CN108917762B - Method and system for positioning electric appliance, storage medium and home system - Google Patents
Method and system for positioning electric appliance, storage medium and home system Download PDFInfo
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- CN108917762B CN108917762B CN201810466323.8A CN201810466323A CN108917762B CN 108917762 B CN108917762 B CN 108917762B CN 201810466323 A CN201810466323 A CN 201810466323A CN 108917762 B CN108917762 B CN 108917762B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
Abstract
The invention provides a method and a system for positioning an electric appliance, a storage medium electric appliance and a home system, wherein the method for positioning the electric appliance comprises the following steps: acquiring first position information of a target electrical appliance relative to each reference electrical appliance; acquiring second position information of each reference electrical appliance; and determining the position of the target electrical appliance according to the first position information and the second position information, wherein the number of the reference electrical appliances is not less than 2. The invention locates the target electrical appliance through at least 2 reference electrical appliances, namely, the position of the target electrical appliance is determined from a plurality of different directions, thereby realizing the accurate location of the target electrical appliance, improving the location accuracy, and the requirement of a user on the high-accuracy location can be still met without a networked GPS under the state of poor GPS signals.
Description
Technical Field
The invention relates to the field, in particular to a method and a system for positioning an electric appliance, a storage medium electric appliance and a home system.
Background
The electric appliance positioning method adopted in the prior art comprises an infrared distance measurement positioning technology, a WIFI positioning technology and a Bluetooth positioning technology. Among them, the infrared distance measurement technology is used for measuring the distance between a point and a point, but the measurement error in the short distance is large, and the penetrability is poor. The WIFI positioning technology is used for generally judging the approximate position and the distance through a WIFI module, is generally used for sharing positioning technology between bicycles, has higher requirements on WIFI signals, is inaccurate in positioning, is poor in positioning stability, and is suitable for large-range positioning with low positioning precision. The bluetooth positioning technology is used for short-distance position judgment through a bluetooth module, and the bluetooth positioning technology is small in application range and not suitable for long-distance positioning.
Along with the development of society, smart homes are gradually familiar to people, smart appliances integrating functions of communication, positioning and the like enter the lives of people, and the accurate positioning, the home map drawing and the accurate position determination of users in the home map are of great importance. In the prior art, the positioning precision among the intelligent electric appliances is not enough, and an accurate home map cannot be drawn.
Therefore, the improvement of the positioning accuracy between intelligent electrical appliances is an urgent problem to be solved in the field.
Disclosure of Invention
The invention provides a method and a system for positioning an electric appliance, a storage medium electric appliance and a home system, thereby improving the positioning precision of the electric appliance.
In order to solve the above problems, as an aspect of the present invention, there is provided a method of appliance location, including:
acquiring first position information of a target electrical appliance relative to each reference electrical appliance;
acquiring second position information of each reference electrical appliance;
determining the position of the target electrical appliance according to the first position information and the second position information;
wherein, the number of the reference electrical appliances is not less than 2.
Optionally, the obtaining first position information of the target electrical appliance relative to each reference electrical appliance includes:
establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin;
acquiring corresponding first coordinates of the target electrical appliance in each first coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance;
and determining first position information of the target electrical appliance relative to the reference electrical appliances according to the first coordinates.
Optionally, the obtaining first position information of the target electrical appliance relative to each reference electrical appliance includes:
establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin;
acquiring corresponding first coordinates of the target electrical appliance in each first coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance;
establishing a second coordinate system by taking the position of the target electrical appliance as the origin of coordinates;
acquiring corresponding second coordinates of each reference electrical appliance in a second coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance;
and determining first position information of the target electrical appliance relative to the reference electrical appliances according to the first coordinate and the second coordinate.
Optionally, the obtaining second position information of each reference appliance includes:
establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin;
acquiring corresponding third coordinates of each reference electrical appliance in all the first coordinate systems according to the second relative position relationship among the reference electrical appliances;
and determining second position information of each reference electric appliance according to the third coordinates.
Optionally, the first relative position relationship and/or the second relative position relationship include: location range, directional relationships, motion trends, and/or distance relationships.
Optionally, a position range is obtained through WIFI positioning;
acquiring a direction relation through infrared positioning;
acquiring a motion trend through infrared positioning; and/or the presence of a gas in the gas,
and obtaining the distance relation through Bluetooth positioning.
Optionally, the obtaining first position information between the target electrical appliance and each reference electrical appliance includes:
first position information between the target electrical appliance and each reference electrical appliance is obtained through the positioning assemblies on the reference electrical appliances.
The invention also provides a system for positioning an electric appliance, which comprises:
the first positioning module is used for acquiring first position information of the target electrical appliance relative to each reference electrical appliance;
the second positioning module is used for acquiring second position information of each reference electric appliance;
the processing module is used for determining the position of the target electric appliance according to the first position information and the second position information;
and the number of the reference electrical appliances is not less than 2.
Optionally, the obtaining, by the first positioning module, first position information of the target electrical appliance relative to each reference electrical appliance includes:
establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin;
acquiring corresponding first coordinates of the target electrical appliance in each first coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance;
and determining first position information of the target electrical appliance relative to the reference electrical appliances according to the first coordinates.
