CN112098941A - Intelligent equipment positioning method and device and intelligent equipment - Google Patents
Intelligent equipment positioning method and device and intelligent equipment Download PDFInfo
- Publication number
- CN112098941A CN112098941A CN202010063204.5A CN202010063204A CN112098941A CN 112098941 A CN112098941 A CN 112098941A CN 202010063204 A CN202010063204 A CN 202010063204A CN 112098941 A CN112098941 A CN 112098941A
- Authority
- CN
- China
- Prior art keywords
- detection module
- sound
- sound detection
- determining
- relative angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention provides a positioning method and a positioning device of intelligent equipment and the intelligent equipment. Determining a first relative angle between the smart device and the first device based on a receiving time difference of a first sound detection module and a second sound detection module which are arranged on the smart device for a direct sound signal sent by the first device; determining a second relative angle between the intelligent device and the second device based on the receiving time difference of the first sound detection module and the second sound detection module aiming at the direct sound signal sent by the second device; determining a relative position of the smart device with respect to the first device and the second device based on the first relative angle and the second relative angle. And the relative angle-based quick positioning is realized.
Description
Technical Field
The embodiment of the invention relates to the technical field of positioning, in particular to a positioning method and a positioning device of intelligent equipment and the intelligent equipment.
Background
With the adoption of wireless communication technologies such as 5G and the like, the process of building the Internet of things in the world is accelerated, the location service is an infrastructure of the Internet of things, and the location service permeates into a plurality of application scenes of the Internet of things, so that the positions of people and objects are mutually sensed. Therefore, it is necessary to explore technologies and applications based on mutual positioning between intelligent devices, to implement connections between people, people and objects, and to improve the intelligent and humanized degrees of scenes such as work, social contact, and the like.
Currently, the mutual positioning between the intelligent devices is generally realized based on a GNSS global satellite positioning system. However, the GNSS global satellite positioning system has low positioning accuracy and is hardly usable particularly indoors. In addition, the WiFi technology and the bluetooth technology are not accurate in determining the relative position of the smart device, and also require repeated tests and comparison with the actual distance to obtain the signal strength and the environmental attenuation factor when the distance between the smart device and the bluetooth device is one meter, which is not reliable. At present, the prior art has no universality for the basic location service of the intelligent equipment in some small space scenes.
Disclosure of Invention
The embodiment of the invention provides a positioning method and a positioning device of 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 comprising:
determining a first relative angle between the smart device and the first device based on a receiving time difference of a first sound detection module and a second sound detection module which are arranged on the smart device for a direct sound signal sent by the first device;
determining a second relative angle between the intelligent device and the second device based on the receiving time difference of the first sound detection module and the second sound detection module aiming at the direct sound signal sent by the second device;
determining a relative position of the smart device with respect to the first device and the second device based on the first relative angle and the second relative angle.
In one embodiment, the coordinates of the first device are (x)1，y1) The coordinates of the second device are (x)2，y2)；
The determining the relative position of the smart device with respect to the first device and the second device comprises:
determining coordinates (x, y) of the smart device, wherein:
A method of locating a smart device, the method comprising:
determining a first relative angle between the smart device and the first device based on a receiving time difference of a first sound detection module and a second sound detection module arranged on the first device for a direct sound signal sent by the smart device;
determining a second relative angle between the smart device and the second device based on a receiving time difference of a third sound detection module and a fourth sound detection module arranged on the second device for a direct sound signal sent by the smart device;
determining a relative position of the smart device with respect to the first device and the second device based on the first relative angle and the second relative angle.
In one embodiment, the coordinates of the first device are (x)1，y1) The coordinates of the second device are (x)2，y2)；
The determining the relative position of the smart device with respect to the first device and the second device comprises:
determining coordinates (x, y) of the smart device, wherein:
A positioning apparatus of a smart device, comprising:
the intelligent device comprises a first angle determining module, a second angle determining module and a control module, wherein the first angle determining module is used for determining a first relative angle between the intelligent device and the first device based on a receiving time difference of a first sound detecting module and a second sound detecting module which are arranged on the intelligent device aiming at a direct sound signal sent by the first device;
the second angle determining module is used for determining a second relative angle between the intelligent device and the second device based on the receiving time difference of the first sound detecting module and the second sound detecting module aiming at the direct sound signal sent by the second device;
a positioning module to determine a relative position of the smart device with respect to the first device and the second device based on the first relative angle and the second relative angle.
