CN109870984A - A kind of more household electric appliance control methods based on wearable device - Google Patents
A kind of more household electric appliance control methods based on wearable device Download PDFInfo
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Abstract
A kind of more household electric appliance control methods based on wearable device, step are as follows: step 1, obtain room and the three-dimensional spatial information of family's electric position locating for user；Step 2, the ultrasonic distance measurement equipment of placement positioning in the room；Step 3, the sensor information on wearable device is obtained；Step 4, the training stage extracts sensing data characteristic value and establishes property data base and classifier；Step 5, the stage is controlled, according to the sensor information that wearable device and auxiliary positioning equipment return, obtains and executes user instruction.The present invention is unsophisticated, avoids the risk of privacy leakage；By analysis Inertial Measurement Unit and supersonic sounding information, position and the direction of wearable device can be calculated, the equipment that user chooses accurately is judged under more household electrical appliances scenes using the tables of data established in advance, improves the reliability of control system.
Description
Technical field
The present invention relates to a kind of more household electric appliance control methods based on wearable device, especially by fusion inertial sensor
Information and the identification user's control instruction of localization by ultrasonic information, realize low cost, simple and convenient, more families of no privacy risk are automatically controlled
System.
Background technique
Compared with common household, smart home not only has traditional inhabitation function, while being capable of providing abundant man-machine
Interactive function is allowed users to easily obtain environmental and equipment information, and is controlled equipment.This characteristic is conducive to use
Unnecessary time loss is saved at family, so that home life is safer, comfortable.Because all intelligent appliance equipment have all been led to
The mode accessing control server of wireless communication is crossed, so in the past using equipment physical button or the controlling party of dedicated remote control
Nowadays formula seems excessively cumbersome and not easy-to-use, (need to go near equipment, or prepare multiple because its demand to user is more
Remote controler).It is rich equipped with sensor because wearable device is close to the users in today that wearable device user group is gradually expanded
Rich characteristic, the interaction technique based on wearable device start the concern by user.
Voice control is a kind of more convenient and natural man-machine interaction mode.Smart machine control is carried out using voice technology
System is received by many manufacturers and user.Currently, smart home product quite a lot be furnished with speech control interface, but
It occur the problem that speech recognition technology is difficult to keep its validity under the scene of far field in actual use, work as user distance
In the farther away situation of equipment, the discrimination of instruction can be declined；From the aspect of privacy, the voice for continuing monitoring condition sound is set
The standby hidden danger for being likely to become privacy of user leakage.
Control mode based on graphic interface runs specific application generally on the smart phone of user or plate,
It is required that user is assigning instruction by way of the upper click of application.Generality of this control mode because of smart phone and plate
Many manufacturer and user are attracted.It should be pointed out that this interactive mode comparatively operate it is more cumbersome, in equipment
Between switching, instruction assigns, and needs multiple click, home equipment is more, and the unnecessary time consumed in App also gets over
It is more.
In conclusion studying, one kind is user friendly, and more household electric appliance control methods of no privacy risk are highly important.
Summary of the invention
The present invention will overcome the disadvantages mentioned above of the prior art, provide a kind of more home wiring control sides based on wearable device
Method.
In order to achieve the above object, a kind of more household electric appliance control methods based on wearable device adopted by the present invention, including
Following steps:
Step 1, room and the three-dimensional spatial information of family's electric position locating for user are obtained, comprising:
(1.1) information for being enough to describe room 3D shape is obtained；
(1.2) X-Y-Z three-dimensional right-handed coordinate system is established in the room.
(1.3) the appliance data table in the room is established.To in room each can be set by the intelligent appliance of network-control
It is standby, three dimensional space coordinate (i.e. equipment center coordinate) of the equipment under (1.2) established coordinate system is calculated, by implementor name, if
Standby size and coordinate are stored into tables of data；
Step 2, the ultrasonic distance measurement equipment of placement positioning in the room.Include:
(2.1) ultrasonic positioning devices are placed in three any positions in the room, and equipment is equipped with microphone and can receive
The ultrasonic wave of frequency 17KHz or more.Equipment has wireless communication ability and can establish wireless pass with wearable device simultaneously
It is defeated；
(2.2) three ultrasonic positioning devices are recorded in the three dimensional space coordinate under (1.2) established coordinate system；
Step 3, the sensor information on wearable device is obtained, comprising:
(3.1) acquisition nine axis Inertial Measurement Unit of wearable device reading, including three axis accelerometer, three axis accelerometer
Instrument and three axle magnetometer reading；
(3.2) it for the data acquired in (3.1), is transferred to server and carries out integrated treatment, analysis；
Step 4, the training stage extracts sensing data characteristic value and establishes property data base and classifier, comprising:
(4.1) to the wearable device for being worn on wrist, several control actions are predefined.User wears wearable device,
It completes every kind of predefined control action several times, while acquiring nine axis Inertial Measurement Units in action process and reading；
(4.2) sensing data of acquisition is sliced.It is read using a traveling time window monitoring accelerometer
The average value of acceleration information in number and calculation window.If the difference after sensor reading update with average data in moving window
Away from the threshold value for being greater than setting, it is believed that detect that movement starts/terminates, and save nine during movement " beginning " to " end " every time
Axis Inertial Measurement Unit reading.
