CN109581292A - The bearing measuring method and device of intelligentized Furniture - Google Patents
The bearing measuring method and device of intelligentized Furniture Download PDFInfo
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- CN109581292A CN109581292A CN201811286489.8A CN201811286489A CN109581292A CN 109581292 A CN109581292 A CN 109581292A CN 201811286489 A CN201811286489 A CN 201811286489A CN 109581292 A CN109581292 A CN 109581292A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000004891 communication Methods 0.000 claims abstract description 151
- 238000005259 measurement Methods 0.000 claims abstract description 4
- 239000013598 vector Substances 0.000 claims description 95
- 238000000691 measurement method Methods 0.000 claims description 6
- 238000012935 Averaging Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 238000010408 sweeping Methods 0.000 description 19
- 230000005540 biological transmission Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
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- 230000001174 ascending effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the present invention provides the bearing measuring method and device of a kind of intelligentized Furniture, belongs to intelligentized Furniture technical field.This method comprises: obtaining first orientation information and second orientation information；Wherein, first orientation information and second orientation information are used to indicate the locating orientation of intelligentized Furniture indoors, first orientation information is that more than two communication devices based on setting inside intelligentized Furniture are obtained, and second orientation information is obtained based on the azimuthal measurement apparatus being arranged inside intelligentized Furniture；According to first orientation information and second orientation information, the orientation of intelligentized Furniture is determined.Due to that can determine first orientation information according to the mode of communication positioning, and second orientation information can be determined by way of specifically measuring, and can also be comprehensive by the two, to determine the orientation of intelligentized Furniture, so as to accurately determine the orientation of intelligentized Furniture, and efficiency is higher.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent furniture, in particular to a method and a device for measuring the direction of the intelligent furniture.
Background
At present, intelligent furniture is increasingly popularized, such as an intelligent floor sweeping robot, a movable intelligent air purifier, an intelligent sound box and the like. In movable smart furniture, it is sometimes desirable to determine a particular orientation of the smart furniture. For example, if the intelligent sweeping robot needs to sweep a specific indoor area, the intelligent sweeping robot needs to be positioned to adjust the current position of the intelligent sweeping robot. Meanwhile, the current orientation of the intelligent sweeping robot is determined so as to determine the turning direction of the next movement of the intelligent sweeping robot according to the movement route. Taking a sweeping robot as an example, the current sweeping robot usually changes a moving route continuously in a moving collision mode, that is, the current direction of the sweeping robot cannot be measured, and the mode has a large recognition computation amount and is easy to make mistakes. Therefore, a method for measuring the orientation of smart furniture is urgently needed.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention provide an orientation measurement method and apparatus for smart furniture, which overcome the above problems or at least partially solve the above problems.
According to a first aspect of the embodiments of the present invention, there is provided an orientation measurement method for intelligent furniture, including:
acquiring first azimuth information and second azimuth information; the intelligent furniture indoor positioning system comprises a positioning device, a positioning device and a positioning module, wherein the positioning device is used for positioning the intelligent furniture indoors, and the positioning device is used for positioning the intelligent furniture indoors;
and determining the orientation of the intelligent furniture according to the first orientation information and the second orientation information.
According to the method provided by the embodiment of the invention, the direction of the intelligent furniture is determined according to the first direction information and the second direction information by acquiring the first direction information and the second direction information. The first orientation information can be determined according to a communication positioning mode, the second orientation information can be determined through a specific measuring mode, and the first orientation information and the second orientation information can be combined to determine the orientation of the intelligent furniture, so that the orientation of the intelligent furniture can be determined accurately, and the efficiency is high.
According to a second aspect of the embodiments of the present invention, there is provided an orientation measuring apparatus of smart furniture, including:
the acquisition module is used for acquiring first azimuth information and second azimuth information; the intelligent furniture indoor positioning system comprises a positioning device, a positioning device and a positioning module, wherein the positioning device is used for positioning the intelligent furniture indoors, and the positioning device is used for positioning the intelligent furniture indoors;
and the determining module is used for determining the orientation of the intelligent furniture according to the first orientation information and the second orientation information.
