CN112098936A - Method for positioning intelligent equipment and intelligent equipment - Google Patents
Method for positioning intelligent equipment and intelligent equipment Download PDFInfo
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- CN112098936A CN112098936A CN202010300409.0A CN202010300409A CN112098936A CN 112098936 A CN112098936 A CN 112098936A CN 202010300409 A CN202010300409 A CN 202010300409A CN 112098936 A CN112098936 A CN 112098936A
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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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
Abstract
The invention provides a method for positioning intelligent equipment and the intelligent equipment. The method comprises the following steps: transmitting a sound signal; receiving notification information containing a relative angle between the first intelligent device and the second intelligent device from the server, wherein the relative angle is determined by the first intelligent device and sent to the server; wherein the process of the first smart device determining the relative angle comprises: a first sound detection module arranged in the first intelligent device detects a first sound signal which directly reaches the first sound detection module, and a second sound detection module arranged in the first intelligent device detects a second sound signal which directly reaches the second sound detection module; determining a time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining a relative angle based on a distance between the first sound detection module and the second sound detection module and a time difference; a prompt including the relative angle is shown. The invention realizes the accurate searching of the intelligent equipment.
Description
Technical Field
The embodiment of the invention relates to the technical field of positioning, in particular to a method for positioning intelligent equipment and the intelligent equipment.
Background
The daily work often has the need of meeting and receiving stations, which are the first links in the reception work, and may be across regions, nationwide, even internationally, and the reception affects the first impression of customers on companies. In addition, in the meeting work of a large-scale meeting, the details of meeting, receiving, check-in and the like are just important judgment factors for the meeting experience of the participants.
The existing work of taking up and taking off stations is basically manual work, which needs to manually prepare photos of guests, determine the shift and arrival time of vehicles, take a business to arrive at an airport/station before arriving, hold posters writing names or meeting themes of the guests to remind the guests of attention and mutually introduce confirmation information. Wherein, the mutual search of the receiving ports or the receiving ports is time-consuming and labor-consuming, and even mistakes and embarrassment of the wrong people can be caused.
Disclosure of Invention
The embodiment of the invention provides a method for positioning intelligent equipment and the intelligent equipment.
The technical scheme of the embodiment of the invention is as follows:
a method of locating a smart device, the method being applicable to a second smart device, the method comprising: transmitting a sound signal; receiving notification information containing a relative angle between the first intelligent device and the second intelligent device from the server, wherein the relative angle is determined by the first intelligent device and sent to the server; wherein the process of the first smart device determining the relative angle comprises: a first sound detection module arranged in a first smart device detects a first sound signal of the sound signals, which is directed to the first sound detection module, and a second sound detection module arranged in the first smart device detects a second sound signal of the sound signals, which is directed to the second sound detection module; determining a time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining the relative angle based on a distance between a first sound detection module and a second sound detection module and the time difference; and displaying prompt information containing the relative angle.
In one embodiment, the determining the relative angle based on the distance between the first sound detection module and the second sound detection module and the time difference comprises: based on
Determining theta; wherein arcsin is an arcsine function, D is t × c, t is the time difference, c is the propagation speed of sound, and D is the distance between the first sound detection module and the second sound detection module; based on thetaDetermining a relative angle between a first smart device and a second smart device
Wherein
In one embodiment, the first smart device and the second smart device maintain time synchronization, and the first sound signal further includes a transmission time T1 of the first sound signal; the notification information further comprises the distance between the first intelligent device and the second intelligent device; wherein the distance between the first smart device and the second smart device is determined by the first smart device and sent to the server; the method further comprises the following steps: further displaying the distance between the first intelligent device and the second intelligent device in prompt information; wherein the first smart device determining the distance between the first smart device and the second smart device comprises: calculating a distance L between the first intelligent device and the second intelligent device; wherein L ═ (T2-T1) xc; c is the speed of sound propagation in air; t2 is the reception timing of the first sound signal.
In one embodiment, the first smart device maintains time synchronization with the second smart device, and the second audio signal further includes a transmission time T3 of the second audio signal; the notification information further comprises the distance between the first intelligent device and the second intelligent device; wherein the distance between the first smart device and the second smart device is determined by the first smart device and sent to the server; the method further comprises the following steps: further displaying the distance between the first intelligent device and the second intelligent device in prompt information; wherein the first smart device determining the distance between the first smart device and the second smart device comprises: calculating a distance L between the first intelligent device and the second intelligent device; wherein L ═ (T4-T3) xc; c is the speed of sound propagation in air; t4 is the reception time of the second sound signal.
In one embodiment, the notification information further comprises an identification of the first smart device; the method further comprises the following steps: acquiring description information corresponding to the identification of the first intelligent device from the server; and displaying the description information.
A method of locating a smart device, the method being applicable to a first smart device, the method comprising: enabling a first sound detection module arranged in a first intelligent device to detect a first sound signal which is directly directed to the first sound detection module in sound signals sent by a second intelligent device, and enabling a second sound detection module arranged in the first intelligent device to detect a second sound signal which is directly directed to the second sound detection module in the sound signals; determining a time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining the relative angle based on a distance between a first sound detection module and a second sound detection module and the time difference; and sending notification information containing the relative angle to a server, so that prompt information containing the relative angle is displayed by the second intelligent device.
In one embodiment, the method further comprises: registering in the server descriptive information corresponding to an identity of the first smart device.
