CN112098943A - Positioning method of wearable device and intelligent device - Google Patents
Positioning method of wearable device and intelligent device Download PDFInfo
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- CN112098943A CN112098943A CN202010261227.7A CN202010261227A CN112098943A CN 112098943 A CN112098943 A CN 112098943A CN 202010261227 A CN202010261227 A CN 202010261227A CN 112098943 A CN112098943 A CN 112098943A
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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
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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 positioning method of wearable equipment and intelligent equipment. The method comprises the following steps: enabling the first sound detection module to detect a first sound signal emitted by the wearable device and directly reaching the first sound detection module, and enabling the second sound detection module to detect a second sound signal emitted by the wearable device and directly reaching the second sound detection module, wherein the first sound signal and the second sound signal are emitted by the wearable device at the same time; 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 between the smart device and the wearable device based on a distance between the first sound detection module and the second sound detection module and a time difference; determining a distance between the smart device and the wearable device; and displaying the relative angle and the distance on a display interface of the intelligent device. The position of the wearable device can be accurately acquired, and the cared person is effectively prevented from being lost.
Description
Technical Field
The embodiment of the invention relates to the technical field of positioning, in particular to a positioning method of wearable equipment and intelligent equipment.
Background
When the child goes out to play, walk or shop with the child, the child disappears in the visual field without any attention, which is feared by any one of the most frightened parents. The market, the playground, the door of the house and the like become high-incidence places where children lose, the frequency of the children losing is very high, the society has to look at the serious problem, and therefore products for preventing the children losing are produced at the right moment.
Currently, some companies in the prior art have designed bracelets or watches for tracking children, and most of the bracelets or watches are based on the GPS positioning principle. The positioning mode based on the GPS is to utilize a GPS positioning module on the mobile phone to send own position signals to a positioning background to realize the positioning of the mobile phone. The GPS positioning accuracy is high, but is greatly influenced by signals, the highest accuracy is about 10 meters, and the GPS signals received by the GPS-based positioning bracelet are very weak indoors and difficult to position. And aiming at small areas such as indoor shopping malls in high-incidence areas where children are lost, the positioning method based on the GPS principle has certain limitations.
Disclosure of Invention
The embodiment of the invention provides a positioning method of wearable equipment and intelligent equipment.
The technical scheme of the embodiment of the invention is as follows:
a positioning method of a wearable device is suitable for a smart device comprising a first sound detection module and a second sound detection module, and comprises the following steps:
enabling a first sound detection module to detect a first sound signal emitted by a wearable device and directed to the first sound detection module, and enabling a second sound detection module to detect a second sound signal emitted by the wearable device and directed to the second sound detection module, wherein the first sound signal and the second sound signal are emitted by the wearable device at the same time;
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 between the smart device and the wearable device based on a distance between the first sound detection module and the second sound detection module and the time difference;
determining a distance between the smart device and the wearable device;
and displaying the relative angle and the distance on a display interface of the intelligent device.
In one embodiment, the determining the relative angle between the smart device and the wearable 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 smart device and a wearable device based on θ
Wherein
In one embodiment, the method further comprises: receiving, by a first sound detection module, a sound signal with an intensity greater than a predetermined threshold value within a predetermined time window in a sound signal stream of a wearable device, and determining the sound signal as the first sound signal; and determining that the sound signal with the intensity greater than the predetermined threshold value in the predetermined time window in the sound signal stream of the wearable device received by the second sound detection module is the second sound signal.