According to a third aspect of embodiments of the present invention, there is provided an electronic apparatus, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the method for measuring the orientation of the intelligent furniture provided by any one of the various possible implementations of the first aspect.
According to a fourth aspect of the present invention, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of orientation measurement of smart furniture provided in any one of the various possible implementations of the first aspect.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of embodiments of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of an orientation measurement method for intelligent furniture according to an embodiment of the present invention;
fig. 2 is a schematic plan view of an intelligent furniture provided by an embodiment of the present invention in a room;
fig. 3 is a schematic indoor perspective view of an intelligent furniture provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an orientation measuring device for intelligent furniture according to an embodiment of the present invention;
fig. 5 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present 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.
At present, intelligent furniture is increasingly popularized, such as an intelligent floor sweeping robot, a movable intelligent air purifier, an intelligent sound box and the like. In movable smart furniture, it is sometimes desirable to determine a particular orientation of the smart furniture. For example, if the intelligent sweeping robot needs to sweep a specific indoor area, the intelligent sweeping robot needs to be positioned to adjust the current position of the intelligent sweeping robot. Meanwhile, the current orientation of the intelligent sweeping robot is determined so as to determine the turning direction of the next movement of the intelligent sweeping robot according to the movement route. Taking a sweeping robot as an example, the current sweeping robot usually changes a moving route continuously in a moving collision mode, that is, the current direction of the sweeping robot cannot be measured, and the mode has a large recognition computation amount and is easy to make mistakes. Therefore, a method for measuring the orientation of smart furniture is urgently needed.
In view of the above situation, an embodiment of the present invention provides an orientation measurement method for intelligent furniture. The method can be applied to intelligent furniture which can move indoors, and the method comprises but is not limited to a sweeping robot, a home server robot and the like. Referring to fig. 1, the method includes:
101. acquiring first azimuth information and second azimuth information; the first orientation information and the second orientation information are used for indicating the indoor orientation of the intelligent furniture, the first orientation information is obtained based on more than two communication devices arranged inside the intelligent furniture, and the second orientation information is obtained based on an orientation measuring device arranged inside the intelligent furniture.
When describing the position of the smart furniture in a room, a coordinate system may be established in the room. For example, taking the shape of a room as a cuboid as an example, a coordinate system can be established by taking one vertex of the cuboid as a coordinate origin, so as to determine vectors formed between the position of the smart furniture and the coordinate origin, which are respectively included angles with coordinate axes and serve as orientation information. Additionally, the orientation information may also include a distance between the smart furniture and the origin of coordinates. Of course, besides the above mentioned manner of the included angle and the distance to indicate the indoor location of the smart furniture, the indoor location of the smart furniture may also be indicated by other manners, which is not specifically limited in the embodiment of the present invention. When the first orientation information is acquired, more than two communication devices can be arranged in the intelligent furniture in advance, so that the first orientation information can be acquired in a communication positioning mode. When the second orientation information is acquired, an orientation measuring device may be previously arranged inside the smart furniture, so as to determine the indoor orientation of the smart furniture.
102. And determining the orientation of the intelligent furniture according to the first orientation information and the second orientation information.
The first azimuth information and the second azimuth information can be obtained through the 101, and the azimuth of the intelligent furniture can be obtained by integrating the first azimuth information and the second azimuth information. It should be noted that, when the first orientation information and the second orientation information indicate the indoor position of the smart furniture, the first orientation information and the second orientation information may be indicated in the same manner or different manners, and this is not particularly limited in the embodiment of the present invention. For example, both may represent the orientation of the smart furniture within the room by way of distance and angle.
According to the method provided by the embodiment of the invention, the direction of the intelligent furniture is determined according to the first direction information and the second direction information by acquiring the first direction information and the second direction information. The first orientation information can be determined according to a communication positioning mode, the second orientation information can be determined through a specific measuring mode, and the first orientation information and the second orientation information can be combined to determine the orientation of the intelligent furniture, so that the orientation of the intelligent furniture can be determined accurately, and the efficiency is high.