A smart device, comprising: the first sound detection module is used for detecting a first sound signal which is directly transmitted to the first sound detection module in sound signals sent by second intelligent equipment; the second sound detection module is used for detecting a second sound signal which is in the sound signals sent by the second intelligent equipment and directly reaches the second sound detection module; a processor for determining a time difference between a time of receipt of the first sound signal and a time of receipt of the second sound signal; determining the relative angle based on a distance between a first sound detection module and a second sound detection module and the time difference; and the communication module is used for sending the notification information containing the relative angle to the server so as to display the prompt information containing the relative angle in the second intelligent device.
A smart device, comprising: the sound sending module is used for sending a sound signal; the communication module is used for receiving notification information containing a relative angle between the first intelligent device and the intelligent device from the server, wherein the relative angle is determined by the first intelligent device and sent to the server; wherein the process of the first smart device determining the relative angle comprises: a first sound detection module arranged in a first smart device detects a first sound signal of the sound signals, which is directed to the first sound detection module, and a second sound detection module arranged in the first smart device detects a second sound signal of the sound signals, which is directed to the second sound detection module; determining a time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining the relative angle based on a distance between a first sound detection module and a second sound detection module and the time difference; and the display module is used for displaying the prompt information containing the relative angle.
A computer readable storage medium having computer readable instructions stored therein for performing a method of locating a smart device as described in any one of the above.
According to the technical scheme, the intelligent equipment can realize relative angle prompt, realize accurate searching of the intelligent equipment and be particularly convenient for people to meet scenes. Moreover, information interaction is realized based on the server, and the information security is also ensured. In addition, the instruction information can be conveniently acquired and displayed, so that the embarrassment of a wrong person is avoided.
Drawings
Fig. 1 is an exemplary flowchart of a method for determining a relative angle between smart devices according to the present invention.
Fig. 2 is a schematic diagram illustrating the principle of relative angle determination between smart devices according to the present invention.
FIG. 3 is a schematic diagram of the calculation of relative angles between smart devices according to the present invention.
Fig. 4 is a first exemplary diagram of determining a pair of direct signals according to the present invention.
Fig. 5 is a second exemplary diagram illustrating the determination of a pair of direct signals according to the present invention.
Fig. 6 is a schematic diagram of a first exemplary arrangement of a first sound detection module and a second sound detection module in a smart device according to the present invention.
Fig. 7 is a schematic diagram of a second exemplary arrangement of a first sound detection module and a second sound detection module in a smart device according to the present invention.
Fig. 8 is a schematic diagram of the relative positioning of a first smart device and a second smart device in accordance with the present invention.
FIG. 9 is a schematic diagram showing relative angles in a smart device interface according to the present invention.
FIG. 10 is a flowchart illustrating an exemplary process for relative positioning between smart devices according to the present invention.
FIG. 11 is a flowchart of a positioning method in a contact scene according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the accompanying drawings.
In order to realize the relative direction positioning between the intelligent devices by using software without additionally adding hardware, so that the relative positioning has universality, the devices of different manufacturers can realize interoperation and mutual compatibility, and the innovative application of the intelligent devices is explored on the basis of the interoperation and the compatibility, the embodiment of the invention provides a sound (preferably ultrasonic) based relative direction identification scheme between the intelligent devices, the hardware is not required to be additionally added, the software can be used for realizing the relative direction identification between the two intelligent devices, and the positioning result is accurate and reliable.
First, an intelligent device (intelligent device) refers to any device, apparatus or machine having computing processing capabilities.
Fig. 1 is an exemplary flowchart of a method for determining a relative angle between smart devices according to the present invention. The method is applicable to a first intelligent device which comprises a first sound detection module and a second sound detection module. The first sound detection module and the second sound detection module are fixedly installed in the first intelligent device. For example, the first sound detection module may be implemented as one microphone or a set of microphone arrays arranged in the first smart device. Likewise, the second sound detection module may be implemented as one microphone or a set of microphone arrays arranged in the first smart device different from the first sound detection module.
As shown in fig. 1, the method includes:
step 101: enabling the first sound detection module to detect a first sound signal sent by the second intelligent device and directly reaching the first sound detection module, and enabling the second sound detection module to detect a second sound signal sent by the second intelligent device and directly reaching the second sound detection module, wherein the first sound signal and the second sound signal are sent by the second intelligent device at the same time.
Here, the second smart device may emit one sound signal or emit a plurality of sound signals at the same time.
Such as: when the second intelligent device sends out a sound signal, the first sound detection module and the second sound detection module in the second intelligent device respectively detect the sound signal. Wherein: the detection signal, which is detected by the first sound detection module and is directly transmitted to the first sound detection module, is determined as a first sound signal; the detection signal detected by the second sound detection module, which is the sound signal that reaches the first sound detection module, is determined as the second sound signal.
For another example, when the second smart device emits multiple sound signals simultaneously, such as an ultrasonic signal and an audible sound signal. A first sound detection module in the second smart device is adapted to detect ultrasonic signals and a second sound detection module is adapted to detect audible sound signals. The first sound detection module detects the ultrasonic signal, and the second sound detection module detects the audible sound signal. Wherein: the detection signal, which is detected by the first sound detection module and through which the ultrasonic signal reaches the first sound detection module, is determined as a first sound signal; the detection signal detected by the second sound detection module, at which the audible sound signal reaches the second sound detection module, is determined to be a second sound signal.
