CN106227059A - Intelligent home furnishing control method based on indoor threedimensional model and equipment - Google Patents
Intelligent home furnishing control method based on indoor threedimensional model and equipment Download PDFInfo
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- CN106227059A CN106227059A CN201610877581.6A CN201610877581A CN106227059A CN 106227059 A CN106227059 A CN 106227059A CN 201610877581 A CN201610877581 A CN 201610877581A CN 106227059 A CN106227059 A CN 106227059A
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000001143 conditioned effect Effects 0.000 claims description 38
- 230000002085 persistent effect Effects 0.000 claims description 16
- 230000004044 response Effects 0.000 claims description 11
- 230000000284 resting effect Effects 0.000 claims description 7
- 230000003068 static effect Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 3
- 241000894007 species Species 0.000 description 8
- 238000011084 recovery Methods 0.000 description 7
- 230000006399 behavior Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 239000000284 extract Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000004378 air conditioning Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000000039 congener Substances 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4183—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by data acquisition, e.g. workpiece identification
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2642—Domotique, domestic, home control, automation, smart house
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
Thering is provided a kind of intelligent home furnishing control method based on indoor threedimensional model and equipment, described method includes: follow the tracks of the movement locus of target object, and based on the real time position of target object described in indoor obtaining three-dimensional model；Determine the position of other objects around described target object based on described indoor threedimensional model, and determine the relative position relation of described target object and other objects described；Obtain described target object and the attribute information of other objects described, and control the corresponding operation of predetermined object execution based on the attribute information obtained and described relative position relation.Use above-mentioned intelligent home furnishing control method based on indoor threedimensional model and equipment, full automatic Smart Home can be realized and experience.
Description
Technical field
All things considered of the present invention relates to Smart Home technical field, more particularly, relates to a kind of based on indoor three-dimensional mould
The intelligent home furnishing control method of type and equipment.
Background technology
Along with the development of Smart Home technology, increasing home equipment achieves intellectuality.Currently for intelligence
The control of home equipment can generally use following several ways:
One, most of intelligent home devices need to be remotely controlled operation by the equipment such as remote controller or mobile phone, but above-mentioned distant
Control operating process is complex, loaded down with trivial details, is unfavorable for the popularization of Smart Home.
Two, intelligent home device preset instructions it is required for, so that intelligent home device performs corresponding according to preset instructions
Ground operation, such as, presets and opens air-conditioning at 5 in evening, but this control mode is also required to complex default step, and need
User possesses certain operation basis.
Additionally, during part Intelligent housing, it is often necessary to obtain the position of user, commonly pass through
GPS or base station obtain the position of user, but the mode of above-mentioned acquisition position, for its location standard of indoor small range of situation
Exactness is the highest.
Summary of the invention
The purpose of the exemplary embodiment of the present invention is to provide a kind of Intelligent housing based on indoor threedimensional model
Method and apparatus, the technical problem complicated, loaded down with trivial details to solve existing Intelligent housing step.
According to an exemplary embodiment of the present invention on the one hand, it is provided that a kind of Intelligent housing based on indoor threedimensional model
Method, including: follow the tracks of the movement locus of target object, and based on the real-time position of target object described in indoor obtaining three-dimensional model
Put；Determine the position of other objects around described target object based on described indoor threedimensional model, and determine described object
Body and the relative position relation of other objects described；Obtain described target object and the attribute information of other objects described, and base
Control predetermined object in the attribute information obtained and described relative position relation and perform corresponding operation.
Alternatively, described method can also include: the object moved indoor is defined as target object.
Alternatively, when the object position within a predetermined period of time indoor being detected occurs consecutive variations, it may be determined that described
Object moves, and using described object as target object.
Alternatively, follow the tracks of the movement locus of target object, and based on the reality of target object described in indoor obtaining three-dimensional model
Time position step comprise the steps that the movement locus utilizing 3D depth camera to follow the tracks of described target object, and based on indoor three-dimensional
Model obtains the real time position of described target object.
Alternatively, follow the tracks of the movement locus of target object, and based on the reality of target object described in indoor obtaining three-dimensional model
Time position step can also include: when described target object is blocked the fortune causing 3D depth camera cannot follow the tracks of target object
During dynamic track, send the request instruction being used for obtaining the position of described target object to described target object, with from described target
Object receives the current location that described target object sends in response to described request instruction.
Alternatively, described method can also include: is scanned, indoor environment and indoor object to build described room in advance
Interior threedimensional model.
Alternatively, described method can also include: uses the real time position of the described target object obtained to update described indoor
The position of the described target object in threedimensional model.
Alternatively, described indoor threedimensional model can comprise the attribute information of object, wherein, obtains the genus of other objects described
Property information step comprise the steps that from the attribute information of other objects described in described indoor obtaining three-dimensional model.
Alternatively, the step of the attribute information obtaining described target object comprises the steps that by carrying out described target object
Scanning identifies the attribute information of described target object, or receives the attribute letter of described target object from described target object
Breath.
Alternatively, described attribute information can include type and the kind of object, wherein, based on the attribute information obtained and institute
State relative position relation and comprise the steps that the described target determining Known Species to the step controlling the corresponding operation of predetermined object execution
Whether the relative position relation of other objects described of object and Known Species meets pre-conditioned；If described relative position is closed
System meets described pre-conditioned, then control described predetermined object according to the type of other objects described and perform corresponding operation.
Alternatively, described method can also include: if described relative position relation is from meeting described pre-conditioned become not
Meet described pre-conditioned, then control the operation that described predetermined object recovers previously to have performed.