(4.3) to the sensing data obtained in step (4.2), feature extraction is carried out；
(4.4) action recognition point is constructed in conjunction with the label of action classification true value to the feature obtained in step (4.3)
Class device, classifier can export which control action is current data belong to；
Step 5, the stage is controlled, according to the sensor information that wearable device and auxiliary positioning equipment return, obtains and holds
Row user instruction, comprising:
(5.1) loudspeaker of wearable device persistently generates FMCW CW/FM continuous wave/frequency modulated modulated.The ultrasonic wave positioning of indoor placement is set
For upon receipt of the signal, equipment room relative distance R is calculated according to flight time range measurement principle.It is positioned by three ultrasonic waves
Equipment calculates three relative distance < R1, R2, R3>, calculated using particle filter be best suitable for distance measurement result in space can
Wearable device 3 ties up coordinate；
(5.2) it for accelerometer data, gyro data and magnetometer data on collected wearable device, uses
The method of inertial navigation calculates wearable device and currently points to；
(5.3) wearable device obtained in wearable device position obtained in (5.1) and (5.2) is utilized to be directed toward,
It calculates based on the position and a space vector being directed toward.The appliance data table judgement established according to the space vector and (1.3)
Which current household appliance, which is in, is pointed to state；
(5.4) as a result, judgement is more than in the time for being continuously pointed to state when any household electrical appliances according to obtained in (5.3)
Certain time, system judge that the household electrical appliances enter selected state.Wearable device prompt prompt user's household electrical appliances are selected；
(5.5) after any household electrical appliances enter selected state, user can assign arbitrary action directive.It uses
(4.2) mode that the mode in be sliced and according to (4.3) to movement carries out feature extraction, finally uses (4.4) training
Classifier identification maneuver.
(5.6) action classification of identification is sent to home appliance control server by wearable device, is sent and is corresponded to by server
Control instruction to household electrical appliances, complete control.
Further, present invention ultrasonic distance measurement equipment described in the step (2.1) is to be integrated with existing commercialization to surpass
Sound wave receiving module.
Further, present invention wearable device described in the step (3.1) is existing commercial smartwatch.
The beneficial effects of the present invention are: the control instruction of user is obtained using action recognition technology, control mode letter
It is single naturally, and avoiding the risk of privacy leakage.By analysis Inertial Measurement Unit and supersonic sounding information, can calculate
The position of wearable device and direction accurately judge what user chose under more household electrical appliances scenes using the tables of data established in advance
Equipment improves the reliability of control system.
Detailed description of the invention
Fig. 1 is the work flow diagram of the method for the present invention.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.A specific embodiment of the invention is as follows:
A kind of more household electric appliance control methods based on wearable device adopted by the present invention, comprising the following steps:
Step 1, room and the three-dimensional spatial information of family's electric position locating for user are obtained, comprising:
(1.1) by taking flat shape is rectangular room as an example, the length in room, width and height are obtained.For it
The room of its shape, it is same to obtain the information for being enough to describe its 3D shape；
(1.2) by taking flat shape is rectangular room as an example, with room, some determines that spatial point (such as a certain corner) is
Origin establishes X-Y-Z three-dimensional right-handed coordinate system.
(1.3) the appliance data table in the room is established.To in room each can be set by the intelligent appliance of network-control
It is standby, three dimensional space coordinate (i.e. equipment center coordinate) of the equipment under (1.2) established coordinate system is calculated, by implementor name, if
Standby size and coordinate are stored into tables of data；
Step 2, the ultrasonic distance measurement equipment of placement positioning in the room.Include:
(2.1) ultrasonic positioning devices are placed in three any positions in the room, and equipment is equipped with microphone and can receive
The ultrasonic wave of frequency 17KHz or more, sample frequency are set as 48KHz.Equipment has WiFi communication ability simultaneously, and can be with
It establishes and is wirelessly transferred with wearable device；
(2.2) three ultrasonic positioning devices are recorded in the three dimensional space coordinate under (1.2) established coordinate system；
Step 3, the sensor information on wearable device is obtained, comprising:
(3.1) wearable device TicWatch2 is used, nine axis Inertial Measurement Units reading is acquired with 50Hz sample frequency,
Including three axis accelerometer, three-axis gyroscope and three axle magnetometer reading；
(3.2) it for the data acquired in (3.1), is transferred to server and carries out integrated treatment, analysis；
Step 4, the training stage extracts sensing data characteristic value and establishes property data base and classifier, comprising:
(4.1) by taking the watch style wearable device for being worn on left hand wrist as an example, 6 control actions, Xiang Shanghui are predefined
Hand is waved downwards, is waved to the left, is waved to the right, is waved forward, is waved backward.User wears wearable device, completes every kind in advance
The control action of definition 30 times, while accelerometer in action process is acquired, the data of gyroscope and magnetometer；
(4.2) sensing data of acquisition is sliced.It is read using a traveling time window monitoring accelerometer
The average value of acceleration information in number and calculation window.If the difference after sensor reading update with average data in moving window
Away from the threshold value for being greater than setting, it is believed that detect that movement starts/terminates, and save nine during movement " beginning " to " end " every time
Axis Inertial Measurement Unit reading.