In one embodiment, the coordinates of the first device are (x)1，y1) The coordinates of the second device are (x)2，y2)；
A positioning module for determining coordinates (x, y) of the smart device, wherein:
A positioning apparatus of a smart device, comprising:
the intelligent device comprises a first angle determining module, a second angle determining module and a control module, wherein the first angle determining module is used for determining a first relative angle between the intelligent device and the first device based on a receiving time difference of a first sound detecting module and a second sound detecting module which are arranged on the first device aiming at a direct sound signal sent by the intelligent device;
a second angle determination module, configured to determine a second relative angle between the smart device and the second device based on a reception time difference of a third sound detection module and a fourth sound detection module arranged on the second device with respect to a direct sound signal transmitted by the smart device;
a positioning module to determine a relative position of the smart device with respect to the first device and the second device based on the first relative angle and the second relative angle.
In one embodiment, the coordinates of the first device are (x)1，y1) The coordinates of the second device are (x)2，y2)；
A positioning module for determining coordinates (x, y) of the smart device, wherein:
A smart device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing a method of locating a smart device as claimed in any one of the preceding claims.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of positioning a smart device as defined in any one of the preceding claims.
As can be seen from the foregoing technical solutions, in the present embodiment, a first relative angle between the smart device and the first device is determined based on a receiving time difference of a first sound detection module and a second sound detection module arranged on the smart device with respect to a direct sound signal sent by the first device; determining a second relative angle between the intelligent device and the second device based on the receiving time difference of the first sound detection module and the second sound detection module aiming at the direct sound signal sent by the second device; determining a relative position of the smart device with respect to the first device and the second device based on the first relative angle and the second relative angle. Thus, a fast positioning of the smart device is achieved directly based on the relative angle determined by the difference in reception time without performing acoustic ranging.
In addition, the embodiment of the invention can determine the direct signal from a plurality of received signals (including the reflected signal), thereby ensuring the accuracy of angle calculation.
Moreover, the embodiment of the invention enables the relative angle positioning to have universality, and the equipment of different manufacturers can realize interoperation and mutual compatibility.
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 schematic diagram of a first exemplary architecture of a positioning intelligent device according to the present invention.
Fig. 12 is an exemplary flow chart of locating a smart device in fig. 11.
Fig. 13 is a diagram illustrating a second exemplary architecture of a positioning intelligence device according to the present invention.
Fig. 14 is an exemplary flow chart of locating a smart device in fig. 13.
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.
For simplicity and clarity of description, the invention will be described below by describing several representative embodiments. Numerous details of the embodiments are set forth to provide an understanding of the principles of the invention. It will be apparent, however, that the invention may be practiced without these specific details. Some embodiments are not described in detail, but rather are merely provided as frameworks, in order to avoid unnecessarily obscuring aspects of the invention. Hereinafter, "including" means "including but not limited to", "according to … …" means "at least according to … …, but not limited to … … only". In view of the language convention of chinese, the following description, when it does not specifically state the number of a component, means that the component may be one or more, or may be understood as at least one.
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 channel 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 channel is generally strongest; principle (2), joint discrimination: the distance difference d converted from the arrival time difference of two direct channel 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 D1 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 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 address (MAC) 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, the 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 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 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; and determining the receiving time of the pair of ultrasonic signals with the time difference smaller than M as the first time and the 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
Display of smart phone on selfThe angle is displayed on the screen at 84.4 degrees, namely the smart sound box is in the direction of 84.4 degrees of the smart phone.
Based on the above description, the embodiment of the present invention further provides a positioning method of an intelligent device based on the above relative angle calculation.
Fig. 11 is a schematic diagram of a first exemplary architecture of a positioning intelligent device according to the present invention.
In fig. 11, a first sound detection module 601 (e.g., one set of microphone arrays) and a second sound detection module 602 (e.g., another set of microphone arrays) are fixedly disposed in a first device 600. Wherein the distance between the first sound detection module 601 and the second sound detection module 602 is D1. A third sound detection module 701 (e.g., one set of microphone arrays) and a fourth sound detection module 702 (e.g., another set of microphone arrays) are fixedly arranged in the second device 700. Wherein the distance between the third sound detection module 701 and the fourth sound detection module 702 is D2. Also, the first device 600 is not coincident with the second device 700.
The smart device 500 has a microphone 501. The microphone 501 emits a sound signal (preferably an ultrasonic signal) containing the Mac address of the smart device 500.
Fig. 12 is an exemplary flow chart of locating a smart device in fig. 11. The method comprises the following steps:
step 1201: a first relative angle between the smart device 500 and the first device 601 is determined based on a reception time difference of the first sound detection module 601 and the second sound detection module 602 arranged on the first device 600 with respect to the direct sound signal transmitted by the smart device 500.
