CN109831738A - Intelligent device positioning method and intelligent device - Google Patents
Intelligent device positioning method and intelligent device Download PDFInfo
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- CN109831738A CN109831738A CN201910201134.2A CN201910201134A CN109831738A CN 109831738 A CN109831738 A CN 109831738A CN 201910201134 A CN201910201134 A CN 201910201134A CN 109831738 A CN109831738 A CN 109831738A
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- 238000000034 method Methods 0.000 title claims abstract description 73
- 230000002093 peripheral effect Effects 0.000 claims abstract description 102
- 238000012795 verification Methods 0.000 claims description 33
- 238000001514 detection method Methods 0.000 claims description 27
- 230000004807 localization Effects 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 24
- 230000015654 memory Effects 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000000284 extract Substances 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 3
- 241001062009 Indigofera Species 0.000 claims 1
- 238000001914 filtration Methods 0.000 claims 1
- 238000007689 inspection Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 10
- 230000002159 abnormal effect Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000002360 preparation method Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
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Classifications
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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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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
-
- 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
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The embodiment of the invention relates to the technical field of positioning, and discloses a positioning method of intelligent equipment and the intelligent equipment, wherein the method comprises the following steps: when receiving a positioning request, executing a Bluetooth scanning operation to obtain a Bluetooth scanning result; wherein, the Bluetooth scanning result comprises the identity marks of a plurality of peripheral devices; determining target equipment from a plurality of peripheral equipment; the target equipment is positioned by the target equipment recently according to the position information of the target equipment; acquiring position information of target equipment; acquiring the distance between the intelligent device and the target device and the relative position of the intelligent device and the target device in a Bluetooth mode; and calculating the position information of the intelligent device according to the position information of the target device, the distance between the intelligent device and the target device and the relative direction of the intelligent device and the target device. By implementing the embodiment of the invention, the intelligent equipment can be positioned without depending on a positioning server, and the positioning process is not influenced by a network, so that the positioning experience is improved.
Description
Technical field
The present invention relates to field of locating technology more particularly to the localization methods and smart machine of a kind of smart machine.
Background technique
Currently, many smart machines (such as smartwatch) are needed through network in positioning to location-server on the market
(such as Baidu's server) initiates Location Request, to obtain the location information of location-server (such as Baidu's server) feedback.However,
The location-server in practice, it has been found that above-mentioned positioning method not only needs to rely on, and position fixing process is also easy to by net
The influence of network exception, to reduce positioning experience sense.
Summary of the invention
The embodiment of the invention discloses a kind of localization method of smart machine and smart machines, can be without relying on positioning
The positioning to smart machine is realized in the case where server, position fixing process is not influenced by network, to promote positioning experience sense.
First aspect of the embodiment of the present invention discloses a kind of localization method of smart machine, which comprises
Smart machine executes bluetooth scan operation, when receiving Location Request to obtain bluetooth scanning result；Wherein, institute
State the identity that bluetooth scanning result includes several peripheral equipments；
The smart machine determines target device from several described peripheral equipments；Wherein, the target device is most
Closely positioned the location information of the target device；
The smart machine obtains the location information of the target device；
The smart machine by bluetooth approach obtain the distance between the smart machine and the target device and
The relative bearing of the smart machine and the target device；
The smart machine is according between the location information, the smart machine and the target device of the target device
Distance and the relative bearing of the smart machine and the target device calculate the location information of the smart machine.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the identity mark of the peripheral equipment
Know the address bluetooth Mac for including at least the peripheral equipment；The smart machine is determined from several described peripheral equipments
Target device, comprising:
The smart machine is filtered out according to the address bluetooth Mac of the peripheral equipment from several described peripheral equipments
Several legal peripheral equipments；
The smart machine chooses the legal periphery for positioning location information recently from several legal peripheral equipments
Equipment is determined as target device.
As an alternative embodiment, in first aspect of the embodiment of the present invention, in the smart machine from described
After determining target device in several peripheral equipments, the method also includes:
The smart machine sends the place information inquiry request for the target device to the target device, described
Place information inquiry request includes at least the identity information of the smart machine owning user；
The smart machine obtains the instruction information that the target device is sent, and the instruction information is the target device
It is sent after being verified to the identity information of the smart machine owning user, the instruction information is used to indicate detection
Whether the network signal intensity of the smart machine is lower than preset threshold；
The smart machine according to the instruction information, detect the smart machine network signal intensity whether be lower than it is pre-
If threshold value；
If so, the smart machine sends network signal information to the target device, and in the target device
When sending the location information of the target device to the smart machine, the location information for obtaining the target device is executed
The step of；Wherein, the network signal information is used to indicate the network signal intensity of the smart machine lower than preset threshold.
As an alternative embodiment, in first aspect of the embodiment of the present invention, in the smart machine to described
After target device sends network signal information, the method also includes:
The smart machine obtains the hotspot list and hot spot verification instruction information of the target device push, the hot spot
List includes the hot information for all hot spots that the target device connected, and the hot spot verification instruction information is used to indicate school
Any one hot spot connected with the presence or absence of the smart machine is tested to match with the hot spot in the hotspot list；
The smart machine verifies instruction information according to the hot spot, what verification was connected with the presence or absence of the smart machine
Any one hot spot matches with the hot spot in the hotspot list；
If it does, the smart machine extracts target hot spot, the target hot spot is what the smart machine connected
Hot spot and match with a certain hot spot in the hotspot list；
The smart machine sends hot information to the target device, and sets in the target device to the intelligence
When preparation send the location information of the target device, the step of executing the location information for obtaining the target device；Wherein,
The hot information includes at least the match information that a certain hot spot matches in the target hot spot and the hotspot list.