Comprise the steps that determine described target optionally it is determined that whether described relative position relation meets pre-conditioned step
Distance between object and other objects described whether more than the first predetermined threshold value, or determine described target object with described its
Whether the distance between his object is less than the second predetermined threshold value.
Alternatively, the type of object can include loose impediment and non-loose impediment, wherein, according to other objects described
Type control described predetermined object and perform the step of corresponding operation and comprise the steps that when the type determining other objects described is
During loose impediment, other objects described as described predetermined object and are controlled described predetermined object move；Described when determining
When the type of other objects is non-loose impediment, indoor object in addition to described target object and other objects described is made
For described predetermined object and control described predetermined object and perform scheduled operation, or using other objects described as described pre-earnest
Body also controls described predetermined object execution scheduled operation.
Alternatively, control predetermined object based on the attribute information obtained and described relative position relation and perform corresponding behaviour
The step made comprises the steps that when detecting that described target object is become resting state from moving, and detects described target object
Maintain the persistent period of current quiet state, and when the described persistent period is more than the scheduled time, control described predetermined object
Perform scheduled operation.
Alternatively, when described target object being detected position persistently not changing within a predetermined period of time, it may be determined that
Described target object remains static.
According to an exemplary embodiment of the present invention on the other hand, it is provided that a kind of Smart Home control based on indoor threedimensional model
Control equipment, including: 3D depth camera, follow the tracks of the movement locus of target object；Position acquisition unit, based on indoor threedimensional model
Obtain the real time position of described target object, determine other objects around described target object based on described indoor threedimensional model
Position, and determine the relative position relation of described target object and other objects described；Information acquisition unit, obtains described mesh
Mark object and the attribute information of other objects described；Control unit, based on the attribute information obtained and described relative position relation
Control predetermined object and perform corresponding operation.
Alternatively, the object moved in indoor can be defined as target object by 3D depth camera.
Alternatively, when there is consecutive variations in the object position within a predetermined period of time indoor being detected, 3D depth camera
Head can determine that described object moves, and using described object as target object.
Alternatively, described equipment can also include transmitting element and receive unit, wherein, leads when described target object is blocked
When causing the movement locus that 3D depth camera cannot follow the tracks of target object, control unit can produce for obtaining described target object
The request instruction of position, described request instruction can be sent to described target object by transmitting element, and receiving unit can be from described
Target object receives the current location that described target object sends in response to described request instruction.
Alternatively, described equipment can also include: model construction unit, sweeps indoor environment and indoor object in advance
Retouch, to build described indoor threedimensional model.
Alternatively, described equipment can also include: updating block, uses the real time position of the described target object obtained to update
The position of the described target object in described indoor threedimensional model.
Alternatively, described indoor threedimensional model can comprise the attribute information of object, and information acquisition unit can be from described indoor
The attribute information of other objects described in obtaining three-dimensional model.
Alternatively, information acquisition unit can be by being scanned identifying the genus of described target object to described target object
Property information, or can from described target object receive described target object attribute information.
Alternatively, described attribute information can include type and the kind of object, and wherein, control unit can determine that Known Species
Described target object and the relative position relation of other objects described of Known Species whether meet pre-conditioned, if described
Relative position relation meets described pre-conditioned, then control unit can control described predetermined according to the type of other objects described
Object performs corresponding operation.
Alternatively, if described relative position relation from meet described pre-conditioned become being unsatisfactory for described pre-conditioned,
Then control unit can control the operation that described predetermined object recovers previously to have performed.
Alternatively, can to determine whether described relative position relation meets in the following manner pre-conditioned for control unit: really
Whether fixed distance between described target object and other objects described is more than the first predetermined threshold value, or determines described object
Whether the distance between body and other objects described is less than the second predetermined threshold value.
Alternatively, the type of object can include loose impediment and non-loose impediment, wherein, when determining other things described
When the type of body is loose impediment, other objects described can as described predetermined object and be controlled described predetermined by control unit
Object moves；When the type determining other objects described is non-loose impediment, control unit can be by indoor except described target
Object outside object and other objects described is as described predetermined object and controls described predetermined object execution scheduled operation, or
Other objects described as described predetermined object and are controlled described predetermined object execution scheduled operation by person's control unit.
Alternatively, when detecting that described target object is become resting state from moving, control unit can detect institute
State target object and maintain the persistent period of current quiet state, and when the described persistent period is more than the scheduled time, control institute
State predetermined object and perform scheduled operation, such as, control described predetermined object and send prompt tone.
Alternatively, when described target object being detected position persistently not changing within a predetermined period of time, control single
Unit can determine that described target object remains static.
Use above-mentioned intelligent home furnishing control method based on indoor threedimensional model and equipment, it is not necessary to loaded down with trivial details setting and operation
Step, improves the intelligent automation degree of Smart Home.
Accompanying drawing explanation
By the detailed description carried out below in conjunction with the accompanying drawing being exemplarily illustrated embodiment, exemplary embodiment of the present
Above and other objects, features and advantages will become apparent, wherein:
Fig. 1 illustrates the stream of based on indoor threedimensional model according to an exemplary embodiment of the present invention intelligent home furnishing control method
Cheng Tu；
Fig. 2 illustrate according to an exemplary embodiment of the present invention based on target object with the attribute information of other objects with relative
Position relationship controls the flow chart that predetermined object performs the step of corresponding operation；
Fig. 3 illustrates answering of based on indoor threedimensional model according to an exemplary embodiment of the present invention intelligent home furnishing control method
Use exemplary plot；
Fig. 4 illustrates the frame of based on indoor threedimensional model according to an exemplary embodiment of the present invention smart home control device
Figure.