According to the embodiment, more than two communication devices can be arranged inside the intelligent furniture, so that the intelligent furniture can be positioned in a communication positioning mode. Taking an example in which two communication devices are disposed inside an intelligent furniture, as shown in fig. 2, fig. 2 is a schematic top view of the intelligent furniture in an indoor environment. In fig. 2, two communication devices, i.e., a communication device a and a communication device b, are provided in the home service robot. The communication device a is arranged at the front end of the front surface of the robot, and the communication device b is arranged at the tail end of the back surface of the robot. It should be noted that the position of the communication device inside the intelligent furniture may be set at will, and the embodiment of the present invention is not limited to this specifically. Taking the intelligent furniture as an example of a symmetrical structure, in order to facilitate subsequent calculation of the position of the intelligent furniture, two communication devices may be disposed on a central axis of the intelligent furniture, which is not particularly limited in this embodiment of the present invention, and a specific disposition manner may refer to fig. 2. In addition, fig. 3 is a perspective view of the smart furniture in an indoor environment. As shown in FIG. 3, two communication devices are arranged at the front end and the rear end of the bottom of the intelligent furniture, and the two communication devices are positioned on the central axis of the intelligent furniture. For the convenience of subsequent calculation, the following embodiments are based on the arrangement of the communication device inside the smart furniture in fig. 2 and 3 when calculating the position of the smart furniture.
Based on the above description and the content of the above embodiments, as an alternative embodiment, two communication devices are arranged inside the intelligent furniture; accordingly, the embodiment of the present invention does not specifically limit the manner of obtaining the first azimuth information, and includes but is not limited to: establishing a coordinate system based on the indoor environment of the intelligent furniture, and respectively acquiring coordinate information of the two communication devices in the coordinate system; first orientation information is determined based on coordinate information of the two communication devices.
The process of establishing the coordinate system may refer to the contents of the above embodiments, and will not be described herein again. After coordinate information of the two communication devices in the coordinate system is acquired through a communication positioning mode, the representing direction of the intelligent position can be represented according to a preset representing mode, and therefore first direction information is obtained. For example, taking the preset representation as the representation of the distance and the included angle as an example, the distance between the smart furniture and the origin of coordinates can be obtained from the coordinate information of the two communication devices, and the included angle between the front orientation of the smart furniture and each coordinate axis can be obtained as the first orientation information.
In addition, when determining the first orientation information, the embodiment of the invention determines the first orientation information by arranging two communication devices inside the intelligent furniture and by means of communication positioning. In an actual implementation process, the number of the communication devices arranged inside the intelligent furniture may also be more than two, and this is not specifically limited in the embodiment of the present invention. In the case that more than two communication devices are arranged inside the intelligent furniture, the first orientation information can be determined by averaging the coordinate information. For convenience of understanding, taking the number of the communication devices arranged inside the intelligent furniture as 3 as an example, and the first communication device, the second communication device and the third communication device respectively, the coordinate information of the second communication device and the coordinate information of the third communication device can be averaged to obtain average coordinate information. Based on the average coordinate information and the coordinate information of the first communication device, first orientation information may be determined. Of course, in the actual implementation process, the average of every two may also be taken, which is not limited in the embodiment of the present invention. For the convenience of subsequent calculation, the subsequent embodiments are all based on the arrangement of two communication devices inside the smart furniture, and the arrangement of the communication devices inside the smart furniture in fig. 2 and 3 is taken as a basis.
To facilitate understanding why the first orientation information is determined from the coordinate information of the two communication devices. The principle of determining the first orientation information will now be briefly described, taking as an example that the coordinate information of the two communication devices is two-dimensional coordinate information (the coordinate on the Z axis is not considered for the moment), and the position of the smart furniture in the room is as shown in fig. 2. Fig. 2 is a schematic top view of the smart furniture in an indoor environment, and in fig. 2, the smart furniture is a symmetrical structure, and the two communication devices are located on a central axis of the smart furniture, and the central axis is perpendicular to the front surface of the smart furniture. The communication device b is located at the front end of the intelligent furniture, namely at one end of the front face of the intelligent furniture, and the communication device a is located at the tail end of the intelligent furniture, namely at one end of the back face of the intelligent furniture.