As an alternative embodiment, the position of the target device is believed in first aspect of the embodiment of the present invention
Breath includes the positioning time of the motion track of the target device, movement speed and the location information；It is set in the intelligence
It is standby by bluetooth approach obtain the distance between the smart machine and the target device and the smart machine with it is described
After the relative bearing of target device, the method also includes:
The smart machine detects the positioning time and whether the time interval of current time is less than prefixed time interval；
If so, the smart machine execute the location information according to the target device, the smart machine with
The relative bearing of the distance between described target device and the smart machine and the target device calculates the intelligence
The step of location information of equipment；
If not, the smart machine is calculated according to the motion track, the movement speed and the time interval
The final position information of the target device out；And final position information, the smart machine according to the target device
The relative bearing of the distance between described target device and the smart machine and the target device calculates the intelligence
The location information of energy equipment.
First aspect of the embodiment of the present invention discloses a kind of smart machine, and the smart machine includes:
Bluetooth scanning element, for executing bluetooth scan operation when receiving Location Request, to obtain bluetooth scanning knot
Fruit；Wherein, the bluetooth scanning result includes the identity of several peripheral equipments；
Determination unit, for determining target device from several described peripheral equipments；Wherein, the target device is most
Closely positioned the location information of the target device；
Position acquisition unit, for obtaining the location information of the target device；
Bluetooth acquiring unit, for by bluetooth approach obtain between the smart machine and the target device away from
From and the smart machine and the target device relative bearing；
Computing unit, for according to the location information of the target device, the smart machine and the target device it
Between distance and the relative bearing of the smart machine and the target device calculate the position of the smart machine and believe
Breath.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the identity mark of the peripheral equipment
Know the address bluetooth Mac for including at least the peripheral equipment；And the determination unit includes:
Subelement is screened, for the address bluetooth Mac according to the peripheral equipment, is screened from several described peripheral equipments
Several legal peripheral equipments out；
Subelement is determined, for choosing the legal week for positioning location information recently from several legal peripheral equipments
Edge equipment is determined as target device.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the smart machine further include:
Transmission unit, in the determination unit after determining target device in several described peripheral equipments,
The place information inquiry request for the target device is sent to the target device, the place information inquiry request is at least
Identity information including the smart machine owning user；
First acquisition unit, the instruction information sent for obtaining the target device, the instruction information is the mesh
What marking device was sent after being verified to the identity information of the smart machine owning user, the instruction information is for referring to
Show whether the network signal intensity for detecting the smart machine is lower than preset threshold；
First detection unit, for according to the instruction information, detect the smart machine network signal intensity whether
Lower than preset threshold；
Information exchange unit, for detecting that the network signal intensity of the smart machine is low in the first detection unit
When preset threshold, Xiang Suoshu target device sends network signal information, and in the target device to the smart machine
When sending the location information of the target device, executes the position acquisition unit and believe for obtaining the position of the target device
Breath；Wherein, the network signal information is used to indicate the network signal intensity of the smart machine lower than preset threshold.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the smart machine further include:
Second acquisition unit, for the information exchange unit to the target device send network signal information it
Afterwards, the hotspot list and hot spot verification instruction information of the target device push are obtained, the hotspot list includes the target
The hot information for all hot spots that equipment connected, the hot spot verification instruction information are used to indicate verification with the presence or absence of the intelligence
Any one hot spot that energy equipment connected matches with the hot spot in the hotspot list；
Verification unit, for verifying instruction information according to the hot spot, verification was connected with the presence or absence of the smart machine
Any one hot spot match with the hot spot in the hotspot list；
Extraction unit, for verifying out in the verification unit, there are any one hot spots that the smart machine connected
When matching with the hot spot in the hotspot list, target hot spot is extracted, the target hot spot is that the smart machine connected
Hot spot and match with a certain hot spot in the hotspot list；
Information exchange unit is also used to send hot information to the target device, and in the target device to institute
When stating smart machine and sending the location information of the target device, executes the position acquisition unit and set for obtaining the target
Standby location information；Wherein, the hot information includes at least the target hot spot and hot spot phase a certain in the hotspot list
Matched match information.
As an alternative embodiment, the position of the target device is believed in second aspect of the embodiment of the present invention
Breath includes the positioning time of the motion track of the target device, movement speed and the location information；And the intelligence
Equipment further include:
Second detection unit, for the bluetooth acquiring unit by bluetooth approach obtain the smart machine with it is described
After the relative bearing of the distance between target device and the smart machine and the target device, the positioning is detected
Whether the time interval of time and current time is less than prefixed time interval；
The computing unit is also used to when the second detection unit detects the positioning time and current time
Between interval be less than prefixed time interval when, set according to the location information of the target device, the smart machine and the target
The relative bearing of the distance between standby and smart machine and the target device calculates the position of the smart machine
Information；And detect that the time interval of the positioning time and current time is greater than or equal in advance in the second detection unit
If when time interval, calculating the target device according to the motion track, the movement speed and the time interval
Final position information；And final position information, the smart machine and the target device according to the target device
The distance between and the relative bearing of the smart machine and the target device calculate the position of the smart machine and believe
Breath.
The third aspect of the embodiment of the present invention discloses a kind of smart machine, comprising:
It is stored with the memory of executable program code；
The processor coupled with the memory；
The processor calls the executable program code stored in the memory, executes the embodiment of the present invention the
A kind of localization method of smart machine disclosed in one side.
Fourth aspect of the embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein
The computer program makes computer execute a kind of localization method of smart machine disclosed in first aspect of the embodiment of the present invention.
The 5th aspect of the embodiment of the present invention discloses a kind of computer program product, when the computer program product is calculating
When being run on machine, so that the computer executes some or all of any one method of first aspect step.
The aspect of the embodiment of the present invention the 6th disclose a kind of using distribution platform, and the application distribution platform is for publication calculating
Machine program product, wherein when the computer program product is run on computers, so that the computer executes first party
Some or all of any one method in face step.