In other words, the first sound signal and the second sound signal may be respective detection signals of the first sound detection module and the second sound detection module for the same sound signal emitted by the second smart device. Or, the first sound signal and the second sound signal may be respective detection signals of different sound signals emitted by the first sound detection module and the second sound detection module simultaneously for the second smart device.
Step 102: a time difference between the moment of reception of the first sound signal and the moment of reception of the second sound signal is determined.
Here, the first smart device (e.g., a CPU in the first smart device) may record the reception timing of the first sound signal and the reception timing of the second sound signal, and calculate a time difference between the two.
Step 103: and determining a relative angle between the first intelligent device and the second intelligent device based on the distance between the first sound detection module and the second sound detection module and the time difference.
For example, step 103 may be performed by the CPU of the first smart device.
In one embodiment, determining the relative angle between the first smart device and the second smart device in step 103 includes: based on
Determining theta; wherein arcsin is an arcsine function, D is t × c, t is the time difference, c is the propagation speed of sound, and D is the distance between the first sound detection module and the second sound detection module; determining a relative angle between a first smart device and a second smart device based on θ
Wherein
The value of the time difference determined in step 102 may be a positive number or a negative number. When the value of the time difference is positive, the receiving time of the second sound signal is earlier than the receiving time of the first sound signal, so that the relative angle phi between the first intelligent device and the second intelligent device is generally an acute angle; when the value of the time difference is negative, the receiving time of the first sound signal is earlier than the receiving time of the second sound signal, so the relative angle phi between the first smart device and the second smart device is generally obtuse.
In an embodiment of the present invention, the first sound signal is a signal that is directly transmitted to the first sound detection module from the second smart device, and the second sound signal is a signal that is directly transmitted to the second sound detection module from the second smart device. In fact, either the first sound detection module or the second sound detection module may receive a signal that is emitted from the second smart device and is not direct (e.g., a reflection or multiple emissions past an obstacle). Therefore, how to determine the direct signal from the received multiple signals has a significant meaning.
The applicant found that: typically, the received signal stream (steam) of each sound detection module comprises a direct channel and a reflected channel. The direct channel can be determined simply and conveniently according to the following principle: the signal strength of the direct channel is typically strongest among all the signals detected by the sound detection module.
Thus, in one embodiment, the method further comprises: the method comprises the steps that a first sound detection module receives sound signals with the intensity larger than a preset threshold value in a preset time window in sound signal streams of second intelligent equipment, and the sound signals are determined to be the first sound signals; and determining that the sound signal with the intensity larger than the preset threshold value in the preset time window in the sound signal stream of the second intelligent device is received by the second sound detection module as the second sound signal.
Fig. 4 is a first exemplary diagram of determining a pair of direct signals according to the present invention. In fig. 4, the sound signal stream detected by the first sound detection module is steam1, the steam1 contains a plurality of pulse signals varying along time (T), and the threshold value of the predetermined signal strength is T. It can be seen that the signal strength of the pulse signal 50 in steam1 is greater than the threshold value T over the range of time window 90. The sound signal stream detected by the second sound detection module is steam2, the steam2 contains a plurality of pulse signals varying along time (T), and the threshold value of the predetermined signal strength is also T. It can be seen that the signal strength of the pulse signal 60 in steam2 is greater than the threshold value T over the range of time window 90. Thus, the pulse signal 50 is determined to be the first sound signal; the pulse signal 60 is a second sound signal.
In addition, the applicant has also found that: the direct signal can be accurately determined by comprehensively considering the following two principles: principle (1), among all signals detected by the sound detection module, the signal strength of the direct signal is generally strongest; principle (2), joint discrimination: the distance difference d converted from the arrival time difference of the two direct signals (the first sound signal and the second sound signal) should not be larger than the distance between the first sound detection module and the second sound detection module.
Thus, in one embodiment, the method further comprises: determining sound signals with the intensity larger than a preset threshold value in a sound signal stream of second intelligent equipment detected by a first sound detection module to form a first candidate signal set; determining sound signals with the intensity larger than the preset threshold value in the sound signal flow of the second intelligent device detected by the second sound detection module to form a second candidate signal set; determining a respective time difference between a time of receipt of each sound signal in the first candidate signal set and a time of receipt of each sound signal in the second candidate signal set; and determining a pair of sound signals with the time difference smaller than M as the first sound signal and the second sound signal, wherein M is (D/c), D is the distance between the first sound detection module and the second sound detection module, and c is the propagation speed of sound.
Fig. 5 is a second exemplary diagram illustrating the determination of a pair of direct signals according to the present invention. In fig. 5, the sound signal stream detected by the first sound detection module is steam1, the steam1 contains a plurality of pulse signals varying along time (T), and the threshold value of the predetermined signal strength is T. It can be seen that in steam1, the signal strength of the pulse signal 50 is greater than the threshold value T, and therefore the first set of candidate signals contains the pulse signal 50. The sound signal stream detected by the second sound detection module is steam2, the steam1 contains a plurality of pulse signals varying along time (T), and the threshold value of the predetermined signal strength is also T. It can be seen that in steam2, the signal strength of both pulse signal 60 and pulse signal 70 is greater than the threshold value T, and therefore the second set of candidate signals includes pulse signal 60 and pulse signal 70.
