first geomagnetic signal acquisition device can determine by itself the target area where geomagnetic signals need to be collected again.

The first geomagnetic signal acquisition device can acquire geomagnetic signals collected within a preset range. The preset range can be, for example, the range of the entire underground garage in an indoor underground garage scene. The preset range can also be the range of a part of the entire underground garage. This application does not limit this.

The first geomagnetic signal acquisition device can also divide the preset range to obtain at least one area. The preset range can be divided equally or unequally, and the division rules are predefined, which is not limited in this application. The first geomagnetic signal acquisition device can also analyze the geomagnetic signal in each area in the divided at least one area to obtain the uniqueness value of the geomagnetic signal in each area. For example, the entropy value method can be used to analyze the geomagnetic signal in each area. Analyze the geomagnetic signals in the area. When the sum of the geomagnetic signal intensity distribution in the area is fixed, the smaller the entropy value, that is, the smaller the uniqueness value, the worse the uniqueness of the geomagnetic signal in the area. On the contrary, the greater the entropy value. , that is, the greater the uniqueness value, the stronger the uniqueness of the geomagnetic signal in this area.

Figure 8 is a schematic distribution diagram of geomagnetic signals provided by an embodiment of the present application.

As shown in Figure 8, light gray represents strong geomagnetic signals, and dark gray represents weak geomagnetic signals. There are dark gray and light gray in area 1. Through the analysis and calculation of entropy value method, it can be concluded that the repeatability of the geomagnetic signal in area 1 is low, that is, the geomagnetic signal in area 1 is unique; while in area 2 and Area 3 is basically dark gray. Through entropy value method analysis and calculation, it can be concluded that the geomagnetic signals in Area 2 and Area 3 have high repeatability, that is, the geomagnetic signals in Area 2 and Area 3 have poor uniqueness.

The first geomagnetic signal acquisition device can determine the need to collect again according to the unique value of the geomagnetic signal in each area. For the target area of the geomagnetic signal, for example, the first geomagnetic signal acquisition device may determine an area with a uniqueness value less than a preset threshold as the target area. In this implementation, the geomagnetic signal acquisition device can have strong computing power, so the first geomagnetic signal acquisition device can determine the target area where geomagnetic signals need to be collected again.

Optionally, method 300 further includes: the first geomagnetic signal acquisition device receiving location information of the target area from the server; and the first geomagnetic signal acquisition device determining the target area based on the location information. Correspondingly, the server obtains geomagnetic signals collected within a preset range from multiple geomagnetic signal collection devices; the server divides the preset range to obtain at least one area; and the server collects the geomagnetic signals in each area in the at least one area. Analyze and obtain the unique value of the geomagnetic signal in each area; the server determines the target area that needs to collect the geomagnetic signal again based on the unique value of the geomagnetic signal in each area; the server issues the target area to multiple geomagnetic signal acquisition devices location information.

In this implementation, the first geomagnetic signal acquisition device receives the location information of the target area from the server, and then determines the target area based on the location information.

The server obtains the geomagnetic signals collected within the preset range; divides the preset range to obtain at least one area; analyzes the geomagnetic signals in each area of at least one area to obtain the geomagnetic signals in each area. The uniqueness value; and, based on the uniqueness value of the geomagnetic signal in each area, determine the target area where the geomagnetic signal needs to be collected again. Please refer to the relevant description in the previous article. For the sake of simplicity, it will not be described again here.

After determining the target area, the server can send the location information of the target area to multiple geomagnetic signal collection devices. Correspondingly, the first geomagnetic signal acquisition device can receive the location information of the target area from the server, and then determine the target area based on the location information. In this implementation, the geomagnetic signal acquisition device does not need to have strong computing power, and the first geomagnetic signal acquisition device can directly determine the target area based on the location information of the target area received from the server.