Compared with prior art, the embodiment of the present invention has the advantages that
In the embodiment of the present invention, when receiving Location Request, several peripheral equipments are scanned by bluetooth, from several weeks
Edge equipment determines the target device positioned recently, gets the location information of target device, then obtain by bluetooth approach
To the relative bearing of the distance between smart machine and target device and smart machine and target device, so as to basis
The distance between location information, smart machine and target device of target device and smart machine and target device it is opposite
Orientation calculates the location information of smart machine, can be without realizing in the case where relying on location-server to smart machine
Positioning, position fixing process is not influenced by network, to promote positioning experience sense.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of flow diagram of the localization method of smart machine disclosed by the embodiments of the present invention；
Fig. 2 is the flow diagram of the localization method of another smart machine disclosed by the embodiments of the present invention；
Fig. 3 is the flow diagram of the localization method of another smart machine disclosed by the embodiments of the present invention；
Fig. 4 is a kind of structural schematic diagram of smart machine disclosed by the embodiments of the present invention；
Fig. 5 is the structural schematic diagram of another smart machine disclosed by the embodiments of the present invention；
Fig. 6 is the structural schematic diagram of another smart machine disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It should be noted that the term " first ", " second " etc. in description and claims of this specification are to be used for
Different objects is distinguished, is not use to describe a particular order.The term " includes " of the embodiment of the present invention and " having " and he
Any deformation, it is intended that cover it is non-exclusive include, for example, contain the process, method of a series of steps or units,
System, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include being not clearly listed
Or the other step or units intrinsic for these process, methods, product or equipment.
The embodiment of the invention discloses a kind of localization method of smart machine and smart machines, can be without relying on positioning
The positioning to smart machine is realized in the case where server, position fixing process is not influenced by network, to promote positioning experience sense.With
Lower combination attached drawing, is described in detail from smart machine angle.
Embodiment one
Referring to Fig. 1, Fig. 1 is a kind of flow diagram of the localization method of smart machine disclosed by the embodiments of the present invention.
As shown in Figure 1, the localization method of the smart machine may comprise steps of.
101, smart machine executes bluetooth scan operation, when receiving Location Request to obtain bluetooth scanning result；Its
In, which includes the identity of several peripheral equipments.
In the embodiment of the present invention, smart machine may include smart phone, smartwatch, mobile plate etc., peripheral equipment
It may include smart phone, smartwatch, Intelligent bracelet, mobile plate etc..
In the embodiment of the present invention, smart machine opens Bluetooth function when receiving Location Request, executes bluetooth scanning behaviour
Make, to search for periphery Bluetooth information, obtains the identity including several peripheral equipments, wherein peripheral equipment has bluetooth
Function and unlatching Bluetooth function, so that smart machine scans to obtain by bluetooth scan operation, the identity of peripheral equipment can
To include the address bluetooth Mac, EIC equipment identification code and the communicating number of peripheral equipment.
For example, when the mobile terminal (parent end) bound with smart machine to smart machine initiate Location Request or
Smart machine user initiates Location Request to smart machine by touch screen mode or voice mode, but smart machine because network it is different
When Chang Wufa is positioned, smart machine can execute bluetooth scan operation, obtain bluetooth scanning result, so that smart machine is logical
It crosses and executes the location information that step 102- step 105 obtains smart machine, so that position fixing process is not influenced by network.
102, smart machine determines target device from several peripheral equipments；Wherein, target device positioned recently
The location information of target device.
In the embodiment of the present invention, smart machine can pass through the location information of transmitting-receiving Bluetooth broadcast signal acquisition peripheral equipment
Positioning time choose from several peripheral equipments and positioned recently according to the positioning time of the location information of peripheral equipment
Peripheral equipment (the i.e. week of the time interval of the positioning time of location information and current time within a preset period of time of location information
Edge equipment) one of them as target device, it may therefore be assured that the timeliness of the location information of target device, to make
It obtains when being positioned by the location information of target device to smart machine, the precision of positioning can be improved.
103, smart machine obtains the location information of target device.
In the embodiment of the present invention, target device can carry out positioning by traditional positioning method (such as GPS, WI-FI) and obtain
Location information derived from body, and the location information of target device is sent to smart machine, it is arrived so that smart machine is available
The location information of target device, wherein the location information of target device is after being corrected by the inertia measuring module of target device
Location information.
104, smart machine obtains the distance between smart machine and target device and smart machine by bluetooth approach
With the relative bearing of target device.
In the embodiment of the present invention, smart machine can be scanned target device by bluetooth approach (such as bluetooth 5.1),
Obtain the relative bearing of the distance between smart machine and target device and smart machine and target device.
105, smart machine according to the distance between location information, smart machine and target device of target device and
The relative bearing of smart machine and target device calculates the location information of smart machine.
Specifically, smart machine can establish three-dimensional coordinate, and the location information of target device is set to first position coordinate,
The location information of smart machine is set to second position coordinate, by the distance between smart machine and target device as target away from
From using the relative bearing of smart machine and target device as target angle, wherein second position coordinate is unknown, so as to
Second position coordinate is calculated according to first position coordinate, target range and target angle on three-dimensional coordinate, determines intelligence
The location information of energy equipment, it is seen then that implement the above method, it can be the case where being detached from location-server (such as Baidu's server)
Under, realize the positioning of smart machine.
As an alternative embodiment, smart machine after calculating the location information of smart machine, establishes three
Map is tieed up, and shows that the location information of smart machine, the location information of smart machine include smart machine place in three-dimensional map
The peripheral information of position, wherein the peripheral information of smart machine position includes street information, mountain range information and river letter
Breath.Implement the embodiment, the display of the location information of smart machine can be made more intuitive, is further mentioned according to peripheral information
The accuracy of height positioning.
Further alternative, after the location information that three-dimensional map shows smart machine, detection intelligence is set smart machine
Whether standby position is located at default danger zone, if so, alarm signal is issued, it is real to remind user to leave the region as early as possible
Which is applied, user can be reminded in time when smart machine is in danger zone, avoid accidents.