Furthermore, a time difference d1 between the reception instants of the pulse signal 50 in the first candidate signal set and the pulse signal 60 in the second candidate signal set is determined, and a time difference d2 between the reception instants of the pulse signal 50 in the first candidate signal set and the pulse signal 70 in the second candidate signal set is determined. Assuming that D1 is smaller than M and D2 is larger than M, where M ═ D/c, D is the distance between the first and second sound detection modules, and c is the propagation speed of sound. Therefore, the pulse signal 50 of the pair of sound signals related to d1 is determined as the first sound signal, and the pulse signal 60 of the pair of sound signals is determined as the second sound signal.
Preferably, the first and second sound signals are ultrasonic waves having a code division multiple access format and contain a Media Access Control (MAC) address of the second smart device.
Accordingly, the first smart device can accurately identify the source of the sound signal based on the MAC address of the second smart device contained in the sound signal. When a plurality of sound sources emitting sound signals exist in the environment, the first intelligent device can accurately determine the relative angle with the sound source by using two direct signals from the same sound source without being interfered by other sound sources based on the extraction of the MAC address in the sound signals.
The embodiment of the invention also provides a relative angle determination method between the intelligent devices. The method is applicable to a first intelligent device, wherein the first intelligent device comprises a first sound detection module and a second sound detection module, and the method comprises the following steps: determining a first moment when an ultrasonic signal sent by second intelligent equipment directly reaches a first sound detection module; determining a second moment when the ultrasonic signal directly reaches the second sound detection module; determining a time difference between the first time and the second time; and determining a relative angle between the first intelligent device and the second intelligent device based on the distance between the first sound detection module and the second sound detection module and the time difference.
In one embodiment, determining the relative angle between the first smart device and the second smart device comprises: based on
Determining theta; wherein arcsin is an arcsine function, D is t × c, t is a time difference, c is a sound propagation speed, and D is a distance between the first sound detection module and the second sound detection module; determining a relative angle between a first smart device and a second smart device based on θ
Wherein
In one embodiment, the method further comprises at least one of the following processes:
(1) determining the ultrasonic signal with the intensity larger than a preset threshold value in a preset time window in the ultrasonic signal stream of the second intelligent device received by the first sound detection module as the ultrasonic signal directly reaching the first sound detection module, and determining the time of receiving the ultrasonic signal directly reaching the first sound detection module as the first time; and determining the ultrasonic signal with the intensity larger than the preset threshold value in the preset time window in the ultrasonic signal flow of the second intelligent device received by the second sound detection module as the ultrasonic signal of the direct second sound detection module, and determining the time of receiving the ultrasonic signal of the direct second sound detection module as the second time.
(2) Determining ultrasonic signals with the intensity larger than a preset threshold value in ultrasonic signal streams of the second intelligent device detected by the first sound detection module to form a first candidate signal set; determining the ultrasonic signals with the intensity larger than the preset threshold value in the ultrasonic signal flow of the second intelligent device detected by the second sound detection module to form a second candidate signal set; determining a respective time difference between the time of receipt of each ultrasonic signal in the first candidate signal set and the time of receipt of each ultrasonic signal in the second candidate signal set; the receiving time of a pair of ultrasonic signals with the time difference smaller than M is determined as a first time and a second time, wherein M is (D/c), D is the distance between the first sound detection module and the second sound detection module, and c is the propagation speed of sound.
The principle and calculation process of the relative positioning of the present invention are exemplarily explained as follows.
Fig. 2 is a schematic diagram illustrating the principle of relative angle determination between smart devices according to the present invention. FIG. 3 is a schematic diagram of the calculation of relative angles between smart devices according to the present invention. As shown in fig. 2, a microphone a1 disposed at the bottom of smart device a emits an ultrasonic signal containing the MAC address of smart device a, and smart device B (not shown in fig. 2) has two microphones, microphone B1 and microphone B2, respectively, disposed at a distance. Wherein: the microphone b1 receives the direct signal L1 of the ultrasonic signal, and the microphone b2 receives the direct signal L2 of the ultrasonic signal. The ultrasonic signals reach the indirect signals of the microphone b1 and the microphone b2 after being transmitted by the obstacles, and do not participate in the subsequent relative angle calculation. Because the intelligent equipment is small, especially when two intelligent equipment are far away from each other, the direct signal L1、L2Can be considered as parallel lines.
As shown in FIG. 3, L1、L2Direct signals (not signals reflected by obstacles) received by the microphone B1 and the microphone B2 of the smart device B, respectively; d is the distance between microphone b1 and microphone b 2. For example, if the microphone B1 and the microphone B2 are respectively disposed at the upper and lower ends of the smart device B, D may be the length of the smart device B; d is L1And L2Using a correlation algorithm of the signals, the direct signal L can be determined1Relative to the direct signal L2D may be calculated based on the delay time difference t, where d is t × c, and c is the propagation speed of sound in a medium (such as air); theta is an auxiliary angle, wherein
Therefore, the relative angle of the intelligent device A and the intelligent device B can be calculated
Wherein
Preferably, smart device a and smart device B may be implemented as at least one of: a smart phone; a tablet computer; a smart watch; a smart bracelet; an intelligent sound box; a smart television; an intelligent earphone; smart robots, and the like.