Consider the quality of the geomagnetic signals collected within the preset range, and determine whether it is necessary to collect again according to the uniqueness of the geomagnetic signals in different areas within the preset range to ensure the quality of the collected geomagnetic signals. Moreover, when the first geomagnetic signal acquisition device is a handheld device, a wearable device, a vehicle-mounted terminal, or other device capable of human-computer interaction, the user who controls the first geomagnetic signal acquisition device to collect geomagnetic signals does not need to With high experience requirements, users only need to follow the guidance of the collection route displayed by the first geomagnetic signal collection device to collect again areas with poor geomagnetic signal uniqueness, which is beneficial to improving collection efficiency.

In a possible implementation, method 300 may also include: the first geomagnetic signal acquisition device suspends the acquisition of geomagnetic signals; and the first geomagnetic signal acquisition device records the termination position of this acquisition.

As an example, the first geomagnetic signal acquisition device can be a robot, a drone, an autonomous vehicle, etc. The first geomagnetic signal acquisition device can pause the acquisition of geomagnetic signals on its own, and can record the termination position of this acquisition. This is so that when the collection of geomagnetic signals is subsequently started, the collection of geomagnetic signals can be continued from the end position of the last recording.

In another example, the first geomagnetic signal acquisition device can be a handheld device, a wearable device, a vehicle-mounted terminal, or other device capable of human-computer interaction. The first geomagnetic signal acquisition device can respond to the user's operation and perform the current acquisition on the user interface. Mark the end position. The user's operation may be to select the end position to be marked on the user interface, or it may be to click one button to mark the end position, which is not limited in this application.

It should be noted that the method 300 can be packaged as a software application, and a device installed with the software application can be used to implement the method 300; the method 300 can also be packaged as an embedded system, embedded in the device, so that the device Method 300 can be implemented.

Based on the above solution, the first geomagnetic signal acquisition device can collect geomagnetic signals while simultaneously acquiring the surrounding environment. Images of environmental characteristics can be obtained, and guidance of a collection route generated based on environmental characteristics can be obtained to guide the first geomagnetic collection device to continue collecting geomagnetic signals. In this solution, there is no need to obtain a plan view of the area to be geomagnetic collected in advance. The guidance of the collection route is adjusted in real time according to the environmental characteristics within the image coverage, and then the geomagnetic signal is collected based on the guidance of the collection route, reducing manual labor. Participation and guidance in real-time adjustment of collection routes based on environmental characteristics are also conducive to obtaining more reasonable collection routes and avoiding unnecessary route planning. Overall, it is beneficial to improve the efficiency of collecting geomagnetic signals.

In addition, in this solution, not only does it not need to obtain a plan view of the area to be geomagnetic collected in advance, but a map can also be constructed based on the obtained environmental characteristics. Furthermore, when the first geomagnetic signal acquisition device is a handheld device, a wearable device, a vehicle-mounted terminal, or other device capable of human-computer interaction, the user who controls the first geomagnetic signal acquisition device to collect geomagnetic signals does not need to The experience requirements are too high. Users only need to follow the guidance of the collection route displayed by the first geomagnetic signal collection device to collect geomagnetic signals.

Figure 9 is a schematic block diagram of another geomagnetic signal acquisition device provided by an embodiment of the present application.

As shown in FIG. 9 , the geomagnetic signal collection device 900 may include: a collection module 910 and an acquisition module 920 . The geomagnetic signal acquisition device 900 can be used to perform the steps of the first geomagnetic signal acquisition device in the above method 300.

For example, when the geomagnetic signal acquisition device 900 is used to perform the steps of the first geomagnetic signal acquisition device in the above method, the acquisition module 910 can be used to acquire the first image, and the first image is the first geomagnetic signal acquisition device. During the process of collecting geomagnetic signals, the image collected in the current posture; the acquisition module 920 can be used to obtain the guidance of the collection route, the collection route is the recommended route for collecting geomagnetic signals, and the guidance of the collection route is based on the first data Generated, the first data includes preset collection specifications, poses and first environment characteristics. The collection specifications are used to indicate the specifications for collecting geomagnetic signals. The first environment characteristics are obtained based on images including the first image. The collection Route guidance is used to guide the collection of geomagnetic signals.

Optionally, the acquisition module 920 may also be used to acquire the first map, which is a map within the first range covered by the first image, and the first map includes the first environmental feature.