As another optional embodiment, whether smart machine detection the distance between smart machine and target device
Greater than pre-determined distance threshold value, if so, using the target device as first object equipment, using the location information of smart machine as
First location information, and another target device is chosen as the second target device from several peripheral equipments, then obtain
The location information of two target devices obtains the distance between smart machine and the second target device, Yi Jizhi by bluetooth approach
The relative bearing of energy equipment and the second target device, according to the location information of the second target device, smart machine and the second target
The relative bearing of the distance between equipment and smart machine and the second target device calculates the second confidence of smart machine
Breath；First location information and second location information are subjected to the target position information that calibration obtains smart machine.Implement the implementation
Mode is improved by carrying out the target position information that calibration obtains smart machine to first location information and second location information
The accuracy of smart machine positioning.
As it can be seen that the localization method for implementing smart machine described in Fig. 1 is scanned when receiving Location Request by bluetooth
Several peripheral equipments determine the target device positioned recently from several peripheral equipments, get the position of target device
Confidence breath, then the distance between smart machine and target device and smart machine are got by bluetooth approach and set with target
Standby relative bearing, so as to according to the distance between location information, smart machine and target device of target device and
The relative bearing of smart machine and target device calculates the location information of smart machine, can be without relying on location-server
In the case where realize positioning to smart machine, position fixing process is not influenced by network, to promote positioning experience sense.
Embodiment two
Referring to Fig. 2, Fig. 2 is the process signal of the localization method of another smart machine disclosed by the embodiments of the present invention
Figure.As shown in Fig. 2, the localization method of the smart machine may comprise steps of.
201, smart machine executes bluetooth scan operation, when receiving Location Request to obtain bluetooth scanning result；Its
In, which includes the identity of several peripheral equipments.
Wherein, the identity of peripheral equipment includes at least the address bluetooth Mac of peripheral equipment.
202, for smart machine according to the address bluetooth Mac of peripheral equipment, it is several legal to filter out from several peripheral equipments
Peripheral equipment.
In the embodiment of the present invention, legal peripheral equipment may include that the address bluetooth Mac meets default bluetooth Mac address format
Peripheral equipment, be also possible to the peripheral equipment of the bluetooth Mac address matching in the address bluetooth Mac and database, the present invention is real
Example is applied to be not construed as limiting.
203, smart machine chooses the legal peripheral equipment for positioning location information recently from several legal peripheral equipments
It is determined as target device.
204, smart machine sends the place information inquiry request for target device to target device, which looks into
Ask the identity information that request includes at least smart machine owning user.
In the embodiment of the present invention, smart machine sends the place information inquiry request for target device to target device,
For inquiring the location information of target device, the identity letter for the smart machine owning user that place information inquiry request includes
Breath is used for allowing target device to verify the identity information of smart machine owning user, such as belonging to verifying smart machine
Family whether be any one target device black list user.
205, smart machine obtains the instruction information that target device is sent, which is target device to smart machine
What the identity information of owning user was sent after being verified, which is used to indicate the network letter of detection smart machine
Whether number intensity is lower than preset threshold.
In the embodiment of the present invention, the network signal that the instruction information that target device is sent is used to indicate detection smart machine is strong
Whether degree is lower than preset threshold, and then judges whether smart machine is in Network Abnormal state with this.
206, for smart machine according to instruction information, whether the network signal intensity for detecting smart machine is lower than preset threshold；
If so, executing step 207- step 209；If not, terminating this process.
207, smart machine sends network signal information to target device, and sends mesh to smart machine in target device
When the location information of marking device, the location information of target device is obtained；Wherein, which is used to indicate smart machine
Network signal intensity be lower than preset threshold.
In the embodiment of the present invention, detect smart machine network signal intensity be lower than preset threshold when, smart machine to
Network signal information occurs for target device, to inform that smart machine is in Network Abnormal state and can not be determined target device at this time
Position, needs to obtain the location information of target device to realize the positioning of smart machine.
In the embodiment of the present invention, step 204- step 207 is executed, can be handed over by the information of smart machine and target device
Mutually verifying identity, and when smart machine network occurs abnormal, the location information of target device is obtained, smart machine and mesh are improved
The safety of marking device.
208, smart machine obtains the distance between smart machine and target device and smart machine by bluetooth approach
With the relative bearing of target device.
209, smart machine according to the distance between location information, smart machine and target device of target device and
The relative bearing of smart machine and target device calculates the location information of smart machine.
As it can be seen that implement the localization method of smart machine described in Fig. 2, it can be without the case where relying on location-server
Positioning of the lower realization to smart machine, position fixing process is not influenced by network, to promote positioning experience sense.Additionally it is possible to logical
The information exchange verifying identity of smart machine and target device is crossed, and when smart machine network occurs abnormal, obtains target and sets
Standby location information improves the safety of smart machine and target device.
Embodiment three
Referring to Fig. 3, Fig. 3 is the process signal of the localization method of another smart machine disclosed by the embodiments of the present invention
Figure.As shown in figure 3, the localization method of the smart machine may comprise steps of.
301, smart machine executes bluetooth scan operation, when receiving Location Request to obtain bluetooth scanning result；Its
In, which includes the identity of several peripheral equipments.
Wherein, the identity of peripheral equipment includes at least the address bluetooth Mac of peripheral equipment.
302, for smart machine according to the address bluetooth Mac of peripheral equipment, it is several legal to filter out from several peripheral equipments
Peripheral equipment.
303, smart machine chooses the legal peripheral equipment for positioning location information recently from several legal peripheral equipments
It is determined as target device.
304, smart machine sends the place information inquiry request for target device to target device, which looks into
Ask the identity information that request includes at least smart machine owning user.
305, smart machine obtains the instruction information that target device is sent, which is target device to smart machine
What the identity information of owning user was sent after being verified, which is used to indicate the network letter of detection smart machine
Whether number intensity is lower than preset threshold.
306, for smart machine according to instruction information, whether the network signal intensity for detecting smart machine is lower than preset threshold；
If so, executing step 307- step 315；If not, terminating this process.
307, smart machine sends network signal information to target device；The network signal information is used to indicate smart machine
Network signal intensity be lower than preset threshold.
308, smart machine obtains the hotspot list and hot spot verification instruction information of target device push, the hotspot list packet
The hot information for all hot spots that target device connected is included, hot spot verification instruction information is used to indicate verification with the presence or absence of intelligence
Any one hot spot that energy equipment connected matches with the hot spot in hotspot list.