The first sound detection module and the second sound detection module may be arranged at a plurality of locations of the smart device. Fig. 6 is a schematic diagram of a first exemplary arrangement of a first sound detection module and a second sound detection module in a smart device according to the present invention. In fig. 6, the first sound detection module 18 and the second sound detection module 19 are respectively disposed at both ends of the smart device in the length direction, and thus the length D of the smart device can be directly determined as the distance between the first sound detection module 18 and the second sound detection module 19. Fig. 7 is a schematic diagram of a second exemplary arrangement of a first sound detection module and a second sound detection module in a smart device according to the present invention. In fig. 7, the first sound detection module 18 and the second sound detection module 19 are respectively disposed at both ends of the smart device in the width direction, and thus the width D of the smart device can be directly determined as the distance between the first sound detection module 18 and the second sound detection module 19.
The above exemplary descriptions have been provided for the arrangement of the first sound detection module and the second sound detection module in the smart device, and those skilled in the art will appreciate that such descriptions are merely exemplary and are not intended to limit the scope of the embodiments of the present invention.
In fact, currently, a smart device usually has two sets of microphones, and the two sets of microphones can be applied to the embodiment of the present invention as the first sound detection module and the second sound detection module without changing the smart device in terms of hardware.
The following describes a typical example of calculating a relative angle between smart devices using ultrasound based on an embodiment of the present invention.
Fig. 8 is a schematic diagram of the relative positioning of a first smart device and a second smart device in accordance with the present invention. FIG. 10 is a flowchart illustrating an exemplary process for relative positioning between smart devices according to the present invention. In fig. 7, respective processing paths of two combined microphones detecting sound signals are illustrated, in which an Analog-to-Digital Converter (ADC) is a device converting an Analog signal of a continuous variable into a discrete Digital signal; a band-pass filter (BPF) is a device that allows waves of a particular frequency band to pass while shielding other frequency bands. The ultrasonic-based relative direction identification step between two intelligent devices comprises the following steps:
the first step is as follows: the first smart device transmits a location signal in ultrasound format containing the Mac address of the smart device 1.
The second step is that: and the two groups of microphones of the second intelligent device respectively detect the positioning signals, resolve the Mac address from the respective detected positioning signals, and confirm that the respective detected positioning signals originate from the same sound source based on the Mac address.
The third step: the second intelligent device calculates the distance difference d between two direct signals of the positioning signal based on the time difference between the two direct signals detected by the two groups of microphones contained in the second intelligent device.
The fourth step: second smart device computing
The incident angle of the signal
I.e. the relative angle of the first smart device and the second smart device, where D is the distance between the two sets of microphones in the second smart device.
The fifth step: the second intelligent device displays the relative angle on the display interface of the second intelligent device
Thereby prompting the user for the relative orientation of the first smart device. For example, fig. 9 is a schematic diagram showing relative angles in an interface of a smart device according to the present invention.
For example, assume that in the environment shown in fig. 8, the first smart device is embodied as a smart speaker and the first smart device is embodied as a smart phone.
The method comprises the following steps: the intelligent sound box transmits an ultrasonic signal, wherein the ultrasonic signal comprises a Mac address of the intelligent sound box and is a signal based on a CDMA (code division multiple access) technical framework.
Step two: the two sets of microphone arrays of the smart phone receive the ultrasonic signals and solve a Mac address of the smart sound box, and meanwhile, the smart phone solves a distance difference d between two direct signals of the two sets of microphone arrays. Wherein: suppose that in the respective received signal streams stream1 and stream2 of the two groups of microphone arrays, there are direct signals whose signal intensity peaks are greater than the threshold value T, respectively, and thus the principle 1 is satisfied; further assume the arrival time difference of the two direct signals
Calculating d corresponding to the Δ t, wherein
The two sets of microphone distances D are known (i.e. the handset length), assuming 0.145m, and D < D is visible, thus satisfying principle 2. Therefore, the two direct signals can be selected to calculate the relative angle, where d is 0.014 (m).
Step three: smartphone computing
Then the angle of incidence of the signal
The smart phone displays an angle of 84.4 degrees on a display screen of the smart phone, namely the smart sound box is in the direction of 84.4 degrees of the smart phone.
By using the identification method of the relative direction between the two intelligent devices, the relative distance between the two intelligent devices can be further obtained. The following scenario is envisaged: the system comprises at least two intelligent devices, wherein at least one intelligent device a is used for transmitting an ultrasonic positioning signal, and the ultrasonic positioning signal contains the MAC address of the intelligent device a; and the intelligent equipment b is used for receiving the ultrasonic positioning signal, resolving the incident angle of the signal and calculating the relative distance between the intelligent equipment b and the intelligent equipment a after further movement.
Based on the description, the embodiment of the invention also provides a method for quickly positioning the intelligent device based on the relative angle calculation mode, and the method is particularly suitable for people-catching scenes.
FIG. 11 is a flowchart of a positioning method in a contact scene according to the present invention. The method shown in fig. 11 may be implemented as: the second smart device, which is the sound source, is the recipient (typically the owner) actively looking for the application of the first smart device, which is the recipient (typically the guest). Moreover, the method shown in fig. 11 may also be implemented as: the second intelligent device as the sound source is the called party, and actively searches for the application of the second intelligent device as the called party.
The method shown in fig. 11 is applicable to a second smart device. As shown in fig. 11, the method includes:
step 1101: the second smart device transmits a sound signal.