Optionally, the obtaining, by the first positioning module, first position information of the target electrical appliance relative to each reference electrical appliance includes:
establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin;
acquiring corresponding first coordinates of the target electrical appliance in each first coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance;
establishing a second coordinate system by taking the position of the target electrical appliance as the origin of coordinates;
acquiring corresponding second coordinates of each reference electrical appliance in a second coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance;
and determining first position information of the target electrical appliance relative to the reference electrical appliances according to the first coordinate and the second coordinate.
Optionally, the obtaining second position information of each reference appliance includes:
establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin;
acquiring corresponding third coordinates of each reference electrical appliance in all the first coordinate systems according to the second relative position relationship among the reference electrical appliances;
and determining second position information of each reference electric appliance according to the third coordinates.
Optionally, the first relative position relationship and/or the second relative position relationship include: location range, directional relationships, motion trends, and/or distance relationships.
Optionally, a position range is obtained through WIFI positioning;
acquiring a direction relation through infrared positioning;
acquiring a motion trend through infrared positioning; and/or the presence of a gas in the gas,
and obtaining the distance relation through Bluetooth positioning.
Optionally, the obtaining, by the first positioning module, first position information between the target electrical appliance and each reference electrical appliance includes:
first position information between the target electrical appliance and each reference electrical appliance is obtained through the positioning assemblies on the reference electrical appliances.
The invention also proposes a storage medium on which a program is stored which, when being executed by a processor, carries out the steps of any of the methods proposed by the invention.
The invention also provides a home system, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor realizes the steps of any method provided by the invention when executing the program.
The invention further provides a home system comprising any one of the systems provided by the invention.
The invention provides an electric appliance positioning method, a system, a storage medium, an electric appliance and a home system, wherein a target electric appliance is positioned through at least 2 reference electric appliances, namely the position of the target electric appliance is determined from a plurality of different directions, so that the accurate positioning of the target electric appliance is realized, the positioning accuracy is improved, a networked GPS is not needed, and the requirement of a user on the high-accuracy positioning can be still met under the state of poor GPS signals.
Drawings
FIG. 1 is a flow chart of a method for positioning an electrical appliance according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for obtaining first location information according to an embodiment of the present invention;
fig. 3 is a block diagram of a positioning system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or article that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or article.
In order to improve the positioning accuracy of an electrical appliance, particularly to improve the positioning accuracy of a household electrical appliance in an intelligent home, the present invention provides an electrical appliance positioning method, fig. 1 is a flow chart of an electrical appliance positioning method in an embodiment of the present invention, please refer to fig. 1, and the method provided by the present invention includes:
s10: first position information of the target electrical appliance relative to the reference electrical appliances is acquired.
In this embodiment, the number of the target electrical appliances may be one or more, the number of the reference electrical appliances is at least 2, one of the target electrical appliances is selected first, and the target electrical appliance is located to obtain first location information of the target electrical appliance relative to each of the reference electrical appliances. The first location information may be a relative location of the target appliance with respect to the one or more reference appliances, the first location information may be, for example, that the target appliance is located 5m directly east of a certain reference appliance, and the first location information may be used to determine the location of the target appliance after determining the location of the one or more reference appliances. When the number of the reference electric appliances is more than 2, the first position information of the target electric appliance for each reference electric appliance is sequentially acquired one by one, and at least as many first position information can be acquired by as many reference electric appliances. The more the number of the reference electric appliances is, the more accurate the positioning of the target electric appliance is. The first location information is a location relationship between the target appliance and the reference appliance, for example, the number of the reference appliances is 2, and includes a first reference appliance and a second reference appliance, the first location information between the target appliance and the first reference appliance may be that the target appliance is located 40cm directly east of the first reference appliance, and the first location information between the target reference appliance and the second reference appliance may be: the target reference appliance is located 30cm directly north of the second reference appliance. The method for acquiring the first position information between the target electrical apparatus and the reference electrical apparatus may be any method, and the present invention is not limited thereto. Optionally, the reference electrical appliance is an electrical appliance at a fixed position, the reference electrical appliance and the target electrical appliance can be the same electrical appliance, and optionally, the reference electrical appliance and the target electrical appliance are household electrical appliances, namely, the method provided by the invention can be used for positioning the household electrical appliances.
S20: and acquiring second position information of each reference electric appliance.
The second position information refers to the specific position of the reference appliances, and may be a relative position relationship between the reference appliances, for example, the first reference appliance is located 50cm in the west direction of the second reference appliance. It may also be an absolute positional relationship, such as the respective reference electrical fixture position in terms of longitude and latitude. Or a positional relationship with reference to any one object, for example, a coordinate system may be established with reference to a post or an appliance that does not move in a home as an origin, thereby determining the position of each reference appliance.
S30: and determining the position of the target electric appliance according to the first position information and the second position information.