In the embodiment of the present invention, hot spot verification instruction information is used to indicate verification and appoints with the presence or absence of what smart machine connected
Hot spot of anticipating matches with the hot spot in hotspot list, examines the information exchange between smart machine and target device to be with this
No safety.
309, smart machine verifies instruction information according to hot spot, and verification whether there is any one that smart machine connected
Hot spot matches with the hot spot in hotspot list；If so, executing step 310- step 315；If not, terminating this process.
310, smart machine extracts target hot spot, which is the hot spot that smart machine connected and and hotspot list
In a certain hot spot match.
311, smart machine sends hot information to target device, and sends target to smart machine in target device and set
When standby location information, the location information of target device is obtained；Wherein, which includes at least target hot spot and hot spot arranges
The match information that a certain hot spot matches in table.
In the embodiment of the present invention, step 304- step 311 is executed, can be handed over by the information of smart machine and target device
Mutually verifying identity, and when exception occurs in smart machine network and smart machine connect same hot spot with target device, it obtains
The location information of target device is taken, the safety of smart machine and target device is improved.
Wherein, the location information of target device includes motion track, movement speed and the location information of target device
Positioning time.
312, smart machine obtains the distance between smart machine and target device and smart machine by bluetooth approach
With the relative bearing of target device.
313, whether the time interval of smart machine detection positioning time and current time is less than prefixed time interval；If
It is to execute step 314；If not, executing step 315.
314, smart machine according to the distance between location information, smart machine and target device of target device and
The relative bearing of smart machine and target device calculates the location information of smart machine.
315, smart machine calculates the most final position of target device according to motion track, movement speed and time interval
Confidence breath；And it is set according to the distance between final position information, smart machine and target device of target device and intelligence
The standby relative bearing with target device calculates the location information of smart machine.
As it can be seen that the localization method of smart machine described in implementing Fig. 3, it can be without the case where relying on location-server
Positioning of the lower realization to smart machine, position fixing process is not influenced by network, to promote positioning experience sense.Additionally it is possible to logical
Cross the information exchange verifying identity of smart machine and target device, and smart machine network occur exception and smart machine with
When target device connected same hot spot, the location information of target device is obtained, improves the safety of smart machine and target device
Property.
Example IV
Referring to Fig. 4, Fig. 4 is a kind of structural schematic diagram of smart machine disclosed by the embodiments of the present invention.As shown in figure 4,
The smart machine may include:
Bluetooth scanning element 401, for executing bluetooth scan operation when receiving Location Request, to obtain bluetooth scanning
As a result；Wherein, bluetooth scanning result includes the identity of several peripheral equipments；The identity of peripheral equipment includes at least
The address bluetooth Mac of peripheral equipment.
In the embodiment of the present invention, smart machine may include smart phone, smartwatch, mobile plate etc., peripheral equipment
It may include smart phone, smartwatch, Intelligent bracelet, mobile plate etc..
In the embodiment of the present invention, bluetooth scanning element 401 is used for when receiving Location Request, opens Bluetooth function, is executed
Bluetooth scan operation obtains the identity including several peripheral equipments, wherein periphery is set to search for periphery Bluetooth information
It is standby to have Bluetooth function and open Bluetooth function, so that smart machine scans to obtain by bluetooth scan operation, peripheral equipment
Identity may include the address bluetooth Mac, EIC equipment identification code and the communicating number of peripheral equipment.
For example, when the mobile terminal (parent end) bound with smart machine to smart machine initiate Location Request or
Smart machine user initiates Location Request to smart machine by touch screen mode or voice mode, but smart machine because network it is different
When Chang Wufa is positioned, smart machine can execute bluetooth scan operation, obtain bluetooth scanning result, so that smart machine is logical
It crosses execution determination unit 402, position acquisition unit 403, bluetooth acquiring unit 404 and computing unit 405 and obtains smart machine
Location information so that position fixing process is not influenced by network.
Determination unit 402, for determining target device from several peripheral equipments；Wherein, target device is fixed recently
The location information of target device is crossed in position.
In the embodiment of the present invention, determination unit 402 is used for the position by transmitting-receiving Bluetooth broadcast signal acquisition peripheral equipment
The positioning time of information, according to the positioning time of the location information of peripheral equipment, it is fixed recently to choose from several peripheral equipments
The peripheral equipment of location information is crossed in position, and (i.e. the time interval of the positioning time of location information and current time is within a preset period of time
Peripheral equipment) one of them as target device, it may therefore be assured that the timeliness of the location information of target device, from
And make when being positioned by the location information of target device to smart machine, the precision of positioning can be improved.
Position acquisition unit 403, for obtaining the location information of target device.
In the embodiment of the present invention, target device can carry out positioning by traditional positioning method (such as GPS, WI-FI) and obtain
Location information derived from body, and the location information of target device is sent to smart machine, it is arrived so that smart machine is available
The location information of target device, wherein the location information of target device is after being corrected by the inertia measuring module of target device
Location information.
Bluetooth acquiring unit 404, for by bluetooth approach acquisition the distance between smart machine and target device and
The relative bearing of smart machine and target device.
In the embodiment of the present invention, bluetooth acquiring unit 404 be used for by bluetooth approach (such as bluetooth 5.1) to target device into
Row scanning, obtains the relative bearing of the distance between smart machine and target device and smart machine and target device.
Computing unit 405, for the distance between location information, smart machine and target device according to target device,
And the relative bearing of smart machine and target device calculates the location information of smart machine.
Specifically, the location information of target device is set to first position and sat by computing unit 405 for establishing three-dimensional coordinate
Mark, is set to second position coordinate for the location information of smart machine, regard the distance between smart machine and target device as mesh
Subject distance, using the relative bearing of smart machine and target device as target angle, wherein second position coordinate is unknown, thus
Second position coordinate can be calculated according to first position coordinate, target range and target angle on three-dimensional coordinate, determined
The location information of smart machine out, it is seen then that implement the above method, it can be in the feelings for being detached from location-server (such as Baidu's server)
Under condition, the positioning of smart machine is realized.