For example, when a user of a second smart device desires to find a user of a first smart device in an environment such as an airport, a train station, etc., the user of the second smart device may input an instruction to find the first smart device on the second smart device held by the user. For example, the user of the second smart device may enter the instruction in a text format on a touch screen of the second smart device, or enter the instruction in a voice format, such as voice input: "I want to pick up a guest". The second smart device transmits a sound signal based on the instruction, such as by transmitting the sound signal through a microphone built into the second smart device.
Preferably, the sound signal (preferably in an ultrasonic format) transmitted by the second smart device may include an identifier of the second smart device (e.g., a MAC address of the second smart device or a user identifier of the second smart device, etc.), and is a signal based on the CDMA code division multiple access technology architecture. There are many address codes and modulation modes used by CDMA, and there are three basic CDMA modes: 1. pseudo-random code (PN code) direct multiple access mode, also called Direct Sequence (DS) mode, which adopts high-speed address code-pseudo-random code to make phase shift keying modulation on carrier wave, and uses locally generated code pattern and address code identical to transmitting end to make despreading modulation when receiving; 2. the time-frequency code division multiple access mode, also called Frequency Hopping (FH) mode, which is to use address code to carry out frequency shift keying modulation on carrier waves; 3. a low-density convolutional code CDMA mode, also called time-hopping (TH) mode, is characterized by that firstly, the information code is coded by using convolutional code to implement low-density ratio, then the PN code is used as address code and added with low-density information code sequence, then the pulse amplitude modulation is implemented, i.e. 1 time-transmitting carrier wave and 0 time-not-transmitting so as to form time-hopping. In addition to the three basic cdma systems, the embodiments of the present invention may also use a cdma system that is a combination of the three basic systems, which is not limited to this.
Step 1102: the second intelligent device receives notification information containing a relative angle between the first intelligent device and the second intelligent device from the server, wherein the relative angle is determined by the first intelligent device and sent to the server; wherein the process of the first smart device determining the relative angle comprises: a first sound detection module arranged in the first intelligent device detects a first sound signal which is directly reached to the first sound detection module in sound signals, and a second sound detection module arranged in the first intelligent device detects a second sound signal which is directly reached to the second sound detection module in the sound signals; determining a time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining a relative angle based on a distance between the first sound detection module and the second sound detection module and the time difference. The second intelligent device can receive the notification information from the server in a 3G, 4G, 5G, wifi, Bluetooth, infrared communication mode and the like.
Specifically, the first intelligent device detects the sound signal, analyzes the identifier of the second intelligent device, and confirms that the detected sound signal is from the same sound source based on the identifier of the second intelligent device. And when the first intelligent device finds that the object identification prestored by the first intelligent device is equal to the identification of the second intelligent device, the detected sound signal is confirmed to be the sound signal emitted by the device related to the own meeting activity.
The manner in which the first smart device calculates the relative angle may be as described with reference to FIG. 1
The present invention is not described in detail. And, the first smart device sends notification information including a relative angle between the first smart device and the second smart device to the server. The first intelligent device can send notification information to the server through communication modes such as 3G, 4G, 5G, wifi, Bluetooth and infrared communication.
Step 1103: the second smart device presents a prompt including the relative angle.
Here, the second smart device presents the prompt. For example, the prompt may be presented on a display screen of the second smart device or played by a microphone of the second smart device. For example, the display interface of the second smart device displays "the first smart device is at 141.4 ° orientation", and so on. Preferably, the first smart device and the second smart device may respectively include: a smart phone; a tablet computer; a smart watch; a smart bracelet; an intelligent sound box; a smart television; an intelligent earphone; smart robots, and the like.
Preferably, the first intelligent device further determines the distance between the first intelligent device and the second intelligent device, and the notification information further includes the distance between the first intelligent device and the second intelligent device, so that the second intelligent device further displays the distance between the first intelligent device and the second intelligent device in the prompt information, and a user of the second intelligent device can find the user of the first intelligent device as soon as possible. For example, the display interface of the second smart device displays "the first smart device is at 141.4 ° orientation, 15.22m distance", and so on.
The second intelligent device can select path planning and fast cruise to the second intelligent device based on the distance and the relative angle between the first intelligent device and the second intelligent device. The specific path planning algorithm is not described in detail herein.
The first smart device may determine the distance between the first smart device and the second smart device based on a variety of ways. For example based on a sound localization (preferably ultrasound localization) approach.
Example 1: when the first smart device maintains time synchronization with the second smart device, the first sound signal further includes a transmission time T1 of the first sound signal, wherein the first smart device determining the distance between the first smart device and the second smart device includes: calculating a distance L between the first intelligent device and the second intelligent device; wherein L ═ (T2-T1) xc; c is the speed of sound propagation in air; t2 is the reception timing of the first sound signal.
Example 2: the first smart device maintaining time synchronization with the second smart device, the second sound signal further comprising a transmission time T3 of the second sound signal, wherein the first smart device determining the distance between the first smart device and the second smart device comprises: calculating a distance L between the first intelligent device and the second intelligent device; wherein L ═ (T4-T3) xc; c is the speed of sound propagation in air; t4 is the reception time of the second sound signal.