As shown in FIG. 2, according to the coordinate information of the two communication devices, the connection line between the two communication devices forms an included angle of β with the indoor coordinate axis Y, the connection line between the two communication devices is the central axis of the intelligent furniture, the central axis is perpendicular to the front surface of the intelligent furniture, if the positive direction of the indoor coordinate axis Y is taken as a reference, the intelligent furniture is rotated by β degrees counterclockwise, if the positive direction of the indoor coordinate axis X is taken as a reference, the intelligent furniture is rotated by (90+ β) degrees counterclockwise, the information is enough to describe the indoor orientation of the intelligent furniture.
It should be noted that the above description does not consider the coordinates of the smart furniture in the Z-axis. However, in practice, smart furniture may be moved up or down a slope. At this time, the orientation of the smart furniture is raised upward or lowered downward, not limited to the rotation in the XY axis plane in the above description. Similar to the above description, only the included angle between the connecting line between the two communication devices and the indoor coordinate axis Z needs to be determined, so that the direction of the intelligent furniture can be determined to be raised or lowered.
Based on the content of the foregoing embodiment, as an alternative embodiment, the embodiment of the present invention does not specifically limit the manner of respectively acquiring the coordinate information of the two communication apparatuses in the coordinate system, and the method includes, but is not limited to: for any one of the two communication devices, receiving a wireless signal transmitted by each transmitter in a preset number of transmitters through any one communication device to obtain a positioning parameter; the preset number is not less than 3, and each emitter is installed indoors and is separated from the intelligent furniture; and determining the distance between any communication device and each transmitter according to the positioning parameters, and determining the coordinate information of any communication device according to the distance between any communication device and each transmitter.
For any communication device, the communication device may receive the wireless signals transmitted by each transmitter. The wireless signal transmitted by each transmitter at least carries the transmission time information when each transmitter transmits the wireless signal. Accordingly, the positioning parameters may include at least transmission time information for each transmitter when transmitting a wireless signal and reception time information for the communication device when receiving the wireless signal transmitted by each transmitter. Since the transmission speed of the wireless signal is known, the distance between the communication device and the transmitter can be determined according to the transmission time information, the reception time information and the transmission speed of the electromagnetic wave. In the same manner, the distance between the other communication device and each transmitter may be determined.
It should be noted that the communication device may also transmit a wireless signal to each transmitter and receive a wireless signal returned by each transmitter, where the wireless signal returned by each transmitter carries at least a processing signal duration of each transmitter. Correspondingly, the positioning parameters at least comprise transmitting time information when the communication module transmits the wireless signals, receiving time information when the communication device receives the wireless signals returned by each transmitter, and signal processing duration corresponding to each transmitter. And subtracting the signal processing duration from the receiving time information, and subtracting the transmitting time information to obtain the time difference between the time when the communication device transmits the wireless signal to the transmitter and the time when the intelligent furniture receives the wireless signal returned by the transmitter. Based on the time difference and the propagation speed of the electromagnetic wave, the distance between the communication device and each transmitter can be determined. In the same manner, the distance between the other communication device and each transmitter may be determined.
After the distance between the communication device and each transmitter is determined, the coordinate information of the communication device can be determined by a triangulation method because the number of the transmitters is at least 3. It should be noted that the installation position of the emitter may be four corners of the indoor roof, and the embodiment of the present invention is not limited to this. Taking the preset number of 3, that is, the number of the transmitters is 3, and three transmitters are located at three corners of the ceiling as an example, when the position of the intelligent furniture is determined by using the triangulation method, the calculated coordinate information may have two, that is, two upper and lower coordinate information using the ceiling as a symmetric plane. One of the coordinate information is the coordinate information that is located in the room, i.e. is the actual coordinate information of the communication device. In addition, the coordinate information of the communication device may be three-dimensional coordinate information, which is not particularly limited in this embodiment of the present invention.
