CN112102536A - Access controller, access control method, and computer-readable storage medium - Google Patents
Access controller, access control method, and computer-readable storage medium Download PDFInfo
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/20—Individual registration on entry or exit involving the use of a pass
- G07C9/22—Individual registration on entry or exit involving the use of a pass in combination with an identity check of the pass holder
- G07C9/23—Individual registration on entry or exit involving the use of a pass in combination with an identity check of the pass holder by means of a password
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00182—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with unidirectional data transmission between data carrier and locks
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00563—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys using personal physical data of the operator, e.g. finger prints, retinal images, voicepatterns
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- G—PHYSICS
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- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00571—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated by interacting with a central unit
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/20—Individual registration on entry or exit involving the use of a pass
- G07C9/22—Individual registration on entry or exit involving the use of a pass in combination with an identity check of the pass holder
- G07C9/25—Individual registration on entry or exit involving the use of a pass in combination with an identity check of the pass holder using biometric data, e.g. fingerprints, iris scans or voice recognition
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/20—Individual registration on entry or exit involving the use of a pass
- G07C9/27—Individual registration on entry or exit involving the use of a pass with central registration
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Abstract
The invention provides an access controller, an access control method and a computer readable storage medium. The access controller includes: a first sound detection module; a second sound detection module; a processor configured to: determining a first relative angle between the access controller and the intelligent device at the first location point and a second relative angle between the access controller and the intelligent device moving from the first location point to the second location point; and when the movement track of the intelligent equipment is determined to accord with the preset condition based on the first relative angle and the second relative angle, an unlocking instruction is sent to the entrance guard. The embodiment of the invention realizes intelligent unlocking based on the change of the relative angle.
Description
Technical Field
The embodiment of the invention relates to the technical field of entrance guard, in particular to an entrance guard controller, an entrance guard control method and a computer readable storage medium.
Background
Acoustic waves are the form of propagation of mechanical vibrational states (or energies) of an object. Ultrasonic waves refer to vibration frequencies above 20000Hz, the frequency of vibration per second is very high and exceeds the general upper limit of human ear hearing (20000Hz), and people refer to such sound waves that are inaudible as ultrasonic waves. Due to its high frequency, it has many features: firstly, the power is large, the energy is much larger than that of common sound waves, and moreover, because the frequency is high, the wavelength is short, the diffraction is not serious, the ultrasonic detection is carried out by the sound waves commonly used in industry and medicine. Ultrasonic and audible sound are essentially identical and have in common that they are a mode of mechanical vibration, usually propagating in longitudinal waves in an elastic medium, a form of energy propagation.
Some companies developing intelligent access control are currently emerging. The intelligent entrance guard who uses at present adopts modes such as bluetooth, wifi to unblank usually, but practical application more or less has certain bottleneck, and practical application's scheme is few on the market at present, all at the research and development stage.
Disclosure of Invention
The embodiment of the invention provides an access controller, an access control method and a computer readable storage medium.
An access controller 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 which is sent by the intelligent equipment at a first position point and directly reaches the first sound detection module, and enabling a second sound detection module to detect a second sound signal which is sent by the intelligent equipment at the first position point and directly reaches the second sound detection module, wherein the first sound signal and the second sound signal are sent by the intelligent equipment at the first position point at the same time; determining a first time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining a first relative angle between the access controller and the intelligent device at the first position point based on the distance between the first sound detection module and the second sound detection module and the first time difference; enabling the first sound detection module to detect a third sound signal which is emitted by the intelligent equipment moving from the first position point to the second position point and is directly transmitted to the first sound detection module, and enabling the second sound detection module to detect a fourth sound signal which is emitted by the intelligent equipment moving from the first position point to the second position point and is directly transmitted to the second sound detection module, wherein the third sound signal and the fourth sound signal are emitted by the intelligent equipment at the second position point simultaneously; determining a second time difference between the reception time of the third sound signal and the reception time of the fourth sound signal; determining a second relative angle between the access controller and the intelligent device at a second position point based on the distance between the first sound detection module and the second time difference; and when the movement track of the intelligent equipment is determined to accord with the preset condition based on the first relative angle and the second relative angle, an unlocking instruction is sent to the entrance guard.
In one embodiment, a processor configured to: and when the change of the first relative angle and the second relative angle meets a preset angle change condition and the change of a first distance between the first position point and the access controller and the change of a second distance between the second position point and the access controller meet a preset distance change condition, determining that the moving track of the intelligent equipment meets the preset condition.
In one embodiment, the angle change condition includes: the first relative angle is equal to a first predetermined angle value and the second relative angle is equal to a second predetermined