In one embodiment, determining the relative angle based on the distance between the first sound detection module and the second sound detection module and the time difference comprises: based on
Determining theta; wherein arcsin is an arcsine function, D is t × c, t is the time difference, c is the propagation speed of sound, and D is the distance between the first sound detection module and the second sound detection module; determining a relative angle between a first smart device and a second smart device based on θ
Wherein
In one embodiment, the method further comprises: the method comprises the steps that a first sound detection module receives sound signals with the intensity larger than a preset threshold value in a preset time window in sound signal streams of second intelligent equipment, and the sound signals are determined to be the first sound signals; and determining that the sound signal with the intensity larger than a preset threshold value in the preset time window in the sound signal stream of the second intelligent device is received by the second sound detection module as the second sound signal. In one embodiment, the method further comprises: determining sound signals with the intensity larger than a preset threshold value in a sound signal stream of second intelligent equipment detected by a first sound detection module to form a first candidate signal set; determining sound signals with the intensity larger than the preset threshold value in the sound signal flow of the second intelligent device detected by the second sound detection module to form a second candidate signal set; determining a respective time difference between a time of receipt of each sound signal in the first candidate signal set and a time of receipt of each sound signal in the second candidate signal set; and determining a pair of sound signals with the time difference smaller than M as the first sound signal and the second sound signal, wherein M is (D/c), D is the distance between the first sound detection module and the second sound detection module, and c is the propagation speed of sound. In one embodiment, the notification information received by the second intelligent device from the server further comprises an identification of the first intelligent device; the method further comprises the following steps: the second intelligent device acquires description information corresponding to the identification of the first intelligent device from the server; and displaying the description information. The description information may include at least one of the user information of the first smart device, such as name, gender, company, position, mobile phone number, and the like. The specification information may be that the user of the first smart device has previously registered with the server.
Therefore, the user of the second intelligent device can also obtain the description information about the user of the first intelligent device, and the embarrassment of a wrong person is avoided.
In fig. 11, the presentation of the reminder by the second smart device is depicted. Preferably, after the first smart device calculates the relative angle and position, prompt information containing the relative angle and position may be presented in the first smart device. A typical example scenario of an embodiment of the present invention is described below. For example, Zhang Sanwai Liqu.
The first step is as follows: the lee mobile terminal transmits a positioning signal in an ultrasonic format, wherein the positioning signal comprises a Mac address of the lee mobile terminal, and specifically is a positioning signal based on a CDMA code division multiple access technology architecture. The second step is that: the third mobile terminal detects the positioning signal, resolves the Mac address of the lee-four-contained mobile terminal from the detected positioning signal, and confirms that the detected positioning signal originates from the same sound source (i.e., lee-four mobile terminal) based on the Mac address. The third step: and the mobile terminal of Zhang III calculates the relative position of the mobile terminal of Zhang III and the mobile terminal of Li IV, including the relative angle and the relative distance, and sends the relative position to the server through the mobile communication network. The fourth step: the mobile terminal of lee receives the relative position from the server via the mobile communication network, and views explanatory information such as name, sex, company, job title, etc., registered in the server for zhang san. The fifth step: li IV selects a path plan on the mobile terminal of the user, and quickly cruises to the position of Zhang III users.
The embodiment of the invention also provides a method for positioning the intelligent equipment, which is suitable for the first intelligent equipment and comprises the following steps: enabling a first sound detection module arranged in a first intelligent device to detect a first sound signal which is directly directed to the first sound detection module in sound signals sent by a second intelligent device, and enabling a second sound detection module arranged in the first intelligent device to detect a second sound signal which is directly directed to the second sound detection module in the sound signals; determining a time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining the relative angle based on a distance between a first sound detection module and a second sound detection module and the time difference; and sending notification information containing the relative angle to a server, so that prompt information containing the relative angle is displayed by the second intelligent device.
In one embodiment the method further comprises: the first smart device registers descriptive information in the server corresponding to an identity of the first smart device.
An embodiment of the present invention further provides an intelligent device, including: the first sound detection module is used for detecting a first sound signal which is directly transmitted to the first sound detection module in sound signals sent by second intelligent equipment; the second sound detection module is used for detecting a second sound signal which is in the sound signals sent by the second intelligent equipment and directly reaches the second sound detection module; a processor for determining a time difference between a time of receipt of the first sound signal and a time of receipt of the second sound signal; determining the relative angle based on a distance between a first sound detection module and a second sound detection module and the time difference; and the communication module is used for sending the notification information containing the relative angle to the server so as to display the prompt information containing the relative angle in the second intelligent device.
An intelligent device according to an embodiment of the present invention includes: the sound sending module is used for sending a sound signal; the communication module is used for receiving notification information containing a relative angle between the first intelligent device and the intelligent device from the server, wherein the relative angle is determined by the first intelligent device and sent to the server; wherein the process of the first smart device determining the relative angle comprises: a first sound detection module arranged in a first smart device detects a first sound signal of the sound signals, which is directed to the first sound detection module, and a second sound detection module arranged in the first smart device detects a second sound signal of the sound signals, which is directed to the second sound detection module; determining a time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining the relative angle based on a distance between a first sound detection module and a second sound detection module and the time difference; and the display module is used for displaying the prompt information containing the relative angle.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process implemented in the above embodiments of the present invention, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk. Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method for locating a smart device, the method being applicable to a second smart device, the method comprising:
transmitting a sound signal;
receiving notification information containing a relative angle between the first intelligent device and the second intelligent device from the server, wherein the relative angle is determined by the first intelligent device and sent to the server; wherein the process of the first smart device determining the relative angle comprises: a first sound detection module arranged in a first smart device detects a first sound signal of the sound signals, which is directed to the first sound detection module, and a second sound detection module arranged in the first smart device detects a second sound signal of the sound signals, which is directed to the second sound detection module; determining a time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining the relative angle based on a distance between a first sound detection module and a second sound detection module and the time difference;
and displaying prompt information containing the relative angle.