As an alternative embodiment, computing unit 405 is used for after calculating the location information of smart machine,
Three-dimensional map is established, and shows that the location information of smart machine, the location information of smart machine include that intelligence is set in three-dimensional map
The peripheral information of standby position, wherein the peripheral information of smart machine position include street information, mountain range information and
River information.Implement the embodiment, the display of the location information of smart machine can be made more intuitive, according to peripheral information into
One step improves the accuracy of positioning.
Further alternative, computing unit 405 is used for after the location information that three-dimensional map shows smart machine, detection
Whether the position of smart machine is located at default danger zone, if so, alarm signal is issued, to remind user to leave the area as early as possible
Domain implements which, can remind in time user when smart machine is in danger zone, avoid accidents.
As another optional embodiment, computing unit 405 is for detecting between smart machine and target device
Whether distance is greater than pre-determined distance threshold value, if so, using the target device as first object equipment, by the position of smart machine
Information chooses another target device as the second target device, so as first location information, and from several peripheral equipments
The location information for obtaining the second target device afterwards, by bluetooth approach obtain between smart machine and the second target device away from
From and smart machine and the second target device relative bearing, according to the location information of the second target device, smart machine with
The relative bearing of the distance between second target device and smart machine and the second target device calculates the of smart machine
Two location informations；First location information and second location information are subjected to the target position information that calibration obtains smart machine.It is real
The embodiment is applied, by carrying out the target position letter that calibration obtains smart machine to first location information and second location information
Breath improves the accuracy of smart machine positioning.
As it can be seen that implementing smart machine described in Fig. 4 scans several peripheries by bluetooth when receiving Location Request
Equipment determines the target device positioned recently from several peripheral equipments, gets the location information of target device, then leads to
Cross the opposite side that bluetooth approach gets the distance between smart machine and target device and smart machine and target device
Position, so as to according to the distance between location information, smart machine and target device of target device and smart machine with
The relative bearing of target device calculates the location information of smart machine, can be without real in the case where relying on location-server
Now to the positioning of smart machine, position fixing process is not influenced by network, to promote positioning experience sense.
Embodiment five
Referring to Fig. 5, Fig. 5 is the structural schematic diagram of another smart machine disclosed by the embodiments of the present invention.Such as Fig. 5 institute
Show, wherein smart machine shown in fig. 5 is that smart machine as shown in Figure 4 optimizes.With intelligence shown in Fig. 4
Equipment compares, and smart machine shown in fig. 5 can also include:
As an alternative embodiment, determination unit 402 includes:
It screens subelement and filters out several conjunctions from several peripheral equipments for the address bluetooth Mac according to peripheral equipment
Method peripheral equipment；Subelement is determined, for choosing the legal week for positioning location information recently from several legal peripheral equipments
Edge equipment is determined as target device.
In the embodiment of the present invention, legal peripheral equipment may include that the address bluetooth Mac meets default bluetooth Mac address format
Peripheral equipment, be also possible to the peripheral equipment of the bluetooth Mac address matching in the address bluetooth Mac and database, the present invention is real
Example is applied to be not construed as limiting.
Transmission unit 406, in determination unit 402 after determining target device in several peripheral equipments, to
Target device sends the place information inquiry request for target device, and place information inquiry request includes at least smart machine
The identity information of owning user.
In the embodiment of the present invention, transmission unit 406 is used to send the location information for being directed to target device to target device and looks into
Request is ask, for inquiring the location information of target device, which requests the smart machine owning user for including
Identity information, for allowing target device to verify the identity information of smart machine owning user, such as verifying smart machine
Owning user whether be any one target device black list user.
First acquisition unit 407, for obtaining the instruction information of target device transmission, which is target device pair
What the identity information of smart machine owning user was sent after being verified, which is used to indicate detection smart machine
Network signal intensity whether be lower than preset threshold.
In the embodiment of the present invention, the network signal that the instruction information that target device is sent is used to indicate detection smart machine is strong
Whether degree is lower than preset threshold, and then judges whether smart machine is in Network Abnormal state with this.
First detection unit 408, it is pre- whether the network signal intensity for according to information is indicated, detecting smart machine is lower than
If threshold value；
Information exchange unit 409, for detecting that the network signal intensity of smart machine is lower than in first detection unit 408
When preset threshold, network signal information is sent to target device, and send target device to smart machine in target device
When location information, execution position acquiring unit is used to obtain the location information of target device；Wherein, which is used for
The network signal intensity of indicating intelligent equipment is lower than preset threshold.
In the embodiment of the present invention, information exchange unit 409 is used for the network signal intensity in detection smart machine lower than pre-
If when threshold value, network signal information occurs to target device, to inform that smart machine is in Network Abnormal shape to target device at this time
State can not be positioned, and need to obtain the location information of target device to realize the positioning of smart machine.
Second acquisition unit 410 is used for after information exchange unit 409 sends network signal information to target device,
The hotspot list and hot spot verification instruction information of target device push are obtained, which includes the institute that target device connected
Have the hot information of hot spot, the hot spot verification instruction information be used to indicate verification with the presence or absence of smart machine connected it is any one
A hot spot matches with the hot spot in hotspot list.
In the embodiment of the present invention, hot spot verification instruction information is used to indicate verification and appoints with the presence or absence of what smart machine connected
Hot spot of anticipating matches with the hot spot in hotspot list, examines the information exchange between smart machine and target device to be with this
No safety.
Verification unit 411, for verifying instruction information according to hot spot, verification connected any with the presence or absence of smart machine
One hot spot matches with the hot spot in hotspot list；
Extraction unit 412, for verification unit 411 verify out any one hot spot connected there are smart machine with
When hot spot in hotspot list matches, extract target hot spot, the target hot spot be the hot spot that connected of smart machine and with heat
A certain hot spot matches in point list；
Information exchange unit 409 is also used to send hot information to target device, and in target device to smart machine
When sending the location information of target device, execution position acquiring unit is used to obtain the location information of target device；Wherein, the heat
Point information includes at least the match information that a certain hot spot matches in target hot spot and hotspot list.