After the first position information and the second position information are determined, the position relation of the target electrical appliance relative to the reference electrical appliance and the position relation of the reference electrical appliance are known, so that the specific position of the target electrical appliance can be determined. In the present invention, first position information of the target appliance with respect to at least two reference appliances is acquired, i.e., the position of the target appliance is measured a plurality of times, and since the position of the target appliance is measured from a plurality of directions and/or angles. For example, when the target electrical appliance and the reference electrical appliance are not located on a straight line, if the target electrical appliance is located at the east of the first reference electrical appliance and at the same time located at the north of the second reference electrical appliance, the target object is measured along at least the east and the north directions when the first position information is obtained. When the target appliance and the reference appliance are located on a straight line, for example, the target appliance is located in the east of the first reference appliance and is located in the west of the second reference appliance, the first position information of the target appliance is measured in at least two directions, i.e., the east and the west. The position of the target electrical appliance is measured from a plurality of directions and/or angles, so that the positioning accuracy of the target electrical appliance is improved, the more the number of the reference electrical appliances is, the more the directions and angles of the target electrical appliance are measured, the higher the positioning accuracy of the target object is, and at least 3 reference electrical appliances are optional.
Preferably, in some optional embodiments, fig. 2 is a flowchart of a method for acquiring the first location information according to an embodiment of the present invention; referring to fig. 2, in the present embodiment, the obtaining first position information of the target electrical appliance relative to each reference electrical appliance includes:
s11: establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin;
s12: according to the first relative position relation between the target electrical appliance and each reference electrical appliance, acquiring the position of the target electrical appliance
Corresponding first coordinates in each first coordinate system;
s13: and determining first position information of the target electrical appliance relative to the reference electrical appliances according to the first coordinates.
In this embodiment, a first coordinate system is established by using the position of each reference electrical appliance as the origin of coordinates, and then the first coordinates of the target electrical appliance in the first coordinate system are obtained, so that the number of the first coordinates is at least equal to the number of the first coordinate system. Through the mode that adopts coordinate system and coordinate, carry out digital representation with the position of target electrical apparatus to convenient calculation, optionally, each first coordinate system all is cartesian rectangular coordinate system, and each first coordinate system coordinate axis is parallel to each other, thereby conveniently carry out unified processing. Through obtaining a plurality of first coordinates, not only convenient operation to the accessible sets up reasonable unit length, just can master the position of target object fast from the numerical value of first coordinate, moreover, the mode that adopts the coordinate can conveniently carry out computer processing, improves computational rate. The first relative positional relationship may be a position of a reference appliance measured with the target appliance and a position of the target appliance measured with the reference appliance, that is, the first positional relationship is relative positions of the target appliance and the reference appliance measured from opposite directions, and the first positional information of the target appliance and the reference appliance is determined through the first relative positional relationship. Because the measurement is carried out from two opposite directions, the measurement precision is higher, and the positioning is more accurate.
Preferably, in some optional embodiments, the obtaining of the first position information of the target appliance relative to the respective reference appliances includes: establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin; acquiring corresponding first coordinates of the target electrical appliance in each first coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance; establishing a second coordinate system by taking the position of the target electrical appliance as the origin of coordinates; acquiring corresponding second coordinates of each reference electrical appliance in a second coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance; and determining first position information of the target electrical appliance relative to the reference electrical appliances according to the first coordinate and the second coordinate.
In the present embodiment, not only the first coordinates of the target appliance in the first coordinate system but also the second coordinates of the respective reference appliances in the second coordinate system are obtained. The first coordinate may be a position of the target appliance measured with the reference appliance as the measurement point, that is, the first coordinate may be a position of the target appliance measured with the positioning device on the reference appliance, and the second coordinate may be a position of the reference appliance measured with the target appliance as the measurement point, that is, the second coordinate may be a position of each of the reference appliances measured with the positioning device on the target appliance. Namely, for any reference electrical appliance, the first relative position relation between the reference electrical appliance and the target electrical appliance is measured twice from two opposite directions, so that the measurement precision is improved, and the first coordinate and the second coordinate are corrected mutually, so that the first position information of the reference electrical appliance is more accurate. Optionally, the first coordinate system and the second coordinate system adopt cartesian rectangular coordinate systems with the same scale, so that comparison and calculation are facilitated.
Preferably, in some optional embodiments, the obtaining the second position information of each reference appliance includes: establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin; acquiring corresponding third coordinates of each reference electrical appliance in all the first coordinate systems according to the second relative position relationship among the reference electrical appliances; and determining second position information of each reference electric appliance according to the third coordinates.
In this embodiment, the reference electrical appliances may be mutually positioned, a coordinate system is established, the relative positions of the reference electrical appliances are determined, and then a second relative positional relationship between all the reference electrical appliances is determined, where the second relative positional relationship is similar to the first relative positional relationship, and may be a relative position between any two reference electrical appliances measured from two opposite directions. Since the relative position between the two reference appliances is measured from two directions, the actual relative position between the two reference appliances can be determined with accuracy, and the second position information may be the finally determined actual relative position. For example: when determining the distance between any two points, the first point is taken as the zero point to measure the position of the second point, and then the second point is taken as the zero point to measure the position of the first point, the values of the two measurements can be the first relative position relation or the second relative position relation between the two points, and the distance between the two points finally determined by the measured data can be the first position information or the second position information of the two points. In this embodiment, since any one reference electrical appliance is subjected to positioning measurement by other reference electrical appliances, when there is an error in measurement of certain coordinate data, it is easy to look up the abnormality from the measurement result and correct the abnormality in time, and the more the number of the reference electrical appliances is, the more accurate the acquired second position information is, the more accurate the positions of the reference electrical appliance and the target electrical appliance can be determined.