Optionally, the acquisition module 920 may be configured to construct the first map based on the collected images; or receive the first map from the server.

Optionally, the acquisition module 920 may also be specifically configured to generate guidance for the collection route based on the first data; or receive guidance for the collection route from the server.

Optionally, the collection specification indicates a preset width value, and the acquisition module 920 can also be used to obtain the first environment feature based on the first image; determine the width of the passable road based on the first environment feature; and determine the width of the passable road based on the The preset width value is used to divide the accessible road to obtain at least one collection channel, and the width of each collection channel is less than or equal to the preset width value; determine at least one collection route corresponding to at least one collection channel, and each collection channel is Each collection route is within the range of the corresponding collection channel.

Optionally, the collection specification also indicates the direction in which the accessible road is divided, and the direction is parallel to the direction of the accessible road.

Optionally, the collection specification also indicates a method for determining at least one necessary collection location, which is a location where geomagnetic signal collection must be performed, and the acquisition module 920 can also be used to determine the location on the passable road based on the first environmental characteristics. One or more necessary collection locations.

Optionally, the acquisition module 920 may be further configured to determine that the accessible road is an intersection based on the first environmental characteristics; and determine that the at least one necessary collection location of the intersection is located at the intersection based on the collection specification. Central region.

Optionally, the first data also includes a collected route, which is a route on which geomagnetic signals have been collected.

Optionally, the guidance of the collection route includes the guidance of the uncollected route, the uncollected route is the route to be collected for geomagnetic signals, and the uncollected route is determined based on the collected route.

Optionally, the acquisition module 920 can also be used to acquire the collected route.

Optionally, the acquisition module 920 may also be configured to receive a collected route from a server; or receive a collected route of a second geomagnetic signal collecting device from a second geomagnetic signal collecting device, where the collected route of the second geomagnetic signal collecting device is: The second geomagnetic signal acquisition device has collected the route of the geomagnetic signal within the preset range.

Optionally, the first data also includes a target area, which is an area where geomagnetic signals need to be collected again, and the guidance of the collection route generated based on the first data includes the guidance of the collected route in the target area.

Optionally, the acquisition module 920 can also be used to acquire the geomagnetic signals collected within a preset range; divide the preset range to obtain at least one area; and obtain the geomagnetic signals in each area in the at least one area. Analyze to obtain the uniqueness value of the geomagnetic signal in each area; determine the target area where the geomagnetic signal needs to be collected again based on the uniqueness value of the geomagnetic signal in each area.

Optionally, the acquisition module 920 may also be configured to receive location information of the target area from the server; determine the target area based on the location information.

Optionally, the collection module 910 can also be used to collect geomagnetic signals based on the guidance of the collection route.

Optionally, the geomagnetic signal collection device 900 can also include a display module 930, which can be used to display the first map and collection route guidance on the user interface; and the collection module 910 can also be used to respond to the user's Operate to collect geomagnetic signals.

Optionally, the collection routes displayed on the user interface include collected routes and/or uncollected routes. The collected routes are the routes for which geomagnetic signals have been collected. The uncollected routes are the routes for which geomagnetic signals are to be collected. The collected routes are the same as those for which geomagnetic signals have been collected. The display forms of the uncollected routes mentioned above are different.

Optionally, the geomagnetic signal collection device 900 can also include a recording module 940, which can be used to pause the collection of geomagnetic signals and record the end position of this collection.

It should be understood that the module division of the geomagnetic signal acquisition device in Figure 9 is only exemplary. In practical applications, different functional modules can be divided according to different functional requirements. This application describes the division forms of functional modules in practical applications and The quantity is not limited in any way, and Figure 9 does not create any limitation on this application.

Figure 10 is a schematic block diagram of a server provided by an embodiment of the present application.

As shown in Figure 10, the server 1000 may include: an obtaining module 1010, a generating module 1020 and a sending module 1030. The server 1000 can be used to perform the steps of the server in the above method 300.