Step 1202: a second relative angle between the smart device 500 and the second device 700 is determined based on a difference in reception time of the third sound detection module 701 and the fourth sound detection module 702 arranged on the second device 700 with respect to the direct sound signal transmitted by the smart device 500.
Step 1203: based on the first and second relative angles, the relative position of the smart device 500 is determined with respect to the first and second devices 600, 700.
In one embodiment, the coordinates of the first device 600 are(x1，y1) The coordinates of the second device 700 are (x)2，y2) (ii) a Determining the relative position of the smart device 500 with respect to the first device 600 and the second device 700 in step 1023 comprises:
determine coordinates (x, y) of the smart device 500, wherein:
For example, the arrangement positions (including the relative direction and distance between the first device 600 and the second device 700) of the first device 600 (e.g., implemented as a smart phone) and the second device 700 (e.g., implemented as another smart phone) are saved on the smart device 500 (e.g., implemented as a smart watch), and the first device 600 and the second device 700 are arranged indoors according to the arrangement positions. The smart device 500 establishes a coordinate system based on the arrangement position. For example, the midpoint of the first device 600 and the second device 700 is taken as the origin of the coordinate system. The coordinates of the smart device 500 are (x, y); the coordinates of the first device 600 are (-100, 0); the coordinates of the second device 700 are (100, 0).
First, the smart device 500 transmits an ultrasonic signal containing a Mac address of the smart device 500, specifically, a signal based on the CDMA code division multiple access technology architecture.
The first device 600 and the second device 700 respectively receive the ultrasonic signals and solve the Mac address of the intelligent device 700 by using the method for determining the relative angle between the intelligent devices as shown in fig. 1, and calculate the respective θ1、θ2It is preferable to specify that in the first device 600 and the second device 700, the signal arrival time difference is always the time of the left microphone minus the time of the right microphone as shown in fig. 11. Assume that the respective two sets of microphones of the first device 600 and the second device 700 are at the same distance, 0.145m, D1＝D2＝0.145m。
For the first device 600, the signal arrival time difference
The first device 600 will contain its own Mac address and phi1A notification message of the value is sent to the smart device 500.
For the second device 700, the signal arrival time difference
The second device 700 will contain its own Mac address and phi1A notification message of the value is sent to the smart device 500.
Then, the smart device 500 is based on the following formula:
the coordinates of the smart device 500 are calculated to be (-52.101, 85.355), and the coordinate location is displayed on the interface of the smart device 500.
In fig. 11 and 12, a smart device 500 being located actively transmits a sound signal to enable location for the smart device 500. In an alternative technical approach, sound signals may also be actively emitted by the first device 600 and the second device 700 to enable localization for the smart device 500.
Based on the disclosure of fig. 11 and 12, the embodiment of the invention further provides a positioning device of the intelligent device. The device includes: the intelligent device comprises a first angle determining module, a second angle determining module and a control module, wherein the first angle determining module is used for determining a first relative angle between the intelligent device and the first device based on a receiving time difference of a first sound detecting module and a second sound detecting module which are arranged on the intelligent device aiming at a direct sound signal sent by the first device; the second angle determining module is used for determining a second relative angle between the intelligent device and the second device based on the receiving time difference of the first sound detecting module and the second sound detecting module aiming at the direct sound signal sent by the second device; a positioning module to determine a relative position of the smart device with respect to the first device and the second device based on the first relative angle and the second relative angle.
Fig. 13 is a diagram illustrating a second exemplary architecture of a positioning intelligence device according to the present invention.
In fig. 13, a first sound detection module 501 (e.g., one set of microphone arrays) and a second sound detection module 502 (e.g., another set of microphone arrays) are fixedly disposed in a smart device 500. Wherein the distance between the first sound detection module 501 and the second sound detection module 502 is D.
A microphone 601 is arranged in the first device 600 for emitting a sound signal, preferably an ultrasonic signal, containing the Mac address of the first device 600. A microphone 701 for emitting a sound signal (preferably an ultrasonic signal) containing a Mac address of the second device 700 is arranged in the second device 700. Also, the first device 600 is not coincident with the second device 700.
Fig. 14 is an exemplary flow chart of locating a smart device in fig. 13. As shown in fig. 14, includes:
step 1401: a first relative angle between the smart device 500 and the first device 600 is determined based on a difference in reception time of the first sound detection module 501 and the second sound detection module 502 arranged on the smart device 500 for the direct sound signal transmitted by the first device 600.
Step 1402: a second relative angle between the smart device 500 and the second device 600 is determined based on a difference in reception time of the direct sound signal transmitted by the second device 700 by the first sound detection module 501 and the second sound detection module 502.