Preferably, in some optional embodiments, the first relative positional relationship comprises: a position range, a direction relationship, a motion trend and/or a distance relationship, optionally, the second relative position relationship includes: location range, directional relationships, motion trends, and/or distance relationships.
In this embodiment, the first relative positional relationship may be a positional relationship between the target electrical appliance and any one of the reference electrical appliances, the second relative positional relationship may be a positional relationship between any one of the reference electrical appliances and another one of the reference electrical appliances, the positional range refers to an approximate position of one of the electrical appliances relative to another electrical appliance, the positioning range generally includes a position point of another electrical appliance determined by positioning the one electrical appliance as a reference and an error range of the position point, the position point may be represented by a circle, a center of the circle represents the determined position point, a radius of the circle represents the error range, and an area covered by the circle is a position where the positioned electrical appliance may be located. The directional relationship refers to the azimuth angle between the located appliance and the appliance as a reference, for example, a reference appliance is used as a reference, the located appliance is the target appliance, the directional relationship between the two can be that the target appliance is located in the east of the reference appliance, for example, and the directional relationship can be represented by an angular coordinate or a rectangular coordinate. The movement tendency refers to the direction and/or speed of movement of the appliance being located relative to the appliance as a reference. The movement tendency may be, for example, that the target appliance to be located approaches the reference appliance as a reference at a speed of 2 cm/s. The distance relationship refers to a linear distance between the located appliance and the appliance as a reference, and the distance can be represented by numerical values or coordinates, such as angular coordinates or other coordinates that can calculate the distance between two appliances. The method for acquiring the first coordinate, the second coordinate and the third coordinate may be the same or different, and the first coordinate, the second coordinate or the third coordinate may be determined by a position range, a direction relationship, a motion trend and/or a distance relationship.
Preferably, in some optional embodiments, the location range is obtained through WIFI positioning; optionally, acquiring a direction relation through infrared positioning; optionally, acquiring a motion trend through infrared positioning; and/or, optionally, obtaining the distance relationship via bluetooth positioning. The positioning accuracy of WIFI positioning is not high, but the WIFI positioning has a large positioning range, and the position range of each electric appliance can be quickly obtained through the WIFI positioning, so that a position map can be quickly drawn according to the position range of each electric appliance. The infrared positioning penetrability is poor, but the infrared positioning penetrability has good directivity, the direction relation and the movement trend between any two electric appliances can be accurately judged through infrared positioning, and the infrared positioning device can be used for correcting the acquired position map. The positioning range of the Bluetooth positioning is small, the device is suitable for short-distance accurate distance measurement, and the distance relation between any two electric appliances can be accurately measured by the Bluetooth positioning. The position map is further corrected. In the invention, the method is not limited to a single positioning method, and a plurality of positioning methods are used, so that the defects of using each positioning method independently are avoided, the advantages of each positioning method are brought into play, and the positioning accuracy is improved while the quick positioning is ensured. In addition, in the invention, the more reference appliances for positioning, the more data which can be used for correction, and the higher the positioning accuracy.
Preferably, in some optional embodiments, obtaining the first location information between the target appliance and each reference appliance includes: first position information between the target electrical appliance and each reference electrical appliance is obtained through the positioning assemblies on the reference electrical appliances. That is, in this embodiment, the target electrical appliance may be measured by using the reference electrical appliance, because the number of the reference electrical appliances is not less than 2, or may be greater than or equal to 3, there are at least a number of positioning assemblies for a number of reference electrical appliances, the measurement direction points from the reference electrical appliances to the target electrical appliance, and each reference electrical appliance may be located in different directions of the target electrical appliance, so that multi-directional positioning for positioning the target electrical appliance from multiple directions is achieved, and the position of the target electrical appliance is measured and corrected multiple times, thereby improving the positioning accuracy, and the more the number of the reference electrical appliances, the higher the positioning accuracy of the target electrical appliance is. The reference appliance in the present invention is equipped with a positioning component for determining the position of other appliances, and the target appliance may also be equipped with a positioning component. The specific location of the other appliance can be determined by any reference appliance.
The method provided by the invention does not need to use a networked GPS, and positions the position of the target electrical appliance through at least 2 reference electrical appliances, so that the positioning accuracy is greatly improved on the premise of not greatly improving the positioning cost. And the requirement of a user on high-precision positioning can be still met under the state that a GPS signal is not good without networking GPS positioning.
Fig. 3 is a block diagram of a positioning system according to an embodiment of the present invention, and referring to fig. 3, the system of the present invention includes: a first positioning module 10, a second positioning module 20 and a processing module 30.