In one embodiment, the method further comprises: determining, at a first sound detection module, sound signals with intensity greater than a predetermined threshold value from a stream of sound signals of a wearable device to form a first candidate signal set; determining, in a sound signal stream of the wearable device detected by the second sound detection module, a sound signal having an intensity greater than the predetermined threshold value 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 wearable device maintains time synchronization with the smart device, the first sound signal further comprises a transmission time T1 of the first sound signal, wherein the determining the distance between the smart device and the wearable device comprises: calculating a distance L between the intelligent device and the wearable device; wherein L ═ (T2-T1) xc; c is the speed of sound propagation in air; t2 is the reception time of the first sound signal; or
The wearable device maintains time synchronization with the smart device, the second audible signal further includes a transmission time T3 of the second audible signal, wherein the determining the distance between the smart device and the wearable device comprises: calculating a distance L between the intelligent device and the wearable 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.
A smart device, comprising: a first sound detection module; a second sound detection module; a processor configured to: enabling a first sound detection module to detect a first sound signal emitted by a wearable device and directed to the first sound detection module, and enabling a second sound detection module to detect a second sound signal emitted by the wearable device and directed to the second sound detection module, wherein the first sound signal and the second sound signal are emitted by the wearable device at the same time; 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 between the smart device and the wearable device based on a distance between the first sound detection module and the second sound detection module and the time difference; determining a distance between the smart device and the wearable device; displaying the relative angle and the distance on an interface of the smart device.
In one embodiment, the processor is configured to: based on
Determining theta; wherein arcsin is an arcsine function, D ═ t × c, t is the time difference, c is the propagation speed of sound, and D is the first soundThe distance between the sound detection module and the second sound detection module; determining a relative angle between a smart device and a wearable device based on θ
Wherein
In one embodiment, the processor is configured to: receiving, by a first sound detection module, a sound signal with an intensity greater than a predetermined threshold value within a predetermined time window in a sound signal stream of a wearable device, and determining the sound signal as the first sound signal; and determining that the sound signal with the intensity greater than the predetermined threshold value in the predetermined time window in the sound signal stream of the wearable device received by the second sound detection module is the second sound signal.
In one embodiment, the processor is configured to: determining, at a first sound detection module, sound signals with intensity greater than a predetermined threshold value from a stream of sound signals of a wearable device to form a first candidate signal set; determining, in a sound signal stream of the wearable device detected by the second sound detection module, a sound signal having an intensity greater than the predetermined threshold value 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 wearable device maintains time synchronization with the smart device, the first sound signal further includes a transmission time T1 of the first sound signal, and the processor is configured to: calculating a distance L between the intelligent device and the wearable device; wherein L ═ (T2-T1) xc; c is the speed of sound propagation in air; t2 is the reception time of the first sound signal; or, the wearable device and the smart device are kept time-synchronized, the second sound signal further includes a transmission time T3 of the second sound signal, and the processor is configured to: calculating a distance L between the intelligent device and the wearable 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 smart device comprises: a smart phone; a tablet computer; a smart watch; a smart bracelet; an intelligent sound box; a smart television; an intelligent earphone; an intelligent robot.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements a method of positioning a wearable device as claimed in any one of the above.
As can be seen from the foregoing solution, in the embodiment of the present invention, the first sound detection module is enabled to detect a first sound signal emitted by the wearable device and directly reaching the first sound detection module, and the second sound detection module is enabled to detect a second sound signal emitted by the wearable device and directly reaching the second sound detection module, where the first sound signal and the second sound signal are emitted by the wearable device at the same time; 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 between the smart device and the wearable device based on a distance between the first sound detection module and the second sound detection module and a time difference; determining a distance between the smart device and the wearable device; and displaying the relative angle and the distance on a display interface of the intelligent device. Therefore, the position of the wearable device can be acquired more accurately (particularly, the relative angle can be acquired), thereby effectively preventing the cared person from being lost.
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 of a wearable device 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 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 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 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 ═ t × c, 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
Namely the first intelligent deviceAnd D is the distance between the two groups of microphones in the second intelligent 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 above description, the embodiment of the present invention further provides a wearable device positioning method based on the above relative angle calculation method, which is particularly suitable for preventing a cared person (e.g., a child, an elderly person, a patient, etc.) from getting lost.