Detailed description of the invention
Now, being more fully described different example embodiment with reference to the accompanying drawings, wherein, some exemplary embodiments are attached
Shown in figure.
Fig. 1 illustrates the stream of based on indoor threedimensional model according to an exemplary embodiment of the present invention intelligent home furnishing control method
Cheng Tu.
With reference to Fig. 1, in step slo, follow the tracks of the movement locus of target object, and based on described in indoor obtaining three-dimensional model
The real time position of target object.
Such as, the object moved in indoor can be defined as target object.Particularly, when object indoor being detected
When there is consecutive variations in position within a predetermined period of time, it may be determined that described object moves, and by the described thing moved
Body is as target object.
Preferably, available 3D depth camera follows the tracks of the movement locus of described target object, and based on indoor three-dimensional mould
Type obtains the real time position of described target object.Here, the eminence that can 3D depth camera be disposed in the interior, to obtain more preferably
The shooting visual field, but along with the movement of target object, target object may be blocked, and causes 3D depth camera to follow the tracks of
The movement locus of target object, now can send, to target object, the request instruction being used for obtaining the position of described target object,
Target object determines the current location of self in response to described request instruction, to receive described target object from described target object
The current location sent in response to described request instruction.
Alternatively, in exemplary embodiments of the present invention, an object can be selected from multiple objects that indoor include to make
For main control device, and using this main control device as the executive agent of method described in Fig. 1, here, main control device need to be to be able to carry out
Said method also has the equipment of data-handling capacity.Such as, optional indoor IOT HUB is as main control device.Preferably,
The position of target object can refer to that target object is relative to the relative coordinate position of this object of reference with the main control device selected as object of reference
Put.
Here, before performing step S10, based on indoor threedimensional model according to an exemplary embodiment of the present invention intelligence
Appliance control method can also include: is scanned indoor environment and indoor object in advance, to build described indoor threedimensional model,
Indoor each object is controlled based on this indoor threedimensional model in subsequent step.Here, indoor three-dimensional mould is built
Type, is primarily referred to as being scanned object space profile, structure and color, to obtain the space coordinates of body surface, example
As, available existing various methods build indoor threedimensional model, as example, can use Project Tango technology, example
As, user can use the smart mobile phone of lift-launch Project Tango technology or panel computer to enter indoor environment and indoor object
Row scanning, comprises indoor environment and the indoor threedimensional model of indoor object to draw out.
Particularly, the indoor threedimensional model of structure can be stored in the dynamic database of main control device, described indoor
Threedimensional model can include threedimensional model coordinate and the attribute information of each object of each object, here, is drawing out indoor three-dimensional mould
After type, the threedimensional model coordinate of indoor each object can be obtained, additionally, the attribute of object can be obtained according to the input of user
Information, or when indoor object is smart machine (indoor other smart machines in addition to main control device), it is possible at this
Set up wireless connections between smart machine and main control device, obtained the genus of this smart machine by these wireless connections from smart machine
Property information, in addition, is scanned also by the predetermined mark (such as, Quick Response Code) of the attribute information comprising object
Obtain the attribute information of object.
Preferably, the attribute information of object can include object type and kind of object.As example, object type can include
Central object (that is, main control device), mobile object and non-loose impediment (also can be fixing object), kind of object may indicate that thing
Which kind of specific kind of product the specific object of body, i.e. object is people or article, be.Such as, table 1 shows multidate information
One example in storehouse:
Table 1
As shown in table 1, can be using the centre coordinate (that is, the threedimensional model coordinate at this object center) of object as this object
Position, for object volume (or area) more than the object of predetermined value, can choose multiple predetermined point from this object, and according to institute
State the line between the coordinate of multiple predetermined point to be surrounded the region of row and determine the shape of object.
Alternatively, based on indoor threedimensional model according to an exemplary embodiment of the present invention intelligent home furnishing control method can be also
Including: use the real time position of the described target object obtained to update the position of the described target object in described indoor threedimensional model
Put, by the real time position that location updating is the target object obtained of the target object in indoor threedimensional model, to guarantee indoor
Store in threedimensional model is the latest position of target object.
In step S20, determine the position of other objects around described target object based on described indoor threedimensional model,
And determine the relative position relation of described target object and other objects described.
Particularly, after determining target object real time position in indoor threedimensional model in step slo, can
Threedimensional model coordinate according to each object stored in indoor threedimensional model finds this object from this indoor threedimensional model
Other objects around body, here, other objects around this target object can refer to centered by this target object, preset range
The object in addition to described target object inside included, extracts other objects described in finding the most again from indoor threedimensional model
Position (that is, threedimensional model coordinate), it is preferable that the position of other objects described also can refer to select main control device as reference
Thing, other objects described are relative to the relative coordinate position of this object of reference.
Should be understood that other objects described can include multiple object, determine the phase of described target object and other objects described
The step of position relationship is comprised the steps that the pass, relative position determining target object respectively with each object in other objects described
System, particularly, determines that target object comprises the steps that with the step of the relative position relation of any object in other objects described
Calculate the distance between real time position and the position of described any object of target object.
In step s 30, obtain described target object and the attribute information of other objects described, and based on the attribute obtained
Information and described relative position relation control predetermined object and perform corresponding operation.
In one example, the step of the attribute information obtaining described target object comprises the steps that by described object
Body is scanned identifying the attribute information of described target object.