(4.3) to the sensing data obtained in step (4.2), feature extraction is carried out, feature includes maximum value, minimum
Value, average value, standard deviation, a quarter point, median point, 3/4ths points, slope, kurtosis；
(4.4) the radial base of carrying is used in conjunction with the label of action classification true value to the feature obtained in step (4.3)
The support vector machines of function RBF kernel construct classifier, and classifier can export which predefined control is current data belong to
Movement；
Step 5, the stage is controlled, according to the sensor information that wearable device and auxiliary positioning equipment return, obtains and holds
Row user instruction, comprising:
(5.1) loudspeaker of wearable device persistently generates the FMCW CW/FM continuous wave/frequency modulated modulated of 17KHz to 22KH.Indoor placement
It is such as public that ultrasonic positioning devices calculate equipment room relative distance R upon receipt of the signal, according to flight time range measurement principle
Shown in formula one:
Wherein fpIt is the frequency that equipment receives voice signal, c is sound spread speed in air, and T is the signal period,
B is signal bandwidth；
Three relative distance < R are calculated by three ultrasonic positioning devices1, R2, R3>, wearable device is built in (1.2)
Three dimensional space coordinate Z under vertical coordinate system should meet formula two:
R1=EuclideanDistance (D1, Z),
R2=EuclideanDistance (D2, Z),
R3=EuclideanDistance (D3, Z), formula (2)
Wherein D1, D2, D3Respectively represent the 3 dimension coordinates of three ultrasonic positioning devices, function EuclideanDistance
Calculate the Euclidean distance between two coordinates.The 3 dimension coordinates that formula (2) is best suitable in space are calculated using particle filter；
(5.2) it for accelerometer data, gyro data and magnetometer data on collected wearable device, uses
The method of inertial navigation calculates wearable device and currently points to.It is to be worn on the watch style wearable device of left hand wrist
Example calculates the vector that the positive X-direction of equipment is represented under (1.2) established coordinate system, physical significance, that is, user's forearm of the direction
The direction of (by elbow to wrist) in space；
(5.3) wearable device obtained in wearable device indoor location obtained in (5.1) and (5.2) is utilized to refer to
To calculating is based on the position and a space vector being directed toward.For each of appliance data table household electrical appliances, the household electrical appliances are calculated
Whether coordinate is less than the size of household electrical appliances at a distance from the direction vector, if set up, judges that the household electrical appliances are in and is pointed to state；
(5.4) as a result, judgement is more than in the time for being continuously pointed to state when any household electrical appliances according to obtained in (5.3)
0.5 second, system judged that the household electrical appliances enter selected state.Wearable device is shaken with screen prompt, voice, or other means
Prompt user's household electrical appliances selected；
(5.5) after any household electrical appliances enter selected state, user can assign arbitrary action directive.It uses
(4.2) mode that the mode in be sliced and according to (4.3) to movement carries out feature extraction, finally uses (4.4) training
Classifier identification maneuver.
(5.6) action classification of identification is sent to home appliance control server by wearable device, is sent and is corresponded to by server
Control instruction to household electrical appliances, complete control.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Range should not be construed as being limited to the specific forms stated in the embodiments, and protection scope of the present invention is also and in art technology
Personnel conceive according to the present invention it is conceivable that equivalent technologies mean.