The method provided by the embodiment of the invention obtains the positioning parameters by receiving the wireless signals transmitted by each transmitter by the communication device. And determining the distance between the communication device and each transmitter according to the positioning parameters, and determining the coordinate information of the communication device according to the distance between the communication device and each transmitter. Since the positional information of the communication device in the room can be determined relatively easily, the amount of calculation for recognition can be reduced and the recognition accuracy can be improved.
Based on the content of the foregoing embodiment, as an alternative embodiment, the embodiment of the present invention does not specifically limit the manner of determining the first orientation information according to the coordinate information of the two communication apparatuses, and includes but is not limited to: obtaining a first vector according to the coordinate information of one of the two communication devices and the origin of coordinates of the coordinate system, and obtaining a second vector according to the coordinate information of the other of the two communication devices and the origin of coordinates; and obtaining a third vector according to the first vector and the second vector, and determining first orientation information according to the third vector, wherein the first orientation information at least comprises an included angle between the third vector and each coordinate axis in a coordinate system.
It should be noted that, because the communication device is disposed in the smart furniture, the coordinate information of the smart furniture can also be determined according to the coordinate information of the two communication devices. Accordingly, the first orientation information may include, in addition to the orientation used for representing the smart furniture, that is, the included angle between the third vector and each coordinate axis in the coordinate system, coordinate information of the smart furniture, which is not limited in this embodiment of the present invention.
Based on the content of the above embodiments, as an optional embodiment, the azimuth measuring device at least comprises an electronic compass and a gravity sensor; correspondingly, the second orientation information at least comprises an included angle between an orientation vector and each coordinate axis in a coordinate system, the coordinate system is established based on the indoor environment where the intelligent furniture is located, and the orientation vector is a vector formed by a connecting line between the intelligent furniture and the coordinate origin of the coordinate system.
Wherein the electronic compass can measure the planar steering of the smart furniture relative to the earth's ground level, and the planar steering of the room relative to the earth's ground level is known, such that the planar steering of the smart furniture relative to the room's ground level can be determined. Namely, a coordinate system is established based on the indoor environment where the intelligent furniture is located, and the orientation vector formed by the position where the intelligent furniture is located and the origin of coordinates can be determined, and the included angles between the orientation vector and the X axis and the included angles between the orientation vector and the Y axis are determined. The gravity sensor can measure the included angle between the orientation vector and the Z axis. In addition, the intelligent furniture can also comprise a position measuring device, and coordinate information of the intelligent furniture can be measured through the position measuring device.
It should be noted that, for the included angle between the smart furniture and the Z-axis, when the smart furniture is inclined for ascending or descending or for some reason, the value of the included angle changes. It should be noted that the change of the included angle can only be a small range, and the range of the change exceeds a certain value, such as 15 degrees or 30 degrees, which indicates that the smart furniture is likely to be about to topple.
It can be known from the content of the above embodiment that the second orientation information at least includes an included angle between the orientation vector and each coordinate axis in the coordinate system, and the orientation vector is a vector formed by a connection line between the intelligent furniture and the origin of coordinates of the coordinate system. Accordingly, based on the content of the foregoing embodiment, as an optional embodiment, the embodiment of the present invention does not specifically limit the manner of determining the orientation of the smart furniture according to the first orientation information and the second orientation information, which includes but is not limited to: and averaging the included angle between the third vector and each coordinate axis and the included angle between the orientation vector and each coordinate axis to obtain an average included angle between the third vector and each coordinate axis.
Specifically, as can be seen from the above description of the embodiments, the first orientation information at least includes an angle between the third vector and each coordinate axis, that is, an angle between the. And the second orientation information also includes angles between the orientation vector and the X-axis, the Y-axis and the Z-axis respectively. Therefore, the included angles corresponding to the two can be averaged, so as to obtain the average included angle between each coordinate axis. In addition, both the first orientation information and the second orientation information can also comprise coordinate information of the intelligent furniture, so that the coordinate information of the intelligent furniture and the second orientation information can be averaged.