For example, when the server 1000 is used to perform the server steps in the above method, the acquisition module 1010 can be used to acquire an image from at least one geomagnetic signal acquisition device among a plurality of geomagnetic signal acquisition devices, and the image includes the first Image, the first image is an image collected in the current posture during the process of collecting geomagnetic signals by the first geomagnetic signal collecting device, and the first geomagnetic signal collecting device is any one of the at least one geomagnetic signal collecting devices , and obtain the pose of the first geomagnetic signal collection device; the generation module 1020 can be used to generate guidance for the collection route of the first geomagnetic signal collection device based on the first data, where the collection route is a recommended route for collecting geomagnetic signals, the first data It includes a preset collection specification, the posture of the first geomagnetic signal collection device, and the first environment feature. The collection specification is used to indicate the specification for collecting geomagnetic signals. The first environment feature is obtained based on images including the first image; Send module 1030 may be used to send guidance of the collection route to the first geomagnetic signal collection device.

Optionally, the acquisition module 1010 can also be used to obtain corresponding collected routes from multiple geomagnetic signal acquisition devices. The collected routes are routes for which geomagnetic signals have been collected; and combine the corresponding collected routes of multiple geomagnetic signal acquisition devices. Perform fusion to obtain the fused collected route. The fused collected route is the sum of the routes that have collected geomagnetic signals by multiple geomagnetic signal acquisition devices; the sending module 1030 can also be used to send the fusion to multiple geomagnetic signal acquisition devices. The later collected routes.

Optionally, the acquisition module 1010 can also be used to acquire geomagnetic signals collected within a preset range from multiple geomagnetic signal acquisition devices; divide the preset range to obtain at least one area; and obtain at least one area for each area. Analyze the geomagnetic signals in the area to obtain the uniqueness value of the geomagnetic signal in each area; determine the target area that needs to collect the geomagnetic signal again according to the uniqueness value of the geomagnetic signal in each area; the sending module 1030 can also be used to send Multiple geomagnetic signal acquisition devices deliver location information of the target area.

Optionally, the acquisition module 1010 can also be used to acquire from multiple geomagnetic signal acquisition devices images collected by each geomagnetic signal acquisition device in the current position and orientation of the multiple geomagnetic signal acquisition devices; based on the acquired images Constructing a first map, the first map is a map within the first range covered by the acquired image, the first map includes the first environmental feature, and the first environmental feature is obtained based on the image including the first image; the sending module 1030 can also be used to deliver the first map to multiple geomagnetic signal collection devices.

It should be understood that the module division of the server in Figure 10 is only exemplary. In actual applications, different functional modules can be divided according to different functional requirements. This application does not make any assumptions about the division form and number of functional modules in actual applications. limitation, and Figure 10 cannot impose any limitation on this application.

Figure 11 is a schematic block diagram of another server provided by an embodiment of the present application.

The server 1100 can be used to implement the server functions in the above method 300. The server 1100 may be a chip system. In the embodiments of this application, the chip system may be composed of chips, or may include chips and other discrete devices.

As shown in Figure 11, the server 1100 may include at least one processor 1110, used to implement the server functions in the method 300 provided by the embodiment of this application.

As an example, when the server 1100 is used to implement the functions of the server in the method 300 provided by the embodiment of the present application, the processor 1110 can be used to acquire an image from at least one geomagnetic signal acquisition device among multiple geomagnetic signal acquisition devices. Including a first image, the first image is an image collected in the current posture during the process of collecting geomagnetic signals by the first geomagnetic signal collecting device, and the first geomagnetic signal collecting device is one of the at least one geomagnetic signal collecting devices. Any one of, and obtain the pose of the first geomagnetic signal acquisition device; generate guidance for the collection route of the first geomagnetic signal acquisition device based on the first data, the collection route is a recommended route for collecting geomagnetic signals, and the first data includes a preset The collection specifications, the posture of the first geomagnetic signal collection device and the first environmental characteristics. The collection specifications are used to indicate the specifications for collecting geomagnetic signals. The first environmental characteristics are obtained based on images including the first image; to the first The geomagnetic signal acquisition device sends guidance on the acquisition route. For details, please refer to the detailed description in the method example and will not be repeated here.