Step 1403: determining a relative position of the smart device with respect to the first device and the second device based on the first relative angle and the second relative angle.
In one embodiment, the coordinates of the first device 600 are (x)1，y1) The coordinates of the second device 700 are (x)2，y2) (ii) a Determining the relative position of the smart device 500 with respect to the first device 600 and the second device 700 in step 1403 includes:
determine coordinates (x, y) of the smart device 500, wherein:
Based on the description of fig. 13 and fig. 14, the invention also provides a positioning device of the intelligent device. The device includes: the intelligent device comprises a first angle determining module, a second angle determining module and a control module, wherein the first angle determining module is used for determining a first relative angle between the intelligent device and the first device based on a receiving time difference of a first sound detecting module and a second sound detecting module which are arranged on the first device aiming at a direct sound signal sent by the intelligent device; a second angle determination module, configured to determine a second relative angle between the smart device and the second device based on a reception time difference of a third sound detection module and a fourth sound detection module arranged on the second device with respect to a direct sound signal transmitted by the smart device; a positioning module to determine a relative position of the smart device with respect to the first device and the second device based on the first relative angle and the second 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 positioning an intelligent device, the method comprising:
determining a first relative angle between the smart device and the first device based on a receiving time difference of a first sound detection module and a second sound detection module which are arranged on the smart device for a direct sound signal sent by the first device;
determining a second relative angle between the intelligent device and the second device based on the receiving time difference of the first sound detection module and the second sound detection module aiming at the direct sound signal sent by the second device;
determining a relative position of the smart device with respect to the first device and the second device based on the first relative angle and the second relative angle.
2. The method of claim 1,
the coordinates of the first device are (x)1，y1) The coordinates of the second device are (x)2，y2)；
The determining the relative position of the smart device with respect to the first device and the second device comprises:
determining coordinates (x, y) of the smart device, wherein:
3. A method for positioning an intelligent device, the method comprising:
determining a first relative angle between the smart device and the first device based on a receiving time difference of a first sound detection module and a second sound detection module arranged on the first device for a direct sound signal sent by the smart device;
determining a second relative angle between the smart device and the second device based on a receiving time difference of a third sound detection module and a fourth sound detection module arranged on the second device for a direct sound signal sent by the smart device;
determining a relative position of the smart device with respect to the first device and the second device based on the first relative angle and the second relative angle.
4. The method of claim 3,
the coordinates of the first device are (x)1，y1) The coordinates of the second device are (x)2，y2)；
The determining the relative position of the smart device with respect to the first device and the second device comprises:
determining coordinates (x, y) of the smart device, wherein:
5. A positioner of smart machine, characterized in that includes:
the intelligent device comprises a first angle determining module, a second angle determining module and a control module, wherein the first angle determining module is used for determining a first relative angle between the intelligent device and the first device based on a receiving time difference of a first sound detecting module and a second sound detecting module which are arranged on the intelligent device aiming at a direct sound signal sent by the first device;
the second angle determining module is used for determining a second relative angle between the intelligent device and the second device based on the receiving time difference of the first sound detecting module and the second sound detecting module aiming at the direct sound signal sent by the second device;
a positioning module to determine a relative position of the smart device with respect to the first device and the second device based on the first relative angle and the second relative angle.
6. The intelligent device positioning apparatus according to claim 5, wherein the first device coordinate is (x)1，y1) The coordinates of the second device are (x)2，y2)；
A positioning module for determining coordinates (x, y) of the smart device, wherein:
7. A positioner of smart machine, characterized in that includes:
the intelligent device comprises a first angle determining module, a second angle determining module and a control module, wherein the first angle determining module is used for determining a first relative angle between the intelligent device and the first device based on a receiving time difference of a first sound detecting module and a second sound detecting module which are arranged on the first device aiming at a direct sound signal sent by the intelligent device;
a second angle determination module, configured to determine a second relative angle between the smart device and the second device based on a reception time difference of a third sound detection module and a fourth sound detection module arranged on the second device with respect to a direct sound signal transmitted by the smart device;
a positioning module to determine a relative position of the smart device with respect to the first device and the second device based on the first relative angle and the second relative angle.