Fig. 11 is a flowchart of a positioning method of a wearable device according to the present invention. Based on the method shown in fig. 11, positioning between a smart device (preferably a mobile smart device) and a wearable device as a sound source can be achieved. Wherein, caretaker can hand smart machine, and the wearable equipment is dressed to the cared person. Preferably, the wearable device is a bracelet, necklace, foot ring, foot chain, handheld smart terminal or collar, or the like. The wearable device may emit sound (preferably ultrasound).
As shown in fig. 11, the method includes:
step 1101: enabling the first sound detection module to detect a first sound signal emitted by the wearable device and directed to the first sound detection module, enabling the second sound detection module to detect a second sound signal emitted by the wearable device and directed to the second sound detection module, wherein the first sound signal and the second sound signal are emitted by the wearable device at the same time.
Step 1102: 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.
Step 1103: determining a relative angle between the smart device and the wearable device based on a distance between the first sound detection module and the second sound detection module and the time difference.
Specifically, the calculation manner of the relative angle can be referred to the calculation manner shown in FIG. 1 with respect to
The method of (1). At this time, the wearable device in the method shown in fig. 11 corresponds to the second smart device in the method described in fig. 1; the smart device in the method illustrated in fig. 11 corresponds to the first smart device in the method described in fig. 1.
Step 1104: a distance between the smart device and the wearable device is determined.
Here, the distance between the smart device and the wearable device may be determined based on a variety of ways. For example based on a sound localization (preferably ultrasound localization) approach.
Example 1: when the wearable device remains time-synchronized with the smart device, the first sound signal further includes a transmission time T1 at which the wearable device transmits the first sound signal, wherein determining the distance between the smart device and the wearable device comprises: calculating a distance L between the intelligent device and the wearable device; wherein L ═ (T2-T1) xc; c is the speed of sound propagation in air; t2 is the receiving time when the first sound detecting module receives the first sound signal.
Example 2: the wearable device maintains time synchronization with the smart device, the second audible signal further includes a transmission time T3 at which the wearable device transmits the second audible signal, wherein determining the distance between the smart device and the wearable device comprises: calculating a distance L between the intelligent device and the wearable device; wherein L ═ (T4-T3) xc; c is the speed of sound propagation in air; t4 is the reception time when the second sound detection module receives the second sound signal.
Step 1105: and displaying the relative angle and the distance on a display interface of the intelligent device.
The smart device can thus display the location of the wearable device on its own display screen. For example, the display interface of the smart device displays "the wearable device is at 141.4 ° direction, 15.22m distance", and so on. Preferably, the smart device comprises: 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.
It can be seen that in places such as children's paradises, because the space is not large, and the known range and the target are clear, the relative positioning mode shown in fig. 11 does not need to look at the cared person all the time, and the relative position of the cared person can be conveniently obtained. Furthermore, in the anti-lost scenes (shopping, traveling and the like) of the old people and the children, a safety region is set within a certain distance, if the distance between the members exceeds a safety value, the intelligent device gives an alarm by means of the loudspeaker and the vibration of the intelligent device, the alarm is transmitted to other members through ultrasound or a network, and the members open the APP to know the position information of the members, so that the finding is facilitated.
In one embodiment, determining the relative angle between the smart device and the wearable 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 smart device and a wearable device based on θ
Wherein
In one embodiment, the method further comprises: receiving, by a first sound detection module, a sound signal with an intensity greater than a predetermined threshold value within a predetermined time window in a sound signal stream of a wearable device, and determining the sound signal as the first sound signal; and determining that the sound signal with the intensity greater than a preset threshold value in the preset time window in the sound signal stream of the wearable device is received by the second sound detection module as the second sound signal.