The first positioning module 10 is used for acquiring first position information of the target electrical appliance relative to each reference electrical appliance;
in this embodiment, the number of the target electrical appliances may be one or more, the number of the reference electrical appliances is at least 2, one of the target electrical appliances is selected first, and the target electrical appliance is located to obtain first location information of the target electrical appliance relative to each of the reference electrical appliances. When the number of the reference electric appliances is more than 2, the first position information of the target electric appliance for each reference electric appliance is sequentially acquired one by one, and at least as many first position information can be acquired by as many reference electric appliances. The first location information is a location relationship between the target appliance and the reference appliance, for example, the number of the reference appliances is 2, and includes a first reference appliance and a second reference appliance, the first location information between the target appliance and the first reference appliance may be that the target appliance is located 40cm directly east of the first reference appliance, and the first location information between the target reference appliance and the second reference appliance may be: the target reference appliance is located 30cm directly north of the second reference appliance. The method for acquiring the first position information between the target electrical apparatus and the reference electrical apparatus may be any method, and the present invention is not limited thereto. Optionally, the reference electrical appliance is an electrical appliance at a fixed position, the reference electrical appliance and the target electrical appliance can be the same electrical appliance, and optionally, the reference electrical appliance and the target electrical appliance are household electrical appliances, namely, the system provided by the invention can be used for positioning the household electrical appliances.
And the second positioning module 20 is configured to obtain second position information of each reference appliance. The second position information refers to the specific position of the reference appliances, and may be a relative position relationship between the reference appliances, for example, the first reference appliance is located 50cm in the west direction of the second reference appliance. It may also be an absolute positional relationship, such as the respective reference electrical fixture position in terms of longitude and latitude. Or a positional relationship with reference to any one object, for example, a coordinate system may be established with reference to a post or an appliance that does not move in a home as an origin, thereby determining the position of each reference appliance.
And the processing module 20 is configured to determine the location of the target electrical appliance according to the first location information and the second location information. After the first position information and the second position information are determined, the relative position of the target electrical appliance with respect to the reference electrical appliance and the relative positions of the reference electrical appliances with respect to each other are known, so that the specific position of the target electrical appliance can be determined. In the present invention, first position information of the target appliance with respect to at least two reference appliances is acquired, i.e., the position of the target appliance is measured a plurality of times, and since the position of the target appliance is measured from a plurality of directions and/or angles. For example, when the target electrical appliance and the reference electrical appliance are not located on a straight line, if the target electrical appliance is located at the east of the first reference electrical appliance and at the same time located at the north of the second reference electrical appliance, the target object is measured along at least the east and the north directions when the first position information is obtained. When the target appliance is located on a straight line with the reference appliances, for example, the target appliance is located in the east of the first reference appliance and is located in the west of the second reference appliance, the first position information of the target appliance is measured in at least two directions, i.e., the east and west directions, respectively. The position of the target electrical appliance is measured from a plurality of directions and/or angles, so that the positioning accuracy of the target electrical appliance is improved, the more the number of the reference electrical appliances is, the more the directions and angles of the target electrical appliance are measured, the higher the positioning accuracy of the target object is, and at least 3 reference electrical appliances are optional.
Preferably, in some optional embodiments, the first positioning module 10 acquires first position information of the target appliance relative to the respective reference appliances, including:
establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin;
acquiring corresponding first coordinates of the target electrical appliance in each first coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance;
and determining first position information of the target electrical appliance relative to the reference electrical appliances according to the first coordinates.
In this embodiment, a first coordinate system is established with the position of each reference appliance as the origin of coordinates, and the first coordinates of the target appliance in the first coordinate system are obtained, so that the number of the first coordinates is at least equal to the number of the first coordinate system. Through the mode that adopts coordinate system and coordinate, carry out digital representation with the position of target electrical apparatus to convenient calculation, optionally, each first coordinate system all is cartesian rectangular coordinate system, and the coordinate axis of each first coordinate system is parallel to each other, thereby conveniently carry out unified processing. Through obtaining a plurality of first coordinates, not only convenient operation to the accessible sets up reasonable unit length, just can master the position of target object fast from the numerical value of first coordinate, moreover, the mode that adopts the coordinate can conveniently carry out computer processing, improves computational rate.
Preferably, in some optional embodiments, the first positioning module 10 acquires first position information of the target appliance relative to the respective reference appliances, including: establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin; acquiring corresponding first coordinates of the target electrical appliance in each first coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance; establishing a second coordinate system by taking the position of the target electrical appliance as the origin of coordinates; acquiring corresponding second coordinates of each reference electrical appliance in a second coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance; and determining first position information of the target electrical appliance relative to the reference electrical appliances according to the first coordinate and the second coordinate.
In the present embodiment, not only the first coordinates of the target appliance in the first coordinate system but also the second coordinates of the respective reference appliances in the second coordinate system are obtained. The first coordinate may be a position of the target object measured with the reference electrical appliance as the measurement point, and the second coordinate may be a position of the reference electrical appliance measured with the target electrical appliance as the measurement point, that is, for any reference electrical appliance, the first relative positional relationship between the reference electrical appliance and the target electrical appliance is measured twice from two opposite directions, so as to improve the measurement accuracy, and the first coordinate and the second coordinate are corrected with each other, so as to obtain more accurate first position information of the reference electrical appliance. Optionally, the first coordinate system and the second coordinate system adopt cartesian rectangular coordinate systems with the same scale, so that comparison and calculation are facilitated.
