CN105699936B - Intelligent home indoor positioning method - Google Patents
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Abstract
The invention discloses an intelligent home indoor positioning method, which comprises the following steps: detecting and identifying environmental sound; uploading a sound signal: and the voice receiving device sends the recognition result and the signal strength which are successfully matched and recognized to the central controller. Positioning the user position: the central controller judges the position of the sound source according to the sound signal strength recognized by the voice receiving device and the position in the home space corresponding to the IPV6 address of the voice receiving device. The intelligent home indoor positioning method of the invention picks up the voice signal of a person in the home space through the voice receiving device to determine the position of the speaker in the space, and can reduce the calculation amount of the central controller. The position of a speaker in the space is determined by adopting the sound signals, the sound has good penetrability and diffraction, the detection sensitivity is high, and the influence of furniture placement is not easy to cause.
Description
Technical Field
The invention belongs to the technical field of intelligent families, and particularly relates to an indoor positioning method for an intelligent family.
Background
The intelligent household is a multifunctional network system, organically integrates the functions of various intelligent household appliances by utilizing advanced technologies such as advanced computers, network communication, automatic control, no networking and the like, and realizes centralized control through a household gateway or other types of intelligent communication equipment. The spatial location positioning of a person (user) in a smart home is a basic technical problem in smart home applications. The indoor position information of the person can be used for adjusting the working state of the household appliance, accurately judging the object of the voice command, estimating the amount of motion, reminding affairs, warning security and the like.
Currently, there are three main ways for indoor positioning. One is based on passive detection, such as using cameras and computer image recognition techniques to "see" the location of a person in space. The other method is based on that the object actively sends out signals, the sensor senses the parameters and the strength of the signals, and the position of the signal source is calculated by reverse extrapolation. For example wifi base station location, which actually detects where the wifi device (handset) on the user's body is located. The third is a mixed mode, which combines active and passive modes, and the sensor interacts information with the device on the user to sense the position of the user. For example, a bluetooth beacon periodically sends weak bluetooth signals, after a smart phone on a user receives signals (including ID information of the bluetooth beacon) sent by several bluetooth beacons which are closest to the user, the smart phone searches for position information of the user in a physical space according to the ID information through a wireless network, and then calculates the position of the user according to the strength of the bluetooth signals sent by the user and the position information. In any of the three positioning modes, a sensor position information database needs to be established. Taking bluetooth beacon location as an example, the ID of each bluetooth beacon and the location of each bluetooth beacon need to be marked on a map, and the arrangement and installation of bluetooth beacons is an engineering problem. Beacon placement is too infrequent to achieve sufficient positioning accuracy. Too many Bluetooth beacons are arranged, and how many Bluetooth beacons are arranged and installed at the positions are problems which disturb engineering construction and reduce the attenuation and interference of furniture to Bluetooth signals. For example, the camera is high in cost, large in power consumption during working and complex in software, once a hacker breaks through the camera, a large amount of information in a room can be easily obtained through the camera, and privacy and family safety are easily violated. The body infrared device is large in size, obvious in installation position (incapable of being shielded), and incapable of identifying the situation of multiple persons in the field. Wifi positioning and bluetooth beacon positioning are only suitable for the case of carrying a mobile phone on one's body. Bluetooth and wifi signal are because there are the reflection and the condition such as sheltering from, often need according to indoor in-service use environment, can normal use to data after the timing.
Disclosure of Invention
The invention provides an intelligent home indoor positioning method, aiming at solving the problems that a sensor position information database needs to be established in the existing indoor positioning method, or the reliability of positioning is poor due to reflection and shielding of Bluetooth and wifi signals, and the problems can be solved by positioning based on the voice intensity and the IPV6 address of a voice receiving device.
In order to solve the technical problems, the invention adopts the following technical scheme:
an intelligent home indoor positioning method comprises the following steps:
detecting and identifying environmental sound: the voice receiving device receives and collects the environmental sound signal and matches and identifies the environmental sound signal with the audio characteristic signal of the family member;
uploading a sound signal: and the voice receiving device sends the recognition result and the signal strength which are successfully matched and recognized to the central controller.
Positioning the user position: the central controller judges the position of the sound source according to the sound signal strength recognized by the voice receiving device and the position in the home space corresponding to the IPV6 address of the voice receiving device.