It can be known from the content of the above embodiment that the second orientation information at least includes an included angle between the orientation vector and each coordinate axis in the coordinate system, and the orientation vector is a vector formed by a connection line between the intelligent furniture and the origin of coordinates of the coordinate system. Accordingly, based on the content of the foregoing embodiment, as an optional embodiment, the embodiment of the present invention does not specifically limit the manner of determining the orientation of the smart furniture according to the first orientation information and the second orientation information, which includes but is not limited to: calculating reference coordinate information of the other communication device of the two communication devices according to the coordinate information of one communication device of the two communication devices and an included angle between the orientation vector and each coordinate axis in the coordinate system; calculating average coordinate information of the other communication apparatus based on the coordinate information of the other communication apparatus and the reference coordinate information of the other communication apparatus; and obtaining a fourth vector according to the coordinate information of one communication device and the average coordinate information of the other communication device, and obtaining an included angle between the fourth vector and each coordinate axis.
Specifically, since the relative orientation and distance between two communication devices are determined, the reference coordinate information of the other communication device can be calculated according to the coordinate information of one communication device and the included angle between the orientation vector and each coordinate axis in the coordinate system. And the coordinate information of the other communication apparatus is included in the first orientation information, so that the average coordinate information of the other communication apparatus can be obtained by averaging the coordinate information of the other communication apparatus and the reference coordinate information of the other communication apparatus. Further, a fourth vector may be obtained according to the coordinate information of one communication device and the average coordinate information of another communication device, and an angle between the fourth vector and each coordinate axis may be obtained. That is, the first orientation information at least includes an angle between the fourth vector and each coordinate axis.
In addition, the coordinate information of one communication device and the average coordinate information of the other communication device can be averaged to obtain the coordinate information of the intelligent furniture. Accordingly, the first orientation information may further include coordinate information of the smart furniture.
It can be known from the content of the above embodiment that the second orientation information at least includes an included angle between the orientation vector and each coordinate axis in the coordinate system, and the orientation vector is a vector formed by a connection line between the intelligent furniture and the origin of coordinates of the coordinate system. Accordingly, based on the content of the foregoing embodiment, as an optional embodiment, the embodiment of the present invention does not specifically limit the manner of determining the orientation of the smart furniture according to the first orientation information and the second orientation information, which includes but is not limited to: calculating reference coordinate information of the other communication device of the two communication devices according to the coordinate information of one communication device of the two communication devices and an included angle between the orientation vector and each coordinate axis in the coordinate system; determining a reference vector according to the coordinate information of the other communication device and the reference coordinate information of the other communication device; and determining a bisector vector according to the third vector and the reference vector, and obtaining an included angle between the bisector vector and each coordinate axis, wherein the bisector vector bisects the included angle formed between the third vector and the reference vector.
The length of the bisector vector, the length of the third vector and the length of the reference vector are the same, and the bisector vector bisects an included angle formed between the third vector and the reference vector.
Based on the content of the above embodiments, the embodiment of the present invention provides an orientation measurement apparatus for an intelligent furniture, the apparatus being configured to execute the orientation measurement method for an intelligent furniture in the above method embodiments. Referring to fig. 4, the apparatus includes: an acquisition module 401 and a determination module 402; wherein,
an obtaining module 401, configured to obtain first azimuth information and second azimuth information; the intelligent furniture indoor positioning system comprises a positioning device, a positioning device and a positioning module, wherein the positioning device is used for positioning the intelligent furniture indoors, and the positioning device is used for positioning the intelligent furniture indoors;
a determining module 402, configured to determine the orientation of the intelligent furniture according to the first orientation information and the second orientation information.
Based on the content of the above embodiment, as an optional embodiment, two communication devices are arranged inside the intelligent furniture; accordingly, the obtaining module 401 includes:
the acquisition unit is used for establishing a coordinate system based on the indoor environment where the intelligent furniture is located and respectively acquiring coordinate information of the two communication devices in the coordinate system;
and the determining unit is used for determining the first orientation information according to the coordinate information of the two communication devices.