Preferably, in some optional embodiments, the obtaining the second position information of each reference appliance includes: establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin; acquiring corresponding third coordinates of each reference electrical appliance in all the first coordinate systems according to the second relative position relationship among the reference electrical appliances; and determining second position information of each reference electric appliance according to the third coordinates.
In this embodiment, the reference electrical appliances may be mutually positioned, a coordinate system is established, the relative positions of the reference electrical appliances are determined, and the relative position relationship between all the reference electrical appliances is further determined. Because any reference electrical appliance is positioned and measured by other reference electrical appliances, when the measurement of certain coordinate data has errors, the abnormality can be easily found from the measurement result and corrected in time, the more the number of the reference electrical appliances is, the more accurate the acquired second position information is, the more accurate the positions of the reference electrical appliance and the target electrical appliance can be determined, and optionally, for any reference electrical appliance, only the relative position of one or two reference electrical appliances closest to the reference electrical appliance can be acquired, so that the calculation amount is simplified and the calculation speed is increased.
Preferably, in some optional embodiments, the first relative positional relationship comprises: a position range, a direction relationship, a motion trend and/or a distance relationship, optionally, the second relative position relationship includes: location range, directional relationships, motion trends, and/or distance relationships. In this embodiment, the first relative position relationship refers to a position relationship between the target electrical appliance and any one of the reference electrical appliances, the second relative position relationship refers to a position relationship between any one of the reference electrical appliances and another one of the reference electrical appliances, and the position range refers to a position range of one electrical appliance relative to another electrical appliance, which generally includes: and positioning the determined position point of the other electrical appliance and the error range of the position point by taking one electrical appliance as a reference. It can be represented by a circle, the center of which represents the determined location point, and the radius of which represents the error range, and the area covered by the circle is the range of locations where the located appliance may be. The directional relationship refers to the azimuth angle between the located appliance and the appliance as a reference, for example, a reference appliance is used as a reference, the located appliance is the target appliance, the directional relationship between the two appliances can be that the target appliance is located in the east of the reference appliance, and the directional relationship can be represented by an angular coordinate or a rectangular coordinate. The movement tendency refers to the direction and/or speed of movement of the appliance being located relative to the appliance as a reference. The movement tendency may be, for example, that the target appliance to be located approaches the reference appliance as a reference at a speed of 2 cm/s. The distance relationship refers to a linear distance between the located appliance and the appliance as a reference, and the distance can be represented by numerical values or coordinates, such as angular coordinates or other coordinates that can calculate the distance between two appliances. The method for acquiring the first coordinate, the second coordinate and the third coordinate may be the same or different, and the first coordinate, the second coordinate or the third coordinate may be determined by a position range, a direction relationship, a motion trend and/or a distance relationship.
Preferably, in some optional embodiments, the location range is obtained through WIFI positioning; acquiring a direction relation through infrared positioning; acquiring a motion trend through infrared positioning; and/or obtaining the distance relation through Bluetooth positioning. The positioning accuracy of WIFI positioning is not high, but the WIFI positioning has a large positioning range, and the position range of each electric appliance can be quickly obtained through the WIFI positioning, so that a position map can be quickly drawn according to the position range of each electric appliance. The infrared positioning penetrability is poor, but the infrared positioning penetrability has good directivity, the direction relation and the movement trend between any two electric appliances can be accurately judged through infrared positioning, and the infrared positioning device can be used for correcting the acquired position map. The positioning range of the Bluetooth positioning is small, the device is suitable for short-distance accurate distance measurement, and the distance relation between any two electric appliances can be accurately measured by the Bluetooth positioning. The position map is further corrected. In the invention, the method is not limited to a single positioning method, and a plurality of positioning methods are used, so that the defects of using each positioning method independently are avoided, the advantages of each positioning method are brought into play, and the positioning accuracy is improved while the quick positioning is ensured. In addition, in the invention, the more reference appliances for positioning, the more data which can be used for correction, and the higher the positioning accuracy.
Preferably, in some optional embodiments, the first positioning module obtains first position information between the target appliance and each reference appliance, including: first position information between the target electrical appliance and each reference electrical appliance is obtained through the positioning assemblies on the reference electrical appliances. That is, in this embodiment, the target electrical appliance may be measured by using the reference electrical appliance, because the number of the reference electrical appliances is not less than 2, or may be greater than or equal to 3, there are at least a number of positioning assemblies for a number of reference electrical appliances, the measurement direction points from the reference electrical appliances to the target electrical appliance, and each reference electrical appliance may be located in different directions of the target electrical appliance, so that multi-directional positioning for positioning the target electrical appliance from multiple directions is achieved, and multiple measurement corrections are performed on the position of the target electrical appliance, thereby improving the positioning accuracy. The reference appliance in the present invention is equipped with a positioning component for determining the position of other appliances, and the target appliance may also be equipped with a positioning component. The specific location of the other appliance can be determined by any reference appliance.