Claims (1)
1. a kind of more household electric appliance control methods based on wearable device, it is characterised in that following steps:
Step 1, room and the three-dimensional spatial information of family's electric position locating for user are obtained, comprising:
(1.1) information for being enough to describe its 3D shape is obtained；
(1.2) using room, some determines that spatial point as origin, establishes the X-Y-Z three-dimensional right-handed coordinate system in room；
(1.3) the appliance data table in the room is established；Can be by the intelligent appliance equipment of network-control to each in room, meter
Calculate three dimensional space coordinate of the equipment under step (1.2) established coordinate system, by implementor name, equipment size and coordinate store into
In tables of data；
Step 2, the ultrasonic distance measurement equipment of placement positioning in the room；Include:
(2.1) ultrasonic positioning devices are placed in three any positions in the room, and equipment is equipped with microphone and can receive frequency
The ultrasonic wave of 17KHz or more, sample frequency should be greater than twice of maximum ultrasonic frequency used in the process of supersonic sounding；Together
When equipment have wireless communication ability such as WiFi or bluetooth, and with wearable device establish be wirelessly transferred；
(2.2) three ultrasonic positioning devices are recorded in the three dimensional space coordinate under step (1.2) established coordinate system；
Step 3, the sensor information on wearable device is obtained, comprising:
(3.1) acquisition nine axis Inertial Measurement Unit of wearable device reading, including three axis accelerometer, three-axis gyroscope and
Three axle magnetometer reading；
(3.2) it for the data acquired in step (3.1), is transferred to server and carries out integrated treatment, analysis；
Step 4, the training stage extracts sensing data characteristic value and establishes property data base and classifier, comprising:
(4.1) for the wearable device for being worn on wrist, several control actions are predefined, such as wave to represent family's electric-opening upwards
Power supply, waves to represent house downwards and is electrically turn off power supply etc.；User wears wearable device, if completing every kind of predefined control action
Dry time, while accelerometer in action process is acquired, the data of gyroscope and magnetometer；
(4.2) sensing data of acquisition is sliced；Simultaneously using a traveling time window monitoring accelerometer readings
The average value of acceleration information in calculation window；If sensor reading is big with the gap of average data in moving window after updating
In the threshold value of setting, it is believed that detect that movement starts/terminates, and nine axis are used in the process for movement " beginning " to " end " every time for preservation
Property measuring unit reading；
(4.3) to the sensing data obtained in step (4.2), feature extraction is carried out, feature includes maximum value, minimum value, puts down
Mean value, standard deviation, a quarter point, median point, 3/4ths points, slope, kurtosis；
(4.4) carrying radial basis function is used in conjunction with the label of action classification true value to the feature obtained in step (4.3)
The support vector machines of RBF kernel construct classifier, and classifier can export current data and belong to which predefined control is moved
Make；
Step 5, the stage is controlled, according to the sensor information that wearable device and auxiliary positioning equipment return, obtains and executes use
Family instruction, comprising:
(5.1) loudspeaker of wearable device persistently generates the FMCW CW/FM continuous wave/frequency modulated modulated of 17KHz or more；The ultrasonic wave of indoor placement
Positioning device calculates equipment room relative distance R such as formula (1) institute upon receipt of the signal, according to flight time range measurement principle
Show:
Wherein fpIt is the frequency that equipment receives voice signal, c is sound spread speed in air, and T is the signal period, and B is letter
Number bandwidth；
Three relative distance < R are calculated by three ultrasonic positioning devices1, R2, R3>, wearable device is built in step (1.2)
Three dimensional space coordinate Z under vertical coordinate system should meet formula (2):
R1=EuclideanDistance (D1, Z),
R2=EuclideanDistance (D2, Z),
R3=EuclideanDistance (D3, Z), formula (2)
Wherein D1, D2, D3The 3 dimension coordinates of three ultrasonic positioning devices are respectively represented, function EuclideanDistance is calculated
Euclidean distance between two coordinates；The 3 dimension coordinates that formula (2) is best suitable in space are calculated using particle filter；
(5.2) for accelerometer data, gyro data and magnetometer data on collected wearable device, inertia is used
The method of navigation calculates wearable device and currently points to；To the wearable device for being worn on wrist, step (1.2) institute is calculated
It establishes under coordinate system and represents the vector of the positive X-direction of equipment, physical significance, that is, user's forearm (by elbow to wrist) of the direction is in sky
Between in direction；
(5.3) it is set using wearable obtained in wearable device indoor location obtained in step (5.1) and step (5.2)
It is standby to be directed toward, it calculates based on the position and a space vector being directed toward；For each of appliance data table household electrical appliances, calculating should
Whether household electrical appliances coordinate is less than the size of household electrical appliances at a distance from the direction vector, if set up, judges that the household electrical appliances are in and is pointed to shape
State；
(5.4) as a result, judgement is more than in the time for being continuously pointed to state when any household electrical appliances according to obtained in step (5.3)
Certain time, system judge that the household electrical appliances enter selected state；Wearable device is with screen prompt, voice, vibration or other sides
Formula prompts user's household electrical appliances selected；
(5.5) after any household electrical appliances enter selected state, user can assign arbitrary action directive；Use step
(4.2) mode in is sliced movement and the mode according to step (4.3) carries out feature extraction, finally uses step
(4.4) the classifier identification maneuver of training；
(5.6) action classification of identification is sent to home appliance control server by wearable device, sends corresponding control by server
System instruction completes control to household electrical appliances.
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