Further, in the step of locating the user position, the IPV6 address of the voice receiving apparatus and the spatial position where it is located are bound into a table and stored in the central controller, the central controller compares the voice receiving apparatus with the strongest received voice signal strength, searches the table, determines the spatial position of the voice receiving apparatus according to the IPV6 address of the voice receiving apparatus, and uses the spatial position as the position where the user is located.
Further, before the ambient sound detection and identification step, a family member audio characteristic signal receiving step is further included: and the voice receiving device receives the family member audio characteristic signal sent by the central controller and stores the signal locally.
Further, the voice signal uploading step includes the following substeps:
(21) collecting environmental sound signals in real time, and comparing the intensity of the environmental sound signals with a threshold value;
(22) when the intensity of the environmental sound signal is greater than a threshold value, recording sound signals of a plurality of continuous seconds;
(23) and matching and identifying the recorded sound signal with the locally stored family member audio characteristic signal.
Further, after the voice uploading step, the method further comprises a step of sending a stop command signal by the central controller, and the voice receiving device receives the stop command signal and ends the processing flow.
Further, in the sound uploading step, the method further comprises the step of sending a sound signal which is not successfully matched and identified to the central controller, the sound receiving device compresses the sound signal which is successfully matched and identified and sends the compressed sound signal to the central controller, the central controller analyzes the received sound signal, if the central controller judges that subsequent sound signals do not need to be processed, a stop command signal is sent to the sound receiving device, otherwise, a command signal for continuing to collect is sent to the sound receiving device, and the sound receiving device returns to the step (22).
Further, in the step (22), when the intensity of the environment sound signal is greater than a threshold value, recording the sound signal for 3-15 seconds continuously.
Preferably, the voice receiving device is a wireless microphone.
Preferably, the central controller communicates with the voice receiving device in a Zigbee communication manner.
Further, in the environmental sound detection and identification step, an algorithm for performing matching identification on the collected environmental sound signal is a DTW algorithm.
Compared with the prior art, the invention has the advantages and positive effects that: the intelligent home indoor positioning method comprises the steps that voice signals of people in a home space are picked up through the voice receiving device to determine the position of a speaker in the space, the voice receiving device firstly carries out matching identification on the voice signals, only the voice signals which are successfully matched are sensitive, and a matching result and signal strength are sent to the central controller for calculation. The amount of calculation of the central controller can be reduced. The position of a speaker in the space is determined by adopting the sound signals, the sound has good penetrability and diffraction, the detection sensitivity is high, and the influence of furniture placement is not easy to cause.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of an embodiment of an indoor positioning method for an intelligent home according to the present invention;
fig. 2 is a schematic diagram of a communication network of a voice receiving device in an intelligent home indoor positioning method according to the present invention;
fig. 3 is a flow chart of the receiving steps of the family member audio characteristic signal of the intelligent family indoor positioning method provided by the invention;
fig. 4 is a flow chart illustrating the sub-steps of the voice signal uploading step of the intelligent home indoor positioning method according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment provides an indoor positioning method for an intelligent home, as shown in fig. 1, including the following steps:
detecting and identifying environmental sound: the voice receiving device receives and collects the environmental sound signal and matches and identifies the environmental sound signal with the audio characteristic signal of the family member;
uploading a sound signal: and the voice receiving device sends the recognition result and the signal strength which are successfully matched and recognized to the central controller.
Positioning the user position: the central controller judges the position of the sound source according to the sound signal strength recognized by the voice receiving device and the position in the home space corresponding to the IPV6 address of the voice receiving device.