In one embodiment, the method further comprises: determining, at a first sound detection module, sound signals with intensity greater than a predetermined threshold value from a stream of sound signals of a wearable device to form a first candidate signal set; determining, in a sound signal stream of the wearable device detected by the second sound detection module, a sound signal having an intensity greater than the predetermined threshold value 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. Preferably, the method further comprises: when the distance between the wearable device and the intelligent device exceeds a preset threshold value, an alarm signal is sent out. For example, the alarm signal may be sent out by means of sound alarm, vibration alarm, flashing alarm, etc.
An embodiment of the present invention further provides an intelligent device, including: a first sound detection module; a second sound detection module; a processor configured to: enabling a first sound detection module to detect a first sound signal emitted by a wearable device and directed to the first sound detection module, and enabling a second sound detection module to detect a second sound signal emitted by the wearable device and directed to the second sound detection module, wherein the first sound signal and the second sound signal are emitted by the wearable device at the same time; 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 between the smart device and the wearable device based on a distance between the first sound detection module and the second sound detection module and the time difference; determining a distance between the smart device and the wearable device; displaying the relative angle and the distance on an interface of the smart device. In one embodiment, the processor is configured to: 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 smart device and a wearable device based on θ
Wherein
In one embodiment, the processor is configured to: receiving, by a first sound detection module, a sound signal with an intensity greater than a predetermined threshold value within a predetermined time window in a sound signal stream of a wearable device, and determining the sound signal as the first sound signal; and determining that the sound signal with the intensity greater than the predetermined threshold value in the predetermined time window in the sound signal stream of the wearable device received by the second sound detection module is the second sound signal. In one embodiment, the processor is configured to: determining, at a first sound detection module, sound signals with intensity greater than a predetermined threshold value from a stream of sound signals of a wearable device to form a first candidate signal set; determining, in a sound signal stream of the wearable device detected by the second sound detection module, a sound signal having an intensity greater than the predetermined threshold value 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 wearable device maintains time synchronization with the smart device, the first sound signal further includes a transmission time T1 of the first sound signal, and the processor is configured to: calculating a distance L between the intelligent device and the wearable device; wherein L ═ (T2-T1) xc; c is the speed of sound propagation in air; t2 is the reception time of the first sound signal; or, the wearable device and the smart device are kept time-synchronized, the second sound signal further includes a transmission time T3 of the second sound signal, and the processor is configured to: calculating a distance L between the intelligent device and the wearable 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. Preferably, the smart device comprises: 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.
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 (12)
1. A positioning method of a wearable device is applied to a smart device comprising a first sound detection module and a second sound detection module, and comprises the following steps:
enabling a first sound detection module to detect a first sound signal emitted by a wearable device and directed to the first sound detection module, and enabling a second sound detection module to detect a second sound signal emitted by the wearable device and directed to the second sound detection module, wherein the first sound signal and the second sound signal are emitted by the wearable device at the same time;
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 between the smart device and the wearable device based on a distance between the first sound detection module and the second sound detection module and the time difference;
determining a distance between the smart device and the wearable device;
and displaying the relative angle and the distance on a display interface of the intelligent device.
2. The method of claim 1, wherein determining the relative angle between the smart device and the wearable 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 smart device and a wearable device based on θ
Wherein
3. The method of claim 1, further comprising:
receiving, by a first sound detection module, a sound signal with an intensity greater than a predetermined threshold value within a predetermined time window in a sound signal stream of a wearable device, and determining the sound signal as the first sound signal;
and determining that the sound signal with the intensity greater than the predetermined threshold value in the predetermined time window in the sound signal stream of the wearable device received by the second sound detection module is the second sound signal.
4. The method of claim 1, further comprising:
determining, at a first sound detection module, sound signals with intensity greater than a predetermined threshold value from a stream of sound signals of a wearable device to form a first candidate signal set;
determining, in a sound signal stream of the wearable device detected by the second sound detection module, a sound signal having an intensity greater than the predetermined threshold value 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.