Based on the content of the foregoing embodiment, as an optional embodiment, the obtaining unit is configured to, for any one of the two communication devices, receive, by the any one communication device, the wireless signal transmitted by each transmitter of the preset number of transmitters, and obtain the positioning parameter; the preset number is not less than 3, and each emitter is installed indoors and is separated from the intelligent furniture; and determining the distance between any communication device and each transmitter according to the positioning parameters, and determining the coordinate information of any communication device according to the distance between any communication device and each transmitter.
Based on the content of the foregoing embodiment, as an optional embodiment, the determining unit is configured to obtain a first vector according to the coordinate information of one of the two communication devices and the origin of coordinates of the coordinate system, and obtain a second vector according to the coordinate information of the other of the two communication devices and the origin of coordinates; and obtaining a third vector according to the first vector and the second vector, and determining first orientation information according to the third vector, wherein the first orientation information at least comprises an included angle between the third vector and each coordinate axis in a coordinate system.
Based on the content of the above embodiments, as an optional embodiment, the azimuth measuring device at least comprises an electronic compass and a gravity sensor; correspondingly, the second orientation information at least comprises an included angle between an orientation vector and each coordinate axis in a coordinate system, the coordinate system is established based on the indoor environment where the intelligent furniture is located, and the orientation vector is a vector formed by a connecting line between the intelligent furniture and the coordinate origin of the coordinate system.
Based on the content of the above embodiment, as an optional embodiment, the second orientation information at least includes an included angle between an orientation vector and each coordinate axis in the coordinate system, and the orientation vector is a vector formed by a connection line between the intelligent furniture and a coordinate origin of the coordinate system; correspondingly, the determining module 402 is configured to average an included angle between the third vector and each coordinate axis and an included angle between the orientation vector and each coordinate axis to obtain an average included angle between each coordinate axis and the third vector.
Based on the content of the above embodiment, as an optional embodiment, the second orientation information at least includes an included angle between an orientation vector and each coordinate axis in the coordinate system, and the orientation vector is a vector formed by a connection line between the intelligent furniture and a coordinate origin of the coordinate system; correspondingly, the determining module 402 is configured to calculate reference coordinate information of one of the two communication devices according to the coordinate information of the other of the two communication devices and an included angle between the orientation vector and each coordinate axis in the coordinate system; calculating average coordinate information of the other communication apparatus based on the coordinate information of the other communication apparatus and the reference coordinate information of the other communication apparatus; and obtaining a fourth vector according to the coordinate information of one communication device and the average coordinate information of the other communication device, and obtaining an included angle between the fourth vector and each coordinate axis.
According to the device provided by the embodiment of the invention, the direction of the intelligent furniture is determined according to the first direction information and the second direction information by acquiring the first direction information and the second direction information. The first orientation information can be determined according to a communication positioning mode, the second orientation information can be determined through a specific measuring mode, and the first orientation information and the second orientation information can be combined to determine the orientation of the intelligent furniture, so that the orientation of the intelligent furniture can be determined accurately, and the efficiency is high.
Fig. 5 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor)510, a communication Interface (Communications Interface)520, a memory (memory)530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. Processor 510 may call logic instructions in memory 530 to perform the following method: acquiring first azimuth information and second azimuth information; the intelligent furniture indoor positioning system comprises a positioning device, a positioning device and a positioning module, wherein the positioning device is used for positioning the intelligent furniture indoors, and the positioning device is used for positioning the intelligent furniture indoors; and determining the orientation of the intelligent furniture according to the first orientation information and the second orientation information.
Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Embodiments of the present invention further provide a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the method provided in the foregoing embodiments when executed by a processor, and the method includes: acquiring first azimuth information and second azimuth information; the intelligent furniture indoor positioning system comprises a positioning device, a positioning device and a positioning module, wherein the positioning device is used for positioning the intelligent furniture indoors, and the positioning device is used for positioning the intelligent furniture indoors; and determining the orientation of the intelligent furniture according to the first orientation information and the second orientation information.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An orientation measurement method of intelligent furniture is characterized by comprising the following steps:
acquiring first azimuth information and second azimuth information; the first orientation information and the second orientation information are used for representing the indoor orientation of the intelligent furniture, the first orientation information is obtained based on more than two communication devices arranged inside the intelligent furniture, and the second orientation information is obtained based on an orientation measuring device arranged inside the intelligent furniture;
and determining the orientation of the intelligent furniture according to the first orientation information and the second orientation information.