In another example, when the server 1100 is used to implement the functions of the server in the method 300 provided by the embodiment of the present application, the processor 1110 can be used to obtain corresponding collected routes from multiple geomagnetic signal acquisition devices. The collected routes are already Routes for collecting geomagnetic signals; fuse the corresponding collected routes of multiple geomagnetic signal collecting devices to obtain a fused collected route. The fused collected routes are the routes of multiple geomagnetic signal collecting devices that have collected geomagnetic signals. Sum; deliver the fused collected routes to multiple geomagnetic signal acquisition devices. For details, please refer to the detailed description in the method example and will not be repeated here.

In another example, when the server 1100 is used to implement the functions of the server in the method 300 provided by the embodiment of the present application, the processor 1110 can be used to obtain geomagnetic signals collected within a preset range from multiple geomagnetic signal collection devices; for Divide the preset range to obtain at least one region; analyze the geomagnetic signal in each region in at least one region to obtain the uniqueness value of the geomagnetic signal in each region; according to the uniqueness of the geomagnetic signal in each region The value determines the target area where geomagnetic signals need to be collected again; and delivers the location information of the target area to multiple geomagnetic signal collection devices. For details, please refer to the detailed description in the method example and will not be repeated here.

In another example, when the server 1100 is used to implement the functions of the server in the method 300 provided by the embodiment of the present application, the processor 1110 can be used to obtain each geomagnetic signal in the multiple geomagnetic signal acquisition devices from multiple geomagnetic signal acquisition devices. Collecting images collected by the device in its current position and posture; constructing a first map based on the acquired images, where the first map is a map within the first range covered by the acquired images, and the first map includes first environmental features, The first environment feature is obtained based on images including the first image; the first map is delivered to multiple geomagnetic signal acquisition devices. For details, please refer to the detailed description in the method example and will not be repeated here.

The server 1100 may also include at least one memory 1120, which may be used to store program instructions and data. Memory 1120 and processor 1110 are coupled. The coupling in the embodiment of this application is an indirect coupling or communication connection between devices, units or modules, which may be in electrical, mechanical or other forms, and is used for information interaction between devices, units or modules. The processor 1110 may cooperate with the memory 1120. Processor 1110 may execute program instructions stored in memory 1120 . At least one of the at least one memory may be included in the processor.

The server 1100 may also include a communication interface 1130 for communicating with other devices through a transmission medium, so that the server 1100 can communicate with other devices. The other devices may be, for example, the first geomagnetic signal acquisition device and the second geomagnetic signal acquisition device. . The communication interface 1130 may be, for example, a transceiver, an interface, a bus, a circuit, or a device capable of implementing transceiver functions. The processor 1110 can use the communication interface 1130 to send and receive data and/or information, and is used to implement the steps performed by the server in the above method embodiment.

The specific connection medium between the processor 1110, the memory 1120 and the communication interface 1130 is not limited in the embodiment of the present application. In the embodiment of the present application, in Figure 11, the processor 1110, the memory 1120 and the communication interface 1130 are connected through a bus 1140. The bus 1140 is represented by a thick line in FIG. 11 , and the connection methods between other components are only schematically illustrated and not limited thereto. The bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one thick line is used in Figure 11, but it does not mean that there is only one bus or one type of bus.

This application also provides a geomagnetic signal acquisition system. The geomagnetic signal acquisition system includes a server and multiple geomagnetic signal acquisition devices, wherein the first geomagnetic signal acquisition device is used to acquire a first image, and the first image is the first image. During the process of collecting geomagnetic signals by the geomagnetic signal acquisition device, the first geomagnetic signal acquisition device is any one of multiple geomagnetic signal acquisition devices in the image collected at the current posture; the server is used to collect images from multiple geomagnetic signals. At least one geomagnetic signal acquisition device in the device acquires an image, the image includes a first image, and acquires the pose of the first geomagnetic signal acquisition device; the server generates guidance for the acquisition route of the first geomagnetic signal acquisition device based on the first data, The collection route is a recommended route for collecting geomagnetic signals. The first data includes preset collection specifications, the posture of the first geomagnetic signal collection device and the first environmental characteristics. The collection specifications are used to indicate the specifications for collecting geomagnetic signals. The first environmental characteristics It is obtained based on images including the first image; the server sends the guidance of the collection route to the first geomagnetic signal collection device.