In order to better illustrate the advantageous effects of the present invention, the following examples are given to illustrate the advantageous effects of the present invention.
The method or the system provided by the invention can generate a home map by matching with a security system, and can accurately position in the environment by matching with an electrical appliance which can move by oneself, so that the intelligent home system is more intelligent, and the human feeling system is assisted and more accurate. The problem that the traditional positioning accuracy is not high is solved, various electrical appliances in a family are utilized to perform positioning assistance simultaneously, and the positioning accuracy is greatly improved on the premise of not greatly improving the positioning cost. And the requirement of a user on high-precision positioning can be still met under the state of a poor signal without networking GPS positioning.
The method or the system provided by the invention can be used in an intelligent home system. When a user holds a universal remote controller, the remote controller can recognize that the remote controller faces to the nearest electric appliance, and the working interface for operating the nearest electric appliance is automatically switched. The working principle is as follows: and generating an intelligent home map through WIFI positioning, Bluetooth positioning and/or infrared positioning of each electric appliance. Orientation data of the remote controller is generated in the intelligent home map through infrared ranging in the universal remote controller, and the remote control orientation is determined. And determining that the air conditioner is closest to the universal remote controller according to the home map. The universal remote controller automatically displays an air conditioner interface to adjust the air conditioner.
The method or the system provided by the invention can also be used for a plurality of electrical appliances working simultaneously, such as a plurality of sweeping machines working simultaneously, and the resource waste caused by repeatedly sweeping the area of the sweeping machines can be avoided through the positioning system. Or in the intelligent home automatic arrangement technology, the distance between the intelligent homes with the positioning system is set, so that the homes are arranged automatically.
The method or the system provided by the invention can achieve the optimal effect by matching with a home security system and an intelligent home system. The invention can be used for various parts of a human sensing system and a door and window security system, such as door and window closing sensors, cameras in households or households, smoke alarms and other detection type alarms. When the system detects that a user has a movement trend of approaching, the user is positioned, when people are found to approach the main door, face recognition is started, if the people are recognized as the input faces, some electric appliances required by the user can be started in advance, so that the working efficiency of the electric appliances is improved, and when no person is detected, power saving optimization is performed. And if the lawless persons are close to the window or the abnormal family entering area, starting security alarm. When a thief enters the house through a window or other abnormal modes, the infrared device can detect that people are close to the house, the user is reminded at the first time, and the behavior path of the thief can be known through the sequence of the alarm electric appliance. Under the circumstance, the positioning system provided by the invention mainly has the functions of preprocessing the electric appliance and adjusting the energy conservation. Only when the preset electric appliance, such as an electronic key carried by a user, has a tendency to approach, the electric appliance is started again, so that energy can be saved fundamentally.
The method or the system provided by the invention can also be used for controlling the work of a plurality of monitors. When multiple mobile monitors are operating, most of the monitors move randomly or directionally to monitor the environment, which results in wasted resources or potential safety hazards. Through accurate positioning system, other electrical apparatus positions can all be known to every solitary electrical apparatus, through programming, make every moment, every monitor position all different and furthest's monitoring environment, can neither miss a certain corner nor repeated while scan a place. When the monitor starts the free cruise mode, the monitor can be matched with each other to monitor the family condition.
The method or the system provided by the invention can also be used for the defense of a home security system, and in the home defense system, when the positioning system provided by the invention is applied to each electric appliance, the security system is everywhere. For example, the doorbell at the entrance is not detected that the mobile phone of the home user approaches or the electronic key ring approaches, but the doorbell is accidentally moved, and then the entrance is likely to be forced to enter by a stranger. The intelligent house-entering line drawing system can be used in villas, because the environment in the villas is overlarge, when a thief cannot find the intelligent house-entering line, the line of the thief can be drawn according to all electric appliances which are moved accidentally, such as intelligent curtains or intelligent small ornaments, so that the huge potential safety hazard can be solved, and the police can obtain more clues after alarming. The method for positioning the security defense by using the household electrical appliance is one of the safest security precautionary measures.
The invention also proposes a storage medium characterized in that it stores a program which, when executed by a processor, carries out the steps of any of the methods proposed by the invention.
The invention also provides a home system, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor realizes the steps of any method provided by the invention when executing the program.
The invention provides a household system which comprises any one of the systems provided by the invention. The home system may be an intelligent home system.
In summary, the present invention provides an electrical appliance positioning method, system, storage medium, electrical appliance and home system, which position a target electrical appliance through at least 2 reference electrical appliances, that is, determine the position of the target electrical appliance from multiple different directions, thereby implementing accurate positioning of the target electrical appliance, improving positioning accuracy, and without a networked GPS, the user's requirement for high-accuracy positioning can still be met in a state of a poor GPS signal.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (13)
1. A method of appliance localization, comprising:
acquiring first position information of a target electrical appliance relative to each reference electrical appliance;
acquiring second position information of each reference electrical appliance;
determining the position of the target electrical appliance according to the first position information and the second position information;
wherein the number of the reference electrical appliances is not less than 2;
acquiring first position information of the target electrical appliance relative to each reference electrical appliance, wherein the first position information comprises:
establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin;
acquiring corresponding first coordinates of the target electrical appliance in each first coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance;
determining first position information of the target electrical appliance relative to the reference electrical appliances according to the first coordinates; alternatively, the first and second electrodes may be,
acquiring first position information of the target electrical appliance relative to each reference electrical appliance, wherein the first position information comprises:
establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin;
acquiring corresponding first coordinates of the target electrical appliance in each first coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance;
establishing a second coordinate system by taking the position of the target electrical appliance as a coordinate origin;
acquiring corresponding second coordinates of each reference electrical appliance in the second coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance;
and determining first position information of the target electrical appliance relative to the reference electrical appliances according to the first coordinate and the second coordinate.