2. The method of claim 1, wherein two communication devices are provided inside the smart furniture; accordingly, the acquiring the first orientation information includes:
establishing a coordinate system based on the indoor environment of the intelligent furniture, and respectively acquiring coordinate information of the two communication devices in the coordinate system;
and determining the first orientation information according to the coordinate information of the two communication devices.
3. The method of claim 2, wherein the separately obtaining the coordinate information of the two communication devices in the coordinate system comprises:
for any one of the two communication devices, receiving a wireless signal transmitted by each transmitter in a preset number of transmitters through the any one communication device to acquire a positioning parameter; the preset number is not less than 3, and each emitter is installed indoors and is separated from the intelligent furniture;
and determining the distance between any communication device and each transmitter according to the positioning parameters, and determining the coordinate information of any communication device according to the distance between any communication device and each transmitter.
4. The method of claim 2, wherein determining the first orientation information based on the coordinate information of the two communication devices comprises:
obtaining a first vector according to the coordinate information of one of the two communication devices and the origin of coordinates of the coordinate system, and obtaining a second vector according to the coordinate information of the other of the two communication devices and the origin of coordinates;
and obtaining a third vector according to the first vector and the second vector, and determining the first orientation information according to the third vector, wherein the first orientation information at least comprises an included angle between the third vector and each coordinate axis in the coordinate system.
5. The method of claim 1, wherein the orientation measurement device comprises at least an electronic compass and a gravity sensor; correspondingly, the second orientation information at least comprises an included angle between an orientation vector and each coordinate axis in a coordinate system, the coordinate system is established based on the indoor environment where the intelligent furniture is located, and the orientation vector is formed by a connecting line between the intelligent furniture and the origin of coordinates of the coordinate system.
6. The method according to claim 4, wherein the second orientation information at least comprises an included angle between an orientation vector and each coordinate axis in the coordinate system, and the orientation vector is a vector formed by a connecting line between the intelligent furniture and a coordinate origin of the coordinate system; correspondingly, determining the orientation of the intelligent furniture according to the first orientation information and the second orientation information, including:
and averaging the included angle between the third vector and each coordinate axis and the included angle between the orientation vector and each coordinate axis to obtain an average included angle between the third vector and each coordinate axis.
7. The method according to claim 4, wherein the second orientation information at least comprises an included angle between an orientation vector and each coordinate axis in the coordinate system, and the orientation vector is a vector formed by a connecting line between the intelligent furniture and a coordinate origin of the coordinate system; correspondingly, determining the orientation of the intelligent furniture according to the first orientation information and the second orientation information, including:
calculating reference coordinate information of the other communication device of the two communication devices according to the coordinate information of one communication device of the two communication devices and an included angle between the orientation vector and each coordinate axis in the coordinate system;
calculating average coordinate information of the other communication apparatus based on the coordinate information of the other communication apparatus and the reference coordinate information of the other communication apparatus;
and obtaining a fourth vector according to the coordinate information of the communication device and the average coordinate information of the other communication device, and obtaining an included angle between the fourth vector and each coordinate axis.
8. An orientation measuring device of intelligent furniture, comprising:
the acquisition module is used for acquiring first azimuth information and second azimuth information; the first orientation information and the second orientation information are used for representing the indoor orientation of the intelligent furniture, the first orientation information is obtained based on a communication device arranged inside the intelligent furniture, and the second orientation information is obtained based on an orientation measuring device arranged inside the intelligent furniture;
and the determining module is used for determining the orientation of the intelligent furniture according to the first orientation information and the second orientation information.
9. An electronic device, comprising:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1 to 7.
10. A non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform the method of any one of claims 1 to 7.
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