The present application also provides a chip system, which includes at least one processor for implementing the functions involved in the method executed by the first geomagnetic signal acquisition device or the server in the embodiment shown in FIG. 3 .

In a possible design, the chip system further includes a memory used to store program instructions and Data,memory is located within the processor or external to the,processor.

The chip system can be composed of chips or include chips and other discrete devices.

This application also provides a computer program product. The computer program product includes: a computer program (which can also be called a code or instruction). When the computer program is run, it causes the computer to execute the method of the embodiment shown in Figure 3 .

The present application also provides a computer-readable storage medium that stores a computer program (which may also be referred to as code or instructions). When the computer program is run, the computer is caused to execute the method of the embodiment shown in FIG. 3 .

It should be understood that the processor in the embodiment of the present application may be an integrated circuit chip with signal processing capabilities. During the implementation process, each step of the above method embodiment can be completed through an integrated logic circuit of hardware in the processor or instructions in the form of software. The above-mentioned processor can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (field programmable gate array, FPGA), or other available processors. Programmed logic devices, discrete gate or transistor logic devices, discrete hardware components. Each method, step and logical block diagram disclosed in the embodiment of this application can be implemented or executed. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

It should also be understood that the memory in the embodiments of the present application may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Among them, non-volatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically removable memory. Erase electrically programmable read-only memory (EPROM, EEPROM) or flash memory. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of illustration, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM) ) and direct memory bus random access memory (direct rambus RAM, DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

The terms "unit", "module", etc. used in this specification may be used to refer to computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution.

Those of ordinary skill in the art will appreciate that the various illustrative logical blocks and steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or a combination of computer software and electronic hardware. accomplish. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application. In the several embodiments provided in this application, it should be understood that It is understood that the disclosed devices, equipment and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.

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

In addition, each functional module in each embodiment of the present application can be integrated into one processing module, or each module can exist physically alone, or two or more units can be integrated into one module.

In the above embodiments, the functions of each functional module can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions (programs). When the computer program instructions (program) are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, e.g., the computer instructions may be transferred from a website, computer, server, or data center Transmission to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more available media integrated. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital video discs (DVD)), or semiconductor media (e.g., solid state disks (SSD) )wait.

If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application. should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims (31)

1. A geomagnetic signal acquisition method, characterized in that it is applied to a first geomagnetic signal acquisition device, and the method includes:

   Collecting a first image, where the first image is an image collected in the current posture during the process of collecting geomagnetic signals by the first geomagnetic signal collecting device;

   Obtain the guidance of the collection route, which includes the recommended route for collecting geomagnetic signals. The guidance of the collection route is generated based on the first data, and the first data includes the preset collection specifications, the posture and posture. and first environmental characteristics, the collection specifications are used to indicate the specifications for collecting geomagnetic signals, the first environmental characteristics are obtained based on images including the first image, and the guidance of the collection route is used to guide the collection geomagnetic signal.
2. The method of claim 1, further comprising:

   A first map is obtained, the first map is a map within a first range covered by the first image, and the first map includes the first environmental feature.
3. The method of claim 2, wherein obtaining the first map includes:

   Construct the first map based on the collected images; or

   The first map is received from the server.
4. The method according to any one of claims 1 to 3, characterized in that obtaining guidance for the collection route includes:

   Generate guidance for the collection route based on the first data; or

   Receive guidance for the collection route from the server.
5. The method of claim 4, wherein the collection specification indicates a preset width value, and before generating the guidance of the collection route based on the first data, the method further includes:

   Obtain the first environment feature based on the first image;

   Based on the first environmental characteristics, determine the width of the accessible road;

   Based on the width of the accessible road and the preset width value, segment the accessible road to obtain at least one collection channel, and the width of each collection channel is less than or equal to the preset width value;