5. The method of positioning a wearable device according to claim 1,
the wearable device maintains time synchronization with the smart device, the first sound signal further includes a transmission time T1 of the first sound signal, wherein the determining the distance between the smart device and the wearable device comprises: calculating a distance L between the intelligent device and the wearable device; wherein L ═ (T2-T1) xc; c is the speed of sound propagation in air; t2 is the reception time of the first sound signal; or
The wearable device maintains time synchronization with the smart device, the second audible signal further includes a transmission time T3 of the second audible signal, wherein the determining the distance between the smart device and the wearable device comprises: calculating a distance L between the intelligent device and the wearable 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.
6. A smart device, comprising:
a first sound detection module;
a second sound detection module;
a processor configured to:
enabling a first sound detection module to detect a first sound signal emitted by a wearable device and directed to the first sound detection module, and enabling a second sound detection module to detect a second sound signal emitted by the wearable device and directed to the second sound detection module, wherein the first sound signal and the second sound signal are emitted by the wearable device at the same time;
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 between the smart device and the wearable device based on a distance between the first sound detection module and the second sound detection module and the time difference;
determining a distance between the smart device and the wearable device;
displaying the relative angle and the distance on an interface of the smart device.
7. The smart device of claim 6,
the processor configured to: 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 smart device and a wearable device based on θ
Wherein
8. The smart device of claim 6,
the processor configured to:
receiving, by a first sound detection module, a sound signal with an intensity greater than a predetermined threshold value within a predetermined time window in a sound signal stream of a wearable device, and determining the sound signal as the first sound signal;
and determining that the sound signal with the intensity greater than the predetermined threshold value in the predetermined time window in the sound signal stream of the wearable device received by the second sound detection module is the second sound signal.
9. The smart device of claim 6, wherein the processor is configured to:
determining, at a first sound detection module, sound signals with intensity greater than a predetermined threshold value from a stream of sound signals of a wearable device to form a first candidate signal set;
determining, in a sound signal stream of the wearable device detected by the second sound detection module, a sound signal having an intensity greater than the predetermined threshold value 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.
10. The smart device of claim 6,
the wearable device and the smart device are kept time-synchronized, the first sound signal further comprises a sending time T1 of the first sound signal, and the processor is configured to: calculating a distance L between the intelligent device and the wearable device; wherein L ═ (T2-T1) xc; c is the speed of sound propagation in air; t2 is the reception time of the first sound signal; or
The wearable device maintains time synchronization with the smart device, the second sound signal further includes a transmission time T3 of the second sound signal, and the processor is configured to: calculating a distance L between the intelligent device and the wearable 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.
11. The smart device of any one of claims 6-10,
the smart device includes: a smart phone; a tablet computer; a smart watch; a smart bracelet; an intelligent sound box; a smart television; an intelligent earphone; an intelligent robot.
12. 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 wearable device according to any one of claims 1 to 5.
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| CN202010261227.7A CN112098943A (en) | 2020-03-31 | 2020-03-31 | Positioning method of wearable device and intelligent device |
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| CN202010261227.7A CN112098943A (en) | 2020-03-31 | 2020-03-31 | Positioning method of wearable device and intelligent device |
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Cited By (3)
| 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 |
| CN113055870A (en) * | 2021-03-31 | 2021-06-29 | 苏州触达信息技术有限公司 | Positioning method of wearable device, host device and computer-readable storage medium |
| WO2023273481A1 (en) * | 2021-06-30 | 2023-01-05 | 中兴通讯股份有限公司 | Positioning method, system, electronic device, and storage medium |
-
2020
- 2020-03-31 CN CN202010261227.7A patent/CN112098943A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113055870A (en) * | 2021-03-31 | 2021-06-29 | 苏州触达信息技术有限公司 | Positioning method of wearable device, host device and computer-readable 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 |
| WO2023273481A1 (en) * | 2021-06-30 | 2023-01-05 | 中兴通讯股份有限公司 | Positioning method, system, electronic device, and storage medium |
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