According to the intelligent home indoor positioning method, the voice receiving device is used for picking up the voice signals of people in the home space to determine the position of the speaker in the space, the voice receiving device firstly carries out matching identification on the voice signals, only the voice signals which are successfully matched are sensitive, and the matching result and the signal strength are sent to the central controller for calculation, so that the calculation amount of the central controller can be reduced. The central controller locates the sound source based on the sound signal strength, and the known location of the speech receiving device. The position of a speaker in the space is determined by adopting the sound signals, the sound has good penetrability and diffraction, the detection sensitivity is high, and the influence of furniture placement is not easy to cause. Moreover, the voice receiving device adopted by the embodiment has the advantages that the cost is far lower than that of a camera, the voice receiving device can be mounted in a hidden mode (only one tiny pinhole needs to be exposed to pick up sound), and the attractiveness of furniture or walls cannot be damaged. People in the room are not restrained by the monitoring of the camera, so that the feeling of comfort is brought to the use of the user. By picking up the voice of the user for positioning, the user does not need to carry any device, namely, the user only needs to make the voice to realize positioning. If the user has difficulty in pronouncing, the system can be used by making a specific sound by means of clapping hands, swinging bells, blowing horns and the like, and the audio characteristic signal of the specific sound is collected and stored so as to be capable of being matched and identified, so that convenience is provided for disabled people. Another advantage of using sound localization is: it is not necessary to install more than 3 speech receivers in each room to achieve three-point positioning (three-point positioning is a positioning technique in which the coordinates of a signal source are derived from the distances between the signal source and three receivers. In many cases, the position of a person does not need to be sensed accurately, the position of the person when the person sends a voice command only needs to be concerned, for example, the person is closest to which voice receiving device, the position can be used as a condition for making a decision of the intelligent home, the three-point positioning method is large in calculation amount and cannot guarantee real-time performance, although the calculated position is relatively accurate, the method is a waste of resources for the intelligent home, and the method does not need high positioning accuracy in many cases.
As a preferred embodiment, in the step of locating the user position, the IPV6 address of the voice receiving apparatus and the spatial position where it is located are bound into a table and stored in the central controller, and the central controller compares the voice receiving apparatus with the strongest received voice signal strength, searches the table, determines the spatial position of the voice receiving apparatus according to the IPV6 address of the voice receiving apparatus, and uses the spatial position as the position where the user is located. As shown in table 1:
table 1 IPV6 address and location comparison table for voice receiving apparatus
Since the IPV6 addresses are sufficiently large, there is no concern about address exhaustion. Generally, the main home appliances are installed wall-wise, ceiling-wise or floor-wise, and thus it is not necessary to precisely describe their spatial positions using a cartesian coordinate system, which can greatly reduce the amount of data.
In addition, the IPV6 is an advanced network technology standard, and an independent IP address can be provided for each device node by using the IPV6 technology, so that the topology of a complex network can be simplified and higher network security performance can be provided compared with the IPV 4. The use of the IPV6 allows the system to support a large number of nodes (far exceeding the capacity of 200 nodes supported by IPV 4). Theoretically, the number of voice receiving devices based on IPV6 is limited only by practical requirements and not by IP addresses.
In this embodiment, it is preferable that the voice receiving device is a wireless microphone, and as shown in fig. 2, the central controller communicates with the voice receiving device in a Zigbee communication manner.
The Zigbee gateway is a bridge linking the central controller and the wireless microphone network. Zigbee is a communication technology, supports technologies such as low power consumption and ad hoc network, and is a common communication means in smart homes. For power saving purposes, Zigbee devices transmit signals with minimal power and therefore cannot transmit over long distances. However, each Zigbee device has a routing relay function, and a data packet sent by a remote node can be relayed to the Zigbee gateway through each Zigbee device along the way. Zigbee also has redundancy and adaptive capabilities, and if a relay node fails, it can automatically find a neighboring node and update a routing path.
In this embodiment, the IPV6 is combined with the Zigbee technology, so as to provide the most cost-effective basic network communication architecture for the system, and give consideration to performance, technical difficulty, and expansibility.
As shown in fig. 3, in this embodiment, before the step of detecting and identifying the environmental sound, a step of receiving an audio characteristic signal of a family member is further included: and the voice receiving device receives the family member audio characteristic signal sent by the central controller and stores the signal locally. The user can record the speaking voice of a specific crowd on the central controller to form audio characteristic data. The central controller sends the audio characteristic signals to each wireless microphone device through the Zigbee network, so that the whole wireless microphone network is only sensitive to the voice signals of specific people. The advantages of this are: the voice receiving device carries out local identification matching on the received voice signal, and for voice information which can be matched, the voice receiving device only sends a matching identification result and a voice signal intensity value to the central controller, so that the data flow of the whole network can be reduced, the low data flow is a key factor for keeping the high-performance operation of the system, and the high-performance operation of the system can be further realized.
As shown in fig. 4, the voice signal uploading step includes the following sub-steps:
s21, collecting environmental sound signals in real time, and comparing the intensity of the environmental sound signals with a threshold value;
s22, when the intensity of the environmental sound signal is larger than a threshold value, recording sound signals of a plurality of continuous seconds;
and S23, matching and identifying the recorded sound signal with the locally stored family member audio characteristic signal.
Step S21 is an entry condition of the entire flow, and when the sound detected by the speech receiving apparatus exceeds a certain threshold, the flow starts to proceed to the present processing flow. Generally, there is always such or such noise in the home environment, for example, the sound of driving an outdoor car, the sound of working an outdoor weeder, noise caused by neighbor decoration, and the like. We refer to it as the ambient noise floor. If the environmental background noise is less than a certain value, the wireless microphone does not enter the subsequent processing flow so as to reduce the power consumption and save the battery power.
Further, in step S22, when the intensity of the ambient sound signal is greater than the threshold, a sound signal is recorded for 3 to 15 seconds.
When the sound detected by the voice receiving device exceeds the threshold value, the processing step is entered. The processing link is responsible for recording the sound signal. If the duration of the sound signal intensity exceeding the threshold is less than 10 seconds, the sound is recorded until it is less than the threshold. If the sound signal intensity continues to be above the threshold, the first 10 to 15 seconds of sound data are recorded. Considering the processing capability and power consumption of the wireless microphone, the voice recording time is not too long, and the experiment shows that the time is preferably 3-15 seconds. There may be pauses in speech of less than 1 second (i.e. sound intensity less than a threshold), which does not account for speech breaks. The sampling rate of speech may be 8KHz (i.e., 8192 data points per second).
After the voice uploading step, the method also comprises a step that the central controller sends a stop command signal, and the voice receiving device receives the stop command signal and ends the processing flow. After sending the voice recognition result and the signal strength to the central controller, the voice receiving device waits for the return of the central controller, if the central controller considers that the subsequent voice signals are not required to be processed, the central controller replies a stop command, and after receiving the command, the voice receiving device finishes the processing flow.
Further, in the sound uploading step, the method further includes a step of sending a sound signal which is not successfully matched and identified to the central controller, the sound receiving device compresses the sound signal which is successfully matched and identified and sends the compressed sound signal to the central controller, the central controller analyzes the received sound signal, if the central controller judges that subsequent sound signals do not need to be processed, a stop command signal is sent to the sound receiving device, otherwise, a command signal for continuing to collect is sent to the sound receiving device, and the sound receiving device returns to step S22. If the central controller considers that the subsequent sampling is meaningful, a command signal for continuous acquisition is sent, and the voice receiving device is switched to a processing link after receiving the command.
In this embodiment, in the step of detecting and recognizing the environmental sound, the voice receiving device is provided with a processing unit DSP, and the DSP sequentially extracts the audio characteristic signals of the family members from the local storage and matches the audio characteristic signals with the recorded voice signals. The algorithm used for matching is preferably a DTW algorithm (Dynamic Time Warping, Dynamic Time Warping algorithm), which is a more classical algorithm in speech recognition.
After the above steps, the central computer will generate two types of calculation results.
The first type of calculation: see table 2 for details of the user who has registered (recorded audio features) in the system.
Table 2 first category calculation results.
The second type of calculation: see table 2 for details, this is stranger's voice, or a sudden sound other than some background noise floor (e.g. hitting a table, playing a musical instrument).
| Parameter one | -1, ID indicating invalid |
| Parameter two | ID of wireless microphone nearest to sound source |
| Parameter three | Recording segments, available for other systems |
TABLE 3 calculation results of the second category
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (9)
1. An intelligent home indoor positioning method is characterized by comprising the following steps:
detecting and identifying environmental sound: the voice receiving device receives and collects the environmental sound signal and matches and identifies the environmental sound signal with the audio characteristic signal of the family member;
uploading a sound signal: the voice receiving device sends the recognition result and the signal strength which are successfully matched and recognized to the central controller;
positioning the user position: the central controller compares the voice receiving devices with the strongest received voice signal strength to judge the position of the sound source according to the voice signal strength recognized by the voice receiving devices and the positions, corresponding to the IPV6 addresses, of the voice receiving devices in the home space;
the voice signal uploading step comprises the following substeps:
(21) collecting environmental sound signals in real time, and comparing the intensity of the environmental sound signals with a threshold value;
(22) when the intensity of the environmental sound signal is greater than a threshold value, recording sound signals of a plurality of continuous seconds;
(23) and matching and identifying the recorded sound signal with the locally stored family member audio characteristic signal.
2. An intelligent home indoor positioning method as claimed in claim 1, wherein in the user position positioning step, the IPV6 address of the voice receiving device and the spatial position where it is located are bound into a table and stored in the central controller, the central controller compares the voice receiving device with the strongest received voice signal strength, searches the table, determines the spatial position of the voice receiving device according to the IPV6 address of the voice receiving device, and uses the spatial position as the position where the user is positioned.
3. The intelligent home indoor positioning method according to claim 2, further comprising, before the ambient sound detection and identification step, a family member audio characteristic signal receiving step of: and the voice receiving device receives the family member audio characteristic signal sent by the central controller and stores the signal locally.
4. The intelligent home indoor positioning method according to claim 1, further comprising a step of sending a stop command signal by the central controller after the sound uploading step, wherein the voice receiving device receives the stop command signal and ends the processing flow.
5. The intelligent home indoor positioning method according to claim 1, wherein in the sound uploading step, the method further comprises a step of sending a sound signal which is not successfully matched and identified to the central controller, the sound receiving device compresses the sound signal which is successfully matched and identified and sends the compressed sound signal to the central controller, the central controller analyzes the received sound signal, if the central controller judges that subsequent sound signals do not need to be processed, the central controller sends a stop command signal to the sound receiving device, otherwise, the central controller sends a command signal for continuing collection to the sound receiving device, and the sound receiving device returns to the step (22).
6. An intelligent home indoor positioning method according to claim 1, wherein in the step (22), when the intensity of the environment sound signal is greater than a threshold value, a sound signal is recorded for 3-15 seconds continuously.
7. An intelligent home indoor positioning method according to any one of claims 1-6, wherein the voice receiving device is a wireless microphone.
8. The intelligent-home indoor positioning method according to any one of claims 1 to 6, wherein the central controller communicates with the voice receiving device in a Zigbee communication manner.
9. An intelligent home indoor positioning method according to any one of claims 1-6, wherein in the ambient sound detection and identification step, an algorithm for matching and identifying the collected ambient sound signal is a DTW algorithm.
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| CN106211325B (en) * | 2016-08-31 | 2024-04-02 | 杭州鸿雁电器有限公司 | Method and device for searching indoor electronic equipment |
| CN108931036A (en) * | 2017-05-18 | 2018-12-04 | 奥克斯空调股份有限公司 | A kind of auditory localization control air-conditioner wind keeps away the method and air conditioner of people |
| CN107295634B (en) * | 2017-06-13 | 2021-01-15 | 上海晶曦微电子科技有限公司 | Positioning method and device |
| CN108174441B (en) * | 2017-12-11 | 2020-12-18 | 日立楼宇技术（广州）有限公司 | Method and device for positioning remote control personnel of fully mechanized coal mining face support |
| CN108320489A (en) * | 2018-01-08 | 2018-07-24 | 蔚来汽车有限公司 | Vehicle, vehicle-mounted information and entertainment system and its control method, system, relevant apparatus |
| CN110265004B (en) * | 2019-06-27 | 2021-11-02 | 青岛海尔科技有限公司 | Control method and device for target terminal in intelligent home operating system |
| CN111836360B (en) * | 2020-07-27 | 2022-07-19 | 海口亿游网络科技有限公司 | Positioning method and system based on WiFi |
| CN115824226B (en) * | 2023-02-23 | 2023-04-28 | 北京数字光芯集成电路设计有限公司 | Navigation method, device, equipment and medium based on digital projection lamp guidance |
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| CN1655206A (en) * | 2004-02-13 | 2005-08-17 | 邓清辉 | Universal voice acoustic control and telephone remote control device for household appliance |
| JP2009261156A (en) * | 2008-04-17 | 2009-11-05 | Sony Corp | Radio communication apparatus, power supply method, program and radio communication system |
| CN101452290B (en) * | 2008-10-21 | 2010-12-22 | 安徽大学 | Intelligent appliance control system based on speech recognition and wireless sensing net |
| CN101494540A (en) * | 2009-03-04 | 2009-07-29 | 北京英立讯科技有限公司 | Remote voice identification authentication system and method |
| CN101794120A (en) * | 2010-02-09 | 2010-08-04 | 张文中 | Voice control system used for fuzzy control of household appliances |
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| CN202854329U (en) * | 2012-11-12 | 2013-04-03 | 李良杰 | Sound source position indicator |
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| CN104125262A (en) * | 2013-04-28 | 2014-10-29 | 海尔集团公司 | Household appliance control system and data analysis method thereof |
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