In the embodiment of the present invention, said units are executed, can be verified by the information exchange of smart machine and target device
Identity, and when exception occurs in smart machine network and smart machine connect same hot spot with target device, obtain target
The location information of equipment improves the safety of smart machine and target device.
Wherein, the location information of target device includes motion track, movement speed and the location information of target device
Positioning time；And smart machine further include:
Second detection unit 413 is set for obtaining smart machine by bluetooth approach in bluetooth acquiring unit 404 with target
After the relative bearing of the distance between standby and smart machine and target device, detect positioning time and current time when
Between be spaced whether be less than prefixed time interval；
Computing unit 405 is also used to detect the time interval of positioning time and current time in second detection unit 413
When less than prefixed time interval, according to the distance between location information, smart machine and target device of target device, Yi Jizhi
Energy equipment and the relative bearing of target device calculate the location information of smart machine；And it is detected in second detection unit 413
Out the time interval of positioning time and current time be greater than or equal to prefixed time interval when, according to motion track, movement speed,
And time interval calculates the final position information of target device；And the final position information according to target device, intelligence
The distance between equipment and target device and the relative bearing of smart machine and target device calculate the position of smart machine
Information.
As it can be seen that implement smart machine described in Fig. 5, it can be without realizing in the case where relying on location-server to intelligence
The positioning of energy equipment, position fixing process is not influenced by network, to promote positioning experience sense.Additionally it is possible to pass through smart machine
Identity is verified with the information exchange of target device, and exception and smart machine and target device company occurs in smart machine network
When taking over same hot spot, the location information of target device is obtained, improves the safety of smart machine and target device.
Embodiment six
Referring to Fig. 6, Fig. 6 is the structural schematic diagram of another smart machine disclosed by the embodiments of the present invention.Such as Fig. 6 institute
Show, which may include:
It is stored with the memory 601 of executable program code；
The processor 602 coupled with memory 601；
Wherein, processor 602 calls the executable program code stored in memory 601, and it is any one to execute FIG. 1 to FIG. 3
The localization method of kind smart machine.
The embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein the computer
Program makes the localization method of computer execution any one smart machine of FIG. 1 to FIG. 3.
A kind of computer program product is also disclosed in the embodiment of the present invention, wherein when computer program product on computers
When operation, so that computer executes some or all of the method in such as above each method embodiment step.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can
For carrying or any other computer-readable medium of storing data.
Detailed Jie has been carried out to the localization method and smart machine of a kind of smart machine disclosed by the embodiments of the present invention above
It continues, used herein a specific example illustrates the principle and implementation of the invention, and the explanation of above embodiments is only
It is to be used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to this hair
Bright thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage
Solution is limitation of the present invention.
Claims (12)
1. a kind of localization method of smart machine, which is characterized in that the described method includes:
Smart machine executes bluetooth scan operation, when receiving Location Request to obtain bluetooth scanning result；Wherein, the indigo plant
Tooth scanning result includes the identity of several peripheral equipments；
The smart machine determines target device from several described peripheral equipments；Wherein, the target device is fixed recently
The location information of the excessively described target device in position；
The smart machine obtains the location information of the target device；
The smart machine obtains the distance between the smart machine and the target device and described by bluetooth approach
The relative bearing of smart machine and the target device；
The smart machine according between the location information, the smart machine and the target device of the target device away from
From and the relative bearing of the smart machine and the target device calculate the location information of the smart machine.
2. the method according to claim 1, wherein the identity of the peripheral equipment includes at least the week
The address bluetooth Mac of edge equipment；The smart machine determines target device from several described peripheral equipments, comprising:
The smart machine filters out several according to the address bluetooth Mac of the peripheral equipment from several described peripheral equipments
Legal peripheral equipment；
The smart machine chooses the legal peripheral equipment for positioning location information recently from several legal peripheral equipments
It is determined as target device.
3. method according to claim 1 or 2, which is characterized in that set in the smart machine from several described peripheries
After determining target device in standby, the method also includes:
The smart machine sends the place information inquiry request for the target device, the position to the target device
Information inquiring request includes at least the identity information of the smart machine owning user；
The smart machine obtains the instruction information that the target device is sent, and the instruction information is the target device to institute
State smart machine owning user identity information be verified after send, the instruction information is used to indicate described in detection
Whether the network signal intensity of smart machine is lower than preset threshold；
For the smart machine according to the instruction information, whether the network signal intensity for detecting the smart machine is lower than default threshold
Value；
If so, the smart machine sends network signal information to the target device, and in the target device to institute
When stating smart machine and sending the location information of the target device, the step of the location information for obtaining the target device is executed
Suddenly；Wherein, the network signal information is used to indicate the network signal intensity of the smart machine lower than preset threshold.
4. according to the method described in claim 3, it is characterized in that, sending network to the target device in the smart machine
After signal message, the method also includes:
The smart machine obtains the hotspot list and hot spot verification instruction information of the target device push, the hotspot list
Hot information including all hot spots that the target device connected, the hot spot verification instruction information, which is used to indicate verification, is
No any one hot spot connected there are the smart machine matches with the hot spot in the hotspot list；
The smart machine verifies instruction information according to the hot spot, and verification connected any with the presence or absence of the smart machine
One hot spot matches with the hot spot in the hotspot list；
If it does, the smart machine extracts target hot spot, the target hot spot is the hot spot that the smart machine connected
And match with a certain hot spot in the hotspot list；
The smart machine sends hot information to the target device, and sends out in the target device to the smart machine
When sending the location information of the target device, the step of executing the location information for obtaining the target device；Wherein, described
Hot information includes at least the match information that a certain hot spot matches in the target hot spot and the hotspot list.