Such as, available 3D depth camera is scanned obtaining the image of this target object to target object, utilizes figure
As described image is identified by identification technology, to obtain the attribute information of target object, so that it is determined that go out the class of target object
Type and kind.
Or, available 3D depth camera is scanned obtaining the profile parameters of target object to target object, will obtain
The profile parameters of the target object obtained mates with the profile parameters of each object in indoor threedimensional model, with from indoor three-dimensional mould
Extracting the attribute information corresponding with the object of target object coupling in type, the attribute information of this extraction is the attribute of target object
Information.
In another example, the step of the attribute information obtaining described target object comprises the steps that and connects from described target object
Receive the attribute information of described target object.
Such as, when target object is smart machine (indoor other smart machines in addition to main control device), can be at mesh
Set up wireless connections between mark object and main control device, obtained the attribute of this target object by these wireless connections from target object
Information, to determine type and the kind of target object.
Additionally, the step obtaining the attribute information of described target object comprises the steps that by comprising described target object
The predetermined mark of attribute information is scanned obtaining the attribute information of described target object, and here, described predetermined mark can be wrapped
Include Quick Response Code.
Alternatively, the step of the attribute information obtaining other objects described comprises the steps that from described indoor obtaining three-dimensional model
The attribute information of other objects described, so that it is determined that go out type and the kind of other objects described.
Describe attribute information and relative position relation of based on target object with other objects in detail referring to Fig. 2 to come
Control predetermined object and perform the step of corresponding operation.
Fig. 2 illustrates according to an exemplary embodiment of the present invention based on target object and the attribute information of other objects and relative
Position relationship controls the flow chart that predetermined object performs the step of corresponding operation.
With reference to Fig. 2, in step S301, determine the described target object of Known Species and other things described of Known Species
It is pre-conditioned whether the relative position relation of body meets.
Include the situation of multiple object for other objects described, can determine respectively in target object and other objects described
The relative position relation of each object whether meet pre-conditioned.Particularly, it may be determined that the real time position of target object with
Whether the distance between the position of any object in other objects described meets pre-conditioned, for example, it may be determined that described target
Whether the distance between any object in object and other objects described is more than the first predetermined threshold value, or determines described target
Whether the distance between object and other objects described is less than the second predetermined threshold value.
If described relative position relation is unsatisfactory for described pre-conditioned, then returns and perform step S301, continue detection mesh
Whether mark object meets pre-conditioned with the relative position relation of other objects described.
If described relative position relation meets described pre-conditioned, then can control according to the type of other objects described
Described predetermined object performs corresponding operation.
Particularly, in step s 302, whether the type determining other objects described is loose impediment.
If it is determined that the type of other objects described is loose impediment, then perform step S303: by other objects described
As described predetermined object and control described predetermined object and move, such as, described predetermined object can be controlled and follow target object
Move and correspondingly move, particularly can determine described according to the kind of predetermined object and the kind of target object
The move mode of predetermined object, for example, it is assumed that target object is behaved, when predetermined object is sound equipment, can control predetermined object (sound
Ring) close to described target object (people), now, can also detect predetermined object the most in running order, when described pre-earnest
When body is in running order, control described predetermined object close to target object.
Additionally, when assuming that target object is sweeping robot, when predetermined object is sound equipment, described predetermined object can be controlled
(sound equipment) mobile other positions outside initial position, to avoid the place that the movement locus of target object will pass through.
Preferably, control the step that described predetermined object moves comprise the steps that determine according to indoor threedimensional model described predetermined
Object and the position of object about, thus cook up the guidance path of described predetermined object, and then control described pre-earnest
Body moves according to the guidance path cooked up.When being unsatisfactory for pre-conditioned between target object and other objects described,
Control described predetermined object and stop mobile.Additionally, real-time mobile along with target object, can the predetermined object of real-time update planning
Guidance path, move according to the guidance path of real-time update controlling predetermined object.
Should be understood that based on indoor threedimensional model according to an exemplary embodiment of the present invention intelligent home furnishing control method can be also
Including: obtain the real time position of predetermined object, and use the real time position of the described predetermined object of acquisition to update indoor three-dimensional mould
The position of the described predetermined object in type, to guarantee that store in indoor threedimensional model is the latest position of each object.
If it is determined that the type of other objects described is not loose impediment (that is, for non-loose impediment), then perform step
Rapid S304: using indoor object except described target object and other objects described in addition to as described in described predetermined object control
Predetermined object performs scheduled operation, or as described predetermined object and other objects described are controlled the execution of described predetermined object
Scheduled operation.
Preferably, can scene rule be stored in advance in the dynamic database of main control device, described scene rule defines
Pre-conditioned and the described pre-conditioned corresponding predetermined object that meets and predetermined object is needed between different types of object
The operation performed, as example, can automatically generate the acquiescence scene about this object after obtaining the attribute information of object and advise
Then, additionally, the input also dependent on user is regular for the new scene of this object creation or carry out existing scene rule
Editor.
Such as, table 2 shows in dynamic database the example of scene rule of storage:
Table 2
As shown in table 2, in the first example, in conjunction with the accompanying drawing 3 of exemplary embodiment of the present, with target object as treasured
As a example by precious, other objects are baby's game mat, being baby in the kind determining target object, the kind of other objects is baby
After game mat, can extract from above-mentioned defined scene rule with target object be baby, other objects be that baby plays
Corresponding pre-conditioned of pad, it is assumed that described pre-conditioned (such as, baby can be referred to for baby's distance baby's game mat more than 0.5 meter
After leaving the scope of baby's game mat, the edge of baby's game mat that distance is nearest with baby is more than 0.5 meter), pre-when meeting this
If after condition, can determine whether baby's game mat is loose impediment again, owing to baby's game mat is non-loose impediment, then
The predetermined object indicated by this scene rule can be controlled and perform corresponding operation, such as, control refrigerator and send prompt tone, with prompting
Baby adult in Jia has been moved off baby's game mat.