8. The intelligent device positioning apparatus according to claim 7,
the coordinates of the first device are (x)1，y1) The coordinates of the second device are (x)2，y2)；
A positioning module for determining coordinates (x, y) of the smart device, wherein:
9. An intelligent device, comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing a positioning method for an intelligent device according to any one of claims 1 to 4.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of locating a smart device according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010063204.5A CN112098941A (en) | 2020-01-20 | 2020-01-20 | Intelligent equipment positioning method and device and intelligent equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010063204.5A CN112098941A (en) | 2020-01-20 | 2020-01-20 | Intelligent equipment positioning method and device and intelligent equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112098941A true CN112098941A (en) | 2020-12-18 |
Family
ID=73749445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010063204.5A Pending CN112098941A (en) | 2020-01-20 | 2020-01-20 | Intelligent equipment positioning method and device and intelligent equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112098941A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140286133A1 (en) * | 2013-03-15 | 2014-09-25 | Device-To-Device Angel Detection With Ultrasound And Wireless Signal | Device-to-device angle detection with ultrasound and wireless signal |
| CN107589403A (en) * | 2017-08-31 | 2018-01-16 | 努比亚技术有限公司 | Localization method, system and computer-readable recording medium based on ultrasonic wave |
| CN107613428A (en) * | 2017-09-15 | 2018-01-19 | 北京地平线信息技术有限公司 | Sound processing method, device and electronic equipment |
| CN110412510A (en) * | 2018-04-26 | 2019-11-05 | 苏州触达信息技术有限公司 | Localization method and positioning system in a kind of predetermined two-dimensional space |
-
2020
- 2020-01-20 CN CN202010063204.5A patent/CN112098941A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140286133A1 (en) * | 2013-03-15 | 2014-09-25 | Device-To-Device Angel Detection With Ultrasound And Wireless Signal | Device-to-device angle detection with ultrasound and wireless signal |
| CN107589403A (en) * | 2017-08-31 | 2018-01-16 | 努比亚技术有限公司 | Localization method, system and computer-readable recording medium based on ultrasonic wave |
| CN107613428A (en) * | 2017-09-15 | 2018-01-19 | 北京地平线信息技术有限公司 | Sound processing method, device and electronic equipment |
| CN110412510A (en) * | 2018-04-26 | 2019-11-05 | 苏州触达信息技术有限公司 | Localization method and positioning system in a kind of predetermined two-dimensional space |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Cobos et al. | A survey of sound source localization methods in wireless acoustic sensor networks | |
| EP2641105B1 (en) | System and method for object position estimation based on ultrasonic reflected signals | |
| JP5710792B2 (en) | System, method, apparatus, and computer-readable medium for source identification using audible sound and ultrasound | |
| JP5331097B2 (en) | System and method for positioning | |
| Álvarez et al. | CDMA-based acoustic local positioning system for portable devices with multipath cancellation | |
| CN112098943A (en) | Positioning method of wearable device and intelligent device | |
| CN114355289A (en) | Sound source positioning method, sound source positioning device, storage medium and computer equipment | |
| EP3182734B1 (en) | Method for using a mobile device equipped with at least two microphones for determining the direction of loudspeakers in a setup of a surround sound system | |
| CN112098936A (en) | Method for positioning intelligent equipment and intelligent equipment | |
| CN112098941A (en) | Intelligent equipment positioning method and device and intelligent equipment | |
| CN112098935A (en) | Method for searching intelligent equipment and intelligent equipment | |
| JP2004264070A (en) | Bistatic azimuth detection system and detection method | |
| CN112098942B (en) | Positioning method of intelligent equipment and intelligent equipment | |
| CN112098930A (en) | Method for searching vehicle and intelligent equipment | |
| CN112416001A (en) | Automatic following method and device for vehicle and vehicle | |
| CN112098942A (en) | Intelligent device positioning method and intelligent device | |
| CN112098948A (en) | Indoor positioning method and intelligent equipment | |
| US10802126B2 (en) | Electronic device and positioning method | |
| CN112098950B (en) | Method and device for positioning intelligent equipment | |
| CN111289947B (en) | Information processing method, device and equipment | |
| CN112098949A (en) | Method and device for positioning intelligent equipment | |
| CN112098937B (en) | Positioning method of intelligent equipment and intelligent equipment | |
| CN112105129A (en) | Intelligent lamp, intelligent light-emitting method and computer readable storage medium | |
| CN112098934A (en) | Intelligent device positioning method and intelligent device | |
| CN112102552A (en) | Number-taking machine, number-taking method, and computer-readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 215000 room 2104, block a, Suzhou Central Plaza, No. 58, Suxiu Road, Suzhou Industrial Park, Jiangsu Province Applicant after: SUZHOU TOUCHAIR TECHNOLOGY Co.,Ltd. Address before: Room 801, building 6, creative industry park, 328 Xinghu street, Suzhou Industrial Park, Jiangsu Province 215000 Applicant before: SUZHOU TOUCHAIR TECHNOLOGY Co.,Ltd. |