2. The method of claim 1, wherein obtaining second location information of each of the reference appliances comprises:
establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin;
acquiring corresponding third coordinates of the reference electrical appliances in all the first coordinate systems according to the second relative position relationship among the reference electrical appliances;
and determining second position information of each reference electric appliance according to the third coordinates.
3. The method of appliance positioning according to claim 2, wherein the first relative positional relationship, and/or the second relative positional relationship comprises: location range, directional relationships, motion trends, and/or distance relationships.
4. The appliance location method of claim 3,
obtaining the position range through WIFI positioning;
acquiring the direction relation through infrared positioning;
acquiring the motion trend through infrared positioning; and/or the presence of a gas in the gas,
and obtaining the distance relation through Bluetooth positioning.
5. The method for locating an appliance according to any one of claims 1 to 4, wherein obtaining first location information between the target appliance and each of the reference appliances comprises:
and acquiring first position information between the target electrical appliance and each reference electrical appliance through a positioning component on each reference electrical appliance.
6. A system for appliance location, comprising:
the first positioning module is used for acquiring first position information of the target electrical appliance relative to each reference electrical appliance;
the second positioning module is used for acquiring second position information of each reference electric appliance;
the processing module is used for determining the position of the target electric appliance according to the first position information and the second position information;
wherein the number of the reference electrical appliances is not less than 2;
the first positioning module acquires first position information of the target electrical appliance relative to each reference electrical appliance, and comprises:
establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin;
acquiring corresponding first coordinates of the target electrical appliance in each first coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance;
determining first position information of the target electrical appliance relative to the reference electrical appliances according to the first coordinates; alternatively, the first and second electrodes may be,
the first positioning module acquires first position information of the target electrical appliance relative to each reference electrical appliance, and comprises:
establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin;
acquiring corresponding first coordinates of the target electrical appliance in each first coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance;
establishing a second coordinate system by taking the position of the target electrical appliance as a coordinate origin;
acquiring corresponding second coordinates of each reference electrical appliance in the second coordinate system according to the first relative position relation between the target electrical appliance and each reference electrical appliance;
and determining first position information of the target electrical appliance relative to the reference electrical appliances according to the first coordinate and the second coordinate.
7. The system for appliance location according to claim 6, wherein obtaining second location information for each of the reference appliances comprises:
establishing a corresponding first coordinate system by taking the position of each reference electrical appliance as a coordinate origin;
acquiring corresponding third coordinates of the reference electrical appliances in all the first coordinate systems according to the second relative position relationship among the reference electrical appliances;
and determining second position information of each reference electric appliance according to the third coordinates.
8. The appliance positioning system of claim 7,
the first relative positional relationship, and/or the second relative positional relationship comprise: location range, directional relationships, motion trends, and/or distance relationships.
9. The appliance positioning system of claim 8,
obtaining the position range through WIFI positioning;
acquiring the direction relation through infrared positioning;
acquiring the motion trend through infrared positioning; and/or the presence of a gas in the gas,
and obtaining the distance relation through Bluetooth positioning.
10. The system for locating electrical appliances according to any one of claims 6 to 9, wherein the first locating module obtains first location information between the target electrical appliance and each of the reference electrical appliances, and comprises:
and acquiring first position information between the target electrical appliance and each reference electrical appliance through a positioning component on each reference electrical appliance.
11. A storage medium having stored thereon a program which, when executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
12. A home system comprising a processor, a memory, and a program stored on the memory and operable on the processor, the processor implementing the steps of the method of any one of claims 1 to 5 when executing the program.
13. A home system comprising a system as claimed in any one of claims 6 to 10.
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| CN111413721B (en) * | 2020-01-14 | 2022-07-19 | 华为技术有限公司 | Vehicle positioning method, device, controller, intelligent vehicle and system |
| CN112068079A (en) * | 2020-08-28 | 2020-12-11 | 森思泰克河北科技有限公司 | Defense area dividing method and device for security radar, terminal and storage medium |
| CN112462616B (en) * | 2020-11-02 | 2022-10-28 | 青岛海尔空调器有限总公司 | Control method and control device for shared household electrical appliance |
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| CN113112729B (en) * | 2021-03-29 | 2023-01-13 | 青岛海尔空调器有限总公司 | Air conditioner with fire monitoring function and fire monitoring method |
| CN113498015A (en) * | 2021-07-05 | 2021-10-12 | 上海上实龙创智能科技股份有限公司 | Method, device, equipment and storage medium for acquiring building node position |
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