In the second example, as a example by target object behaviour, other objects are for toilet lamp, between people and toilet lamp
Distance less than 0.1 meter time, using toilet lamp as predetermined object, and toilet lamp can be lighted.Further, it is also possible to hypothesis target
Object is behaved, other objects are the ventilating system of toilet, when the distance between people and ventilating system is less than 0.1 meter, and can be by
The ventilating system of toilet is as predetermined object, and opens ventilating system.
In the 3rd example, as a example by target object behaviour, other objects are as sound equipment, the distance between people and sound equipment is big
In 0.2 meter time, it is believed that being the most not in the optimal H.D of people, here, sound equipment can be smart machine, be in work
Make state (that is, sound equipment works) and may move, in the case, the moving rail of people can be followed according to indoor threedimensional model
Mark cooks up the guidance path of sound equipment, and it is close to people according to the guidance path cooked up to control sound equipment, between people and sound equipment
Distance less than or equal to 0.2 meter time, control sound equipment and stop mobile.
Should be understood that the scene rule shown in table 2 is merely illustrative, those skilled in the art can be according to actual needs for not
Congener object scene set rule, this is not limited by the present invention.
Alternatively, control predetermined object based on the attribute information obtained and described relative position relation and perform corresponding behaviour
The step made can also include: when detecting that described target object is become resting state from moving, detects described object
Body maintains the persistent period of current quiet state, and when the described persistent period is more than the scheduled time, controls described pre-earnest
Body performs scheduled operation (such as, control predetermined object and send prompt tone).As example, when detecting that described target object is in advance
When position does not persistently change in the section of fixing time, determine that described target object remains static.
Here, when detecting that described target object is become resting state from moving, can also detect target object is
No it is in specific environment, if target object is in described specific environment, then detects described target object and remain the most quiet
The only persistent period of state, and when the described persistent period is more than the scheduled time, controls described predetermined object and perform predetermined behaviour
Make (such as, control predetermined object and send prompt tone).If target object is not in specific environment, then without detecting described mesh
Mark object maintains the persistent period of current quiet state, performs scheduled operation without controlling described predetermined object.
Such as, after people enters toilet, in toilet, (specific environment) is detained and is exceeded the scheduled time (such as, 30
Minute) people is not moved (that is, not leaving toilet), now, as predetermined object and refrigerator can be controlled refrigerator send and carry
Show sound.Should be understood that if the scope that moves within a predetermined period of time of the position of target object is at preset range, it is possible to think target
Object remains static, such as, when people moves (that is, the scope that people moves is in preset range) in the range of toilet, still
It is believed that people remains static.
Additionally, based on indoor threedimensional model according to an exemplary embodiment of the present invention intelligent home furnishing control method can also wrap
Include: if the relative position relation between target object and other objects from meet described pre-conditioned become being unsatisfactory for described pre-
If condition, then can control the operation that described predetermined object recovers previously to have performed, i.e. control described predetermined object and perform with previous
The recovery operation that operation is corresponding, described recovery operation can refer to return to the operation of original state for controlling predetermined object.Such as,
When previous operation is the operation that the predetermined object of control moves, described recovery operation can accuse that the predetermined object of system moves to initially
The operation of position.
Distance between target object and other objects is become smaller than the first predetermined threshold value by more than the first predetermined threshold value,
Or the distance between target object and other objects is by when becoming greater than equal to the second predetermined threshold value less than the second predetermined threshold value,
It is believed that relative position relation between target object and other objects from meet described pre-conditioned become being unsatisfactory for described pre-
If condition.
Such as, if after baby leaves baby's game mat, detect that baby is returned to distance baby's game mat and is less than
Within the scope of 0.5 meter, the most controlled ice making case does not send prompt tone.When the distance detected between people and toilet lamp is less than
After 0.1 meter, detect that again the distance between people and toilet lamp more than or equal to 0.1 meter, then can control toilet lamp and extinguish.When
After detecting that the distance between people and sound equipment is more than 0.2 meter, detect that again the distance between people and sound equipment is less than or equal to 0.2
Rice, then can control sound equipment and stop mobile, when detecting that sound equipment is not at duty (such as, sound equipment shutdown) or by duty
When becoming off position, described with previous recovery operation corresponding to operation can accuse that the predetermined object of system moves to initial position
(can refer to predetermined object move before position) operation, i.e. control sound equipment move to initial position, such as, sound equipment can be controlled and press
Opposite direction according to the guidance path of planning moves, to return to initial position.
Fig. 4 illustrates the frame of based on indoor threedimensional model according to an exemplary embodiment of the present invention smart home control device
Figure.
As shown in Figure 4, based on indoor threedimensional model according to an exemplary embodiment of the present invention smart home control device
Including: 3D depth camera 10, position acquisition unit 20, information acquisition unit 30 and control unit 40.
Particularly, 3D depth camera 10 follows the tracks of the movement locus of target object.Here, 3D depth camera can be set
Put in indoor eminence, more preferably shoot the visual field to obtain.
Such as, the object moved in indoor can be defined as target object by 3D depth camera 10.Particularly, 3D is worked as
Depth camera 10 detects when described target object position within a predetermined period of time occurs consecutive variations, 3D depth camera 10
Determine that described target object moves.
Position acquisition unit 20 is based on the real time position of target object described in indoor obtaining three-dimensional model, based on described indoor
Threedimensional model determines the position of other objects around described target object, and determines described target object and other objects described
Relative position relation.Here, position acquisition unit 20 can be using the centre coordinate of this object as the position of this object.
Alternatively, in exemplary embodiments of the present invention, an object can be selected from multiple objects that indoor include to make
For equipment described in Fig. 4, here, selected object need to be to be able to carry out the method shown in above-mentioned Fig. 1 and have data process energy
The equipment of power.Preferably, the position of target object can refer to that target object is relative to this ginseng with the main control device selected as object of reference
Relative coordinate position according to thing.
Along with the movement of target object, target object may be blocked, and causes 3D depth camera cannot follow the tracks of target
The movement locus of object.Preferably, based on indoor threedimensional model according to an exemplary embodiment of the present invention Intelligent housing
Equipment can also include: transmitting element and reception unit (not shown), causes the 3D degree of depth to be taken the photograph when described target object is blocked
When cannot follow the tracks of the movement locus of target object as head, control unit 30 produces asking of the position for obtaining described target object
Asking instruction, described request instruction is sent to described target object by transmitting element, and target object is true in response to described request instruction
Determine the current location of self, receive unit and send in response to described request instruction from the described target object described target object of reception
Current location.
Here, based on indoor threedimensional model according to an exemplary embodiment of the present invention smart home control device can also be wrapped
Include: model construction unit, in advance indoor environment and indoor object be scanned, to build described indoor threedimensional model, with
Indoor each object is controlled by subsequent process based on this indoor threedimensional model.Such as, model construction unit may utilize
Existing various method builds indoor threedimensional model.
Particularly, based on indoor threedimensional model according to an exemplary embodiment of the present invention smart home control device can
Also including: memory element, for being stored in dynamic database by the indoor threedimensional model built, described indoor threedimensional model can
Including threedimensional model coordinate and the attribute information of each object of each object, here, indoor three-dimensional is drawn out at model construction unit
After model, position acquisition unit 20 can obtain the threedimensional model coordinate of indoor each object.Additionally, model construction unit can root
Obtain the attribute information of object according to the input of user, or when indoor object be smart machine (indoor except main control device it
Other outer smart machines) time, it is possible between this smart machine and main control device, set up wireless connections, receive unit by being somebody's turn to do
Wireless connections obtain the attribute information of this smart machine from smart machine, and in addition, model construction unit is deep also by 3D
The scanning of the predetermined mark (such as, Quick Response Code) of the degree photographic head attribute information to comprising object obtains the attribute letter of object
Breath.
Preferably, the attribute information of object can include object type and kind of object.As example, object type can include
Central object (that is, main control device), mobile object and non-loose impediment (also can be fixing object), kind of object may indicate that thing
Which kind of specific kind of product the specific object of body, i.e. object is people or article, be.
Alternatively, based on indoor threedimensional model according to an exemplary embodiment of the present invention smart home control device can be also
Including: updating block, use the real time position of the described target object obtained to update the described mesh in described indoor threedimensional model
The position of mark object, by the real time position that location updating is the target object obtained of the target object in indoor threedimensional model,
To guarantee that store in indoor threedimensional model is the latest position of target object.
After position acquisition unit 20 determines target object real time position in indoor threedimensional model, position acquisition
Unit 20 can find from this indoor threedimensional model according to the threedimensional model coordinate of each object stored in indoor threedimensional model
Other objects around this target object, here, other objects around this target object can refer to centered by this target object,
The object in addition to described target object included in preset range, extracts described in finding from indoor threedimensional model the most again
The position (that is, threedimensional model coordinate) of other objects, it is preferable that the position of other objects described also can refer to set with the master control selected
Standby for object of reference, other objects described are relative to the relative coordinate position of this object of reference.
Should be understood that other objects described can include multiple object, position acquisition unit 20 can determine respectively target object with
The relative position relation of each object in other objects described, particularly, position acquisition unit 20 can calculate target object
Real time position and the position of described any object between distance.
Information acquisition unit 30 obtains described target object and the attribute information of other objects described.
In one example, information acquisition unit 30 can be by being scanned identifying described target to described target object
The attribute information of object.
Such as, available 3D depth camera is scanned obtaining the image of this target object to target object, and information obtains
Taking unit 30 utilizes image recognition technology to be identified described image, to obtain the attribute information of target object, so that it is determined that
Go out type and the kind of target object.
Or, available 3D depth camera is scanned obtaining the profile parameters of target object, information to target object
The profile parameters of the target object of acquisition is mated by acquiring unit 30 with the profile parameters of each object in indoor threedimensional model,
To extract the attribute information corresponding with the object of target object coupling from indoor threedimensional model, the attribute information of this extraction is
The attribute information of target object.
In another example, information acquisition unit 30 can receive the attribute letter of described target object from described target object
Breath.
Such as, when target object is smart machine (indoor other smart machines in addition to main control device), can be at mesh
Setting up wireless connections between mark object and main control device, information acquisition unit 30 is obtained from target object by these wireless connections should
The attribute information of target object, to determine type and the kind of target object.
Additionally, information acquisition unit 30 can be also by the 3D depth camera attribute information to comprising described target object
Predetermined mark is scanned obtaining the attribute information of described target object, and here, described predetermined mark can include Quick Response Code.
Alternatively, information acquisition unit 30 can from the attribute information of other objects described in described indoor obtaining three-dimensional model,
So that it is determined that go out type and the kind of other objects described.
Control unit 40 controls predetermined object based on the attribute information obtained and described relative position relation and performs corresponding
Operation.
Particularly, control unit 40 can determine that the described target object of Known Species and other things described of Known Species
It is pre-conditioned whether the relative position relation of body meets.
Include the situation of multiple object for other objects described, control unit 40 can determine that target object is with described respectively
Whether the relative position relation of each object in other objects meets pre-conditioned.Particularly, control unit 40 can determine that
Whether the distance between the position of any object in the real time position of target object and other objects described meets pre-conditioned,
For example, it may be determined that whether the distance between any object in described target object and other objects described presets threshold more than first
Value, or determine that whether the distance between described target object and other objects described is less than the second predetermined threshold value.
If described relative position relation is unsatisfactory for described pre-conditioned, then control unit 40 continue detection target object with
It is pre-conditioned whether the relative position relation of other objects described meets.
If described relative position relation meets described pre-conditioned, then control unit 40 is according to the class of other objects described
Type controls described predetermined object and performs corresponding operation.
Particularly, control unit 40 can determine that whether the type of other objects described is loose impediment, if it is determined that
The type of other objects described is loose impediment, then other objects described as described predetermined object and are controlled by control unit 40
Make described predetermined object to move.
Such as, control unit 40 can control described predetermined object and follow moving of target object and correspondingly move,
Particularly can determine the move mode of described predetermined object, example according to the kind of predetermined object and the kind of target object
As, it is assumed that when the target object predetermined object of behaviour is sound equipment, predetermined object (sound equipment) can be controlled and lean on to described target object (people)
Closely, now, it is the most in running order that control unit 40 can also detect predetermined object, when described predetermined object is in running order
Time, control described predetermined object close to target object.
Additionally, when assume target object be the predetermined object of sweeping robot be sound equipment time, control unit 40 can control described
Mobile other positions outside initial position of predetermined object (sound equipment), to avoid what the movement locus of target object will pass through
Local.
Preferably, control unit 40 can determine the position of described predetermined object and object about according to indoor threedimensional model
Put, thus cook up the guidance path of described predetermined object, and then control described predetermined object according to the guidance path cooked up
Move.When being unsatisfactory for pre-conditioned between target object and other objects described, control unit 40 controls described predetermined
Object stops mobile.Additionally, real-time mobile along with target object, control unit 40 can the predetermined object of real-time update planning
Guidance path, moves according to the guidance path of real-time update controlling predetermined object.
Should be understood that position acquisition unit 20 can also obtain the real time position of predetermined object, and use the described predetermined of acquisition
The real time position of object updates the position of the described predetermined object in indoor threedimensional model, to guarantee to store in indoor threedimensional model
Be the latest position of each object.
If it is determined that the type of other objects described is not loose impediment (that is, for non-loose impediment), then control list
Indoor object in addition to described target object and other objects described as described predetermined object and is controlled described pre-by unit 40
Earnest body performs scheduled operation, or other objects described as described predetermined object and are controlled described predetermined by control unit 40
Object performs scheduled operation.
Preferably, scene rule can be stored in advance in the dynamic database of main control device by memory element, described scene
Rule define the pre-conditioned and described pre-conditioned corresponding predetermined object needing to meet between different types of object and
The operation that predetermined object performs, as example, can automatically generate after information acquisition unit 30 obtains the attribute information of object
About the acquiescence scene rule of this object, additionally, it is next new for this object creation also dependent on the input of user to receive unit
Scene is regular or edits existing scene rule.
Alternatively, when control unit 40 detects that described target object is become resting state from moving, control single
Unit 40 also detects described target object and maintains the persistent period of current quiet state, and when the described persistent period is more than pre-timing
Between time, control described predetermined object perform scheduled operation (such as, control predetermined object and send prompt tone).As example, work as control
When unit 40 processed detects described target object position does not persistently change within a predetermined period of time, determine described target object
Remain static.
Here, when control unit 40 detects that described target object is become resting state from moving, control unit
40 can also detect whether target object is in specific environment, if target object is in described specific environment, then control list
Unit 40 detects described target object and maintains the persistent period of current quiet state, and when the described persistent period is more than the scheduled time
Time, control described predetermined object and perform scheduled operation (such as, control described predetermined object and send prompt tone).If target object
It is not in specific environment, then maintains the persistent period of current quiet state without detecting described target object, without control
Described predetermined object performs scheduled operation.
If additionally, relative position relation between target object and other objects is from meeting described pre-conditioned become not
Meet described pre-conditioned, then control unit 40 can control the operation that described predetermined object recovers previously to have performed, i.e. controls described
Predetermined object performs to operate corresponding recovery operation with previous, and described recovery operation can refer to return to for controlling predetermined object
The operation of original state.Such as, when previous operation is the operation that the predetermined object of control moves, described recovery operation can be accused
Make predetermined object and move to the operation of initial position.
Distance between target object and other objects is become smaller than the first predetermined threshold value by more than the first predetermined threshold value,
Or the distance between target object and other objects is by when becoming greater than equal to the second predetermined threshold value less than the second predetermined threshold value,
It is believed that relative position relation between target object and other objects from meet described pre-conditioned become being unsatisfactory for described pre-
If condition.