5. according to the method described in claim 4, it is characterized in that, the location information of the target device includes that the target is set
The positioning time of standby motion track, movement speed and the location information；It is obtained in the smart machine by bluetooth approach
Take the opposite side of the distance between the smart machine and the target device and the smart machine and the target device
After position, the method also includes:
The smart machine detects the positioning time and whether the time interval of current time is less than prefixed time interval；
If so, the smart machine execute the location information according to the target device, the smart machine with it is described
The relative bearing of the distance between target device and the smart machine and the target device calculates the smart machine
Location information the step of；
If not, the smart machine calculates institute according to the motion track, the movement speed and the time interval
State the final position information of target device；And final position information, the smart machine and institute according to the target device
The relative bearing for stating the distance between target device and the smart machine and the target device calculates the intelligence and sets
Standby location information.
6. a kind of smart machine, which is characterized in that the smart machine includes:
Bluetooth scanning element, for bluetooth scan operation being executed, to obtain bluetooth scanning result when receiving Location Request；Its
In, the bluetooth scanning result includes the identity of several peripheral equipments；
Determination unit, for determining target device from several described peripheral equipments；Wherein, the target device is fixed recently
The location information of the excessively described target device in position；
Position acquisition unit, for obtaining the location information of the target device；
Bluetooth acquiring unit, for by bluetooth approach obtain the distance between the smart machine and the target device, with
And the relative bearing of the smart machine and the target device；
Computing unit, between the location information, the smart machine and the target device according to the target device
Distance and the relative bearing of the smart machine and the target device calculate the location information of the smart machine.
7. smart machine according to claim 6, which is characterized in that the identity of the peripheral equipment includes at least institute
State the address bluetooth Mac of peripheral equipment；And the determination unit includes:
Subelement is screened, for the address bluetooth Mac according to the peripheral equipment, if filtering out from several described peripheral equipments
Do legal peripheral equipment；
It determines subelement, positioned the legal periphery of location information recently for being chosen from several legal peripheral equipments and set
It is standby to be determined as target device.
8. smart machine according to claim 6 or 7, which is characterized in that the smart machine further include:
Transmission unit, in the determination unit after determining target device in several described peripheral equipments, to institute
It states target device and sends the place information inquiry request for being directed to the target device, the place information inquiry request includes at least
The identity information of the smart machine owning user；
First acquisition unit, the instruction information sent for obtaining the target device, the instruction information is that the target is set
It is standby the identity information of the smart machine owning user is verified after send, the instruction information is used to indicate inspection
Whether the network signal intensity for surveying the smart machine is lower than preset threshold；
First detection unit, for according to the instruction information, whether the network signal intensity for detecting the smart machine to be lower than
Preset threshold；
Information exchange unit, for detecting the network signal intensity of the smart machine lower than pre- in the first detection unit
If when threshold value, Xiang Suoshu target device sends network signal information, and sends in the target device to the smart machine
When the location information of the target device, the position acquisition unit is executed for obtaining the location information of the target device；
Wherein, the network signal information is used to indicate the network signal intensity of the smart machine lower than preset threshold.
9. smart machine according to claim 8, which is characterized in that the smart machine further include:
Second acquisition unit, for obtaining after the information exchange unit sends network signal information to the target device
The hotspot list and hot spot verification instruction information, the hotspot list for taking the target device push include that the target device connects
The hot information for all hot spots taken over, the hot spot verification instruction information are used to indicate verification with the presence or absence of the smart machine
Any one hot spot connected matches with the hot spot in the hotspot list；
Verification unit, for verifying instruction information according to the hot spot, verification is appointed with the presence or absence of what the smart machine connected
Hot spot of anticipating matches with the hot spot in the hotspot list；
Extraction unit, for verifying out any one hot spot connected there are the smart machine and institute in the verification unit
When stating the hot spot in hotspot list and matching, target hot spot is extracted, the target hot spot is the heat that the smart machine connected
It puts and matches with a certain hot spot in the hotspot list；
Information exchange unit is also used to send hot information to the target device, and in the target device to the intelligence
When energy equipment sends the location information of the target device, the position acquisition unit is executed for obtaining the target device
Location information；Wherein, the hot information includes at least the target hot spot and matches with a certain hot spot in the hotspot list
Match information.
10. smart machine according to claim 9, which is characterized in that the location information of the target device includes described
The positioning time of the motion track of target device, movement speed and the location information；And the smart machine also wraps
It includes:
Second detection unit, for obtaining the smart machine and the target by bluetooth approach in the bluetooth acquiring unit
After the distance between equipment and the relative bearing of the smart machine and the target device, the positioning time is detected
Whether it is less than prefixed time interval with the time interval of current time；
The computing unit was also used between the time that the second detection unit detects the positioning time and current time
When being less than prefixed time interval, according to the location information of the target device, the smart machine and the target device it
Between distance and the relative bearing of the smart machine and the target device calculate the position of the smart machine and believe
Breath；And the second detection unit detect the positioning time and current time time interval be greater than or equal to it is default
When time interval, the target device is calculated according to the motion track, the movement speed and the time interval
Final position information；And according to the final position information of the target device, the smart machine and the target device it
Between distance and the relative bearing of the smart machine and the target device calculate the position of the smart machine and believe
Breath.
11. a kind of smart machine characterized by comprising
It is stored with the memory of executable program code；
The processor coupled with the memory；
The processor calls the executable program code stored in the memory, requires 1-5 to appoint for perform claim
A kind of localization method of smart machine described in one.
12. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage computer journey
Sequence, wherein the computer program makes computer perform claim require a kind of described in any item positioning of smart machine of 1-5
Method.
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| CN201910201134.2A CN109831738A (en) | 2019-03-18 | 2019-03-18 | Intelligent device positioning method and intelligent device |
| PCT/CN2019/095276 WO2020186659A1 (en) | 2019-03-18 | 2019-07-09 | Method for localizing intelligent device, and intelligent device |
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| CN201910201134.2A CN109831738A (en) | 2019-03-18 | 2019-03-18 | Intelligent device positioning method and intelligent device |
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