2. The method of locating a smart device of claim 1,
the determining a relative angle based on a distance between the first sound detection module and the second sound detection module and the time difference comprises:
based on
Determining theta; wherein arcsin is an arcsine function, D is t × c, t is the time difference, c is the propagation speed of sound, and D is the distance between the first sound detection module and the second sound detection module; determining a relative angle between a first smart device and a second smart device based on θ
Wherein
3. The method of locating a smart device of claim 1,
the first intelligent device and the second intelligent device keep time synchronization, and the first sound signal further comprises a sending time T1 of the first sound signal;
the notification information further comprises the distance between the first intelligent device and the second intelligent device; wherein the distance between the first smart device and the second smart device is determined by the first smart device and sent to the server; the method further comprises the following steps:
further displaying the distance between the first intelligent device and the second intelligent device in prompt information;
wherein the first smart device determining the distance between the first smart device and the second smart device comprises: calculating a distance L between the first intelligent device and the second intelligent device; wherein L ═ (T2-T1) xc; c is the speed of sound propagation in air; t2 is the reception timing of the first sound signal.
4. The method of locating a smart device of claim 1,
the first smart device and the second smart device keep time synchronization, and the second sound signal further comprises a sending time T3 of the second sound signal;
the notification information further comprises the distance between the first intelligent device and the second intelligent device; wherein the distance between the first smart device and the second smart device is determined by the first smart device and sent to the server; the method further comprises the following steps:
further displaying the distance between the first intelligent device and the second intelligent device in prompt information;
wherein the first smart device determining the distance between the first smart device and the second smart device comprises: calculating a distance L between the first intelligent device and the second intelligent device; wherein L ═ (T4-T3) xc; c is the speed of sound propagation in air; t4 is the reception time of the second sound signal.
5. The method of locating a smart device of claim 1, wherein the notification information further includes an identification of the first smart device; the method further comprises the following steps:
acquiring description information corresponding to the identification of the first intelligent device from the server;
and displaying the description information.
6. A method for locating a smart device, the method being applicable to a first smart device, the method comprising:
enabling a first sound detection module arranged in a first intelligent device to detect a first sound signal which is directly directed to the first sound detection module in sound signals sent by a second intelligent device, and enabling a second sound detection module arranged in the first intelligent device to detect a second sound signal which is directly directed to the second sound detection module in the sound signals;
determining a time difference between a reception time of the first sound signal and a reception time of the second sound signal;
determining the relative angle based on a distance between a first sound detection module and a second sound detection module and the time difference;
and sending notification information containing the relative angle to a server, so that prompt information containing the relative angle is displayed by the second intelligent device.
7. The method of locating a smart device of claim 6, further comprising: registering in the server descriptive information corresponding to an identity of the first smart device.
8. A smart device, comprising:
the first sound detection module is used for detecting a first sound signal which is directly transmitted to the first sound detection module in sound signals sent by second intelligent equipment;
the second sound detection module is used for detecting a second sound signal which is in the sound signals sent by the second intelligent equipment and directly reaches the second sound detection module;
a processor for determining a time difference between a time of receipt of the first sound signal and a time of receipt of the second sound signal; determining the relative angle based on a distance between a first sound detection module and a second sound detection module and the time difference;
and the communication module is used for sending the notification information containing the relative angle to the server so as to display the prompt information containing the relative angle in the second intelligent device.
9. A smart device, comprising:
the sound sending module is used for sending a sound signal;
the communication module is used for receiving notification information containing a relative angle between the first intelligent device and the intelligent device from the server, wherein the relative angle is determined by the first intelligent device and sent to the server; wherein the process of the first smart device determining the relative angle comprises: a first sound detection module arranged in a first smart device detects a first sound signal of the sound signals, which is directed to the first sound detection module, and a second sound detection module arranged in the first smart device detects a second sound signal of the sound signals, which is directed to the second sound detection module; determining a time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining the relative angle based on a distance between a first sound detection module and a second sound detection module and the time difference;
and the display module is used for displaying the prompt information containing the relative angle.
10. A computer-readable storage medium having computer-readable instructions stored therein for performing the method of locating a smart device of any of claims 1-5 or any of claims 6-7.
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| CN202010300409.0A CN112098936A (en) | 2020-04-16 | 2020-04-16 | Method for positioning intelligent equipment and intelligent equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112969121A (en) * | 2021-04-12 | 2021-06-15 | 苏州触达信息技术有限公司 | Intelligent interaction system and method for earphone and multimedia equipment |
| CN113055817A (en) * | 2021-03-31 | 2021-06-29 | 苏州触达信息技术有限公司 | Positioning method of wearable device, wearable device and storage medium |
-
2020
- 2020-04-16 CN CN202010300409.0A patent/CN112098936A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113055817A (en) * | 2021-03-31 | 2021-06-29 | 苏州触达信息技术有限公司 | Positioning method of wearable device, wearable device and storage medium |
| CN112969121A (en) * | 2021-04-12 | 2021-06-15 | 苏州触达信息技术有限公司 | Intelligent interaction system and method for earphone and multimedia equipment |
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