   At least one collection route corresponding to the at least one collection channel is determined, and each collection route is located within the range of the corresponding collection channel.
6. The method of claim 5, wherein the collection specification further indicates a direction in which the accessible road is segmented, and the direction is parallel to the direction of the accessible road.
7. The method of claim 5 or 6, wherein the collection specification also indicates a method for determining at least one necessary collection location, and the necessary collection location is a location where geomagnetic signal collection must be performed, and the method further includes :

   Based on the first environmental characteristics, one or more necessary collection locations in the accessible road are determined.
8. The method of claim 7, wherein determining one or more necessary collection locations in the accessible road based on the first environmental characteristics includes:

   Based on the first environmental characteristics, determine that the accessible road is an intersection;

   Based on the collection specification, it is determined that the at least one necessary collection location of the intersection is located in a central area of the intersection.
9. The method according to any one of claims 1 to 8, characterized in that the first data also includes collected Collect routes, and the collected routes are routes on which geomagnetic signals have been collected.
10. The method according to claim 9, characterized in that the guidance of the collection route includes the guidance of uncollected routes, the uncollected routes are routes to be collected for geomagnetic signals, and the uncollected routes are based on the collected routes. Sure.
11. The method according to claim 9 or 10, characterized in that the method further includes:

    Get the collected route.
12. The method of claim 11, wherein obtaining the collected route includes:

    Receive the collected route from the server; or

    The collected route of the second geomagnetic signal collecting device is received from the second geomagnetic signal collecting device. The collected route of the second geomagnetic signal collecting device is that the second geomagnetic signal collecting device has collected geomagnetism within the preset range. signal route.
13. The method of claim 9, wherein the first data further includes a target area, the target area is an area where geomagnetic signals need to be collected again, and the guidance of the collection route generated based on the first data includes the Guidance on collected routes within the target area.
14. The method of claim 13, further comprising:

    Obtain geomagnetic signals collected within a preset range;

    Divide the preset range to obtain at least one area;

    Analyze the geomagnetic signal in each area of the at least one area to obtain the uniqueness value of the geomagnetic signal in each area;

    The target area where the geomagnetic signal needs to be collected again is determined based on the uniqueness value of the geomagnetic signal of each area.
15. The method of claim 13, further comprising:

    Receive location information of the target area from the server;

    The target area is determined based on the location information.
16. The method according to any one of claims 1 to 15, characterized in that the method further includes:

    The geomagnetic signal is collected based on the guidance of the collection route.
17. The method according to any one of claims 2 to 15, characterized in that the method further includes:

    Display the first map and the guidance of the collection route on the user interface;

    In response to user operations, geomagnetic signals are collected.
18. The method of claim 17, wherein the collection route displayed on the user interface includes a collected route and/or an uncollected route, and the collected route is a route in which geomagnetic signals have been collected, so The uncollected route is a route for which geomagnetic signals are to be collected, and the displayed routes of the collected routes and the uncollected routes are different.
19. The method according to any one of claims 1 to 18, characterized in that the method further includes:

    Pause the collection of geomagnetic signals;

    Record the end position of this collection.
20. A geomagnetic signal collection method, characterized in that it is applied to a server, and the method includes:

    An image is acquired from at least one geomagnetic signal acquisition device among a plurality of geomagnetic signal acquisition devices. The image includes a first image. The first image is a process in which the first geomagnetic signal acquisition device is currently in the process of acquiring geomagnetic signals. The image collected by the pose, the first geomagnetic signal acquisition device is any one of the at least one geomagnetic signal acquisition device, and the pose of the first geomagnetic signal acquisition device is acquired;

    A guide for the collection route of the first geomagnetic signal collection device is generated based on the first data. The guide for the collection route includes a recommended route for collecting geomagnetic signals. The first data includes preset collection specifications, the first The posture and first environmental characteristics of the geomagnetic signal acquisition device, the collection specifications are used to indicate the specifications for collecting geomagnetic signals, and the first environmental characteristics are obtained based on images including the first image;