Use above-mentioned intelligent home furnishing control method based on indoor threedimensional model and equipment, completely without utilizing remote controller
Or intelligent home device is manipulated by mobile phone, it is not required that user additionally inputs preset instructions, it is achieved that full automatic
Smart Home is experienced, and improves the universal of the experience of user, beneficially Smart Home.
Moreover, it should be understood that based on indoor threedimensional model according to an exemplary embodiment of the present invention Intelligent housing
Unit in equipment can be implemented nextport hardware component NextPort.Those skilled in the art are according to the place performed by the unit limited
Reason, can such as use field programmable gate array (FPGA) or special IC (ASIC) to realize unit.
Additionally, based on indoor threedimensional model according to an exemplary embodiment of the present invention intelligent home furnishing control method can be by
The computer code being embodied as in computer readable recording medium storing program for performing.Those skilled in the art can be according to the description to said method
Realize described computer code.The said method of the present invention is realized when described computer code is performed in a computer.
Although be particularly shown and describe the present invention with reference to its exemplary embodiment, but those skilled in the art
It should be understood that in the case of the spirit and scope of the present invention limited without departing from claim, it can be carried out form
With the various changes in details.
Claims (15)
1. an intelligent home furnishing control method based on indoor threedimensional model, including:
Follow the tracks of the movement locus of target object, and based on the real time position of target object described in indoor obtaining three-dimensional model；
Determine the position of other objects around described target object based on described indoor threedimensional model, and determine described object
Body and the relative position relation of other objects described；
Obtain described target object and the attribute information of other objects described, and based on the attribute information obtained and described phase para-position
Relation of putting performs corresponding operation to control predetermined object.
Method the most according to claim 1, also includes: the object moved indoor is defined as target object.
Method the most according to claim 2, wherein, when the object position within a predetermined period of time indoor being detected occurs even
During continuous change, determine that described object moves, and using described object as target object.
Method the most according to claim 1, wherein, follows the tracks of the movement locus of target object, and based on indoor threedimensional model
The step of the real time position obtaining described target object includes: utilize 3D depth camera to follow the tracks of the motion rail of described target object
Mark, and based on the real time position of target object described in indoor obtaining three-dimensional model.
Method the most according to claim 4, wherein, follows the tracks of the movement locus of target object, and based on indoor threedimensional model
The step of the real time position obtaining described target object also includes: when described target object be blocked cause 3D depth camera without
When method follows the tracks of the movement locus of target object, send the request being used for obtaining the position of described target object to described target object
Instruction, to receive, from described target object, the current location that described target object sends in response to described request instruction.
Method the most according to claim 1, also includes: be scanned indoor environment and indoor object in advance, to build
Described indoor threedimensional model.
Method the most according to claim 6, also includes: use the real time position of the described target object obtained to update described
The position of the described target object in indoor threedimensional model.
Method the most according to claim 1, wherein, described indoor threedimensional model comprises the attribute information of object,
Wherein, the step of the attribute information obtaining other objects described includes: from described in described indoor obtaining three-dimensional model other
The attribute information of object.
Method the most according to claim 1, wherein, the step of the attribute information obtaining described target object includes: pass through
Described target object is scanned identifying the attribute information of described target object, or receives from described target object described
The attribute information of target object.
Method the most according to claim 1, wherein, described attribute information includes type and the kind of object,
Wherein, control predetermined object based on the attribute information obtained and described relative position relation and perform the step of corresponding operation
Suddenly include:
Determine whether the relative position relation of the described target object of Known Species and other objects described of Known Species meets
Pre-conditioned；
If described relative position relation meets described pre-conditioned, then control described pre-according to the type of other objects described
Earnest body performs corresponding operation.
11. methods according to claim 10, also include: if described relative position relation is described pre-conditioned by meeting
Become being unsatisfactory for described pre-conditioned, then control the operation that described predetermined object recovers previously to have performed.
12. methods according to claim 10, wherein it is determined that whether described relative position relation meets pre-conditioned step
Suddenly comprise determining that whether the distance between described target object and other objects described is more than the first predetermined threshold value, or determine
Whether the distance between described target object and other objects described is less than the second predetermined threshold value.
13. methods according to claim 10, wherein, the type of object includes loose impediment and non-loose impediment,
Wherein, control the corresponding step operated of described predetermined object execution according to the type of other objects described to include:
When the type determining other objects described is loose impediment, other objects described as described predetermined object and are controlled
Make described predetermined object to move；
When the type determining other objects described is non-loose impediment, by indoor except described target object and other things described
Object outside body is as described predetermined object and controls described predetermined object execution scheduled operation, or by other objects described
As described predetermined object and control described predetermined object perform scheduled operation.
14. methods according to claim 1, wherein, attribute information and described relative position relation based on obtaining are controlled
The step making the corresponding operation of predetermined object execution includes: when detecting that described target object is become resting state from moving
Time, detect described target object and maintain the persistent period of current quiet state, and when the described persistent period is more than the scheduled time
Time, control described predetermined object and perform scheduled operation.
15. methods according to claim 14, wherein, when detecting that described target object position within a predetermined period of time is held
Continuous when not changing, determine that described target object remains static.
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| CN111152226B (en) * | 2020-01-19 | 2021-09-07 | 吉利汽车研究院（宁波）有限公司 | Robot working track planning method and system |
| CN113341737A (en) * | 2021-05-18 | 2021-09-03 | 珠海格力电器股份有限公司 | Control method, system, device, equipment and storage medium of intelligent household equipment |
| CN113341737B (en) * | 2021-05-18 | 2023-11-10 | 珠海格力电器股份有限公司 | Control method, system, device, equipment and storage medium of intelligent household equipment |
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