    Send the guidance of the collection route to the first geomagnetic signal collection device.
21. The method of claim 20, further comprising:

    Obtain corresponding collected routes from the plurality of geomagnetic signal collecting devices, where the collected routes are routes for which geomagnetic signals have been collected;

    The collected routes corresponding to the plurality of geomagnetic signal collecting devices are fused to obtain a fused collected route. The fused collected route is the route of the geomagnetic signals collected by the plurality of geomagnetic signal collecting devices. sum;

    Send the fused collected routes to the multiple geomagnetic signal collecting devices.
22. The method according to claim 20 or 21, characterized in that the method further includes:

    Obtain geomagnetic signals collected within a preset range from the plurality of geomagnetic signal acquisition devices;

    Divide the preset range to obtain at least one area;

    Analyze the geomagnetic signal in each area of the at least one area to obtain the uniqueness value of the geomagnetic signal in each area;

    Determine the target area that needs to collect geomagnetic signals again according to the unique value of the geomagnetic signal in each area;

    Send the location information of the target area to the multiple geomagnetic signal acquisition devices.
23. The method according to any one of claims 20 to 22, characterized in that the method further includes:

    Obtain from the plurality of geomagnetic signal acquisition devices the image collected by each geomagnetic signal acquisition device in the current position and orientation of the plurality of geomagnetic signal acquisition devices;

    A first map is constructed based on the acquired image. The first map is a map within the first range covered by the acquired image. The first map includes a first environment feature. The first environment feature is based on Images including the first image are obtained;

    Send the first map to the plurality of geomagnetic signal acquisition devices.
24. A geomagnetic signal acquisition system, characterized in that the geomagnetic signal acquisition system includes a server and a plurality of geomagnetic signal acquisition devices, wherein,

    The first geomagnetic signal acquisition device is used to collect a first image. The first image is an image collected in the current posture during the process of collecting geomagnetic signals by the first geomagnetic signal acquisition device. The first geomagnetic signal acquisition device collects a first image. The geomagnetic signal acquisition device is any one of the plurality of geomagnetic signal acquisition devices;

    The server is configured to acquire an image from at least one geomagnetic signal acquisition device among the plurality of geomagnetic signal acquisition devices, the image including the first image, and acquire the pose of the first geomagnetic signal acquisition device;

    The server generates guidance for the collection route of the first geomagnetic signal collection device based on the first data. The guidance of the collection route includes a recommended route for collecting geomagnetic signals. The first data includes preset collection specifications, the The posture and first environmental characteristics of the first geomagnetic signal acquisition device, the acquisition specifications are used to indicate the specifications for collecting geomagnetic signals, and the first environmental characteristics are obtained based on images including the first image;

    The server sends the guidance of the collection route to the first geomagnetic signal collection device.
25. A geomagnetic signal acquisition device, characterized in that it includes a device for realizing any one of claims 1 to 19 Module for the method described in the item.
26. A geomagnetic signal acquisition device, characterized by including a memory and a processor; wherein,

    The memory is used to store computer programs;

    The processor is used to call and execute the computer program, so that the device executes the method described in any one of claims 1 to 19.
27. A server, characterized by comprising a module for implementing the method according to any one of claims 20 to 23.
28. A server, characterized by including a memory and a processor; wherein,

    The memory is used to store computer programs;

    The processor is used to call and execute the computer program, so that the server executes the method described in any one of claims 20 to 23.
29. A computer-readable storage medium with a computer program stored thereon, characterized in that when the computer program is executed, it causes the computer to execute the method according to any one of claims 1 to 19, or causes the computer to execute A method as claimed in any one of claims 20 to 23.
30. A computer program product, characterized in that it includes a computer program, which when the computer program is run, causes the computer to perform the method as claimed in any one of claims 1 to 19, or causes the computer to perform the method as claimed in claim 20 The method described in any one of to 23.
31. A program product, characterized in that the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor of the communication device can read the computer program from the readable storage medium , the at least one processor executes the computer program so that the communication device implements the method according to any one of claims 1-19 or the method according to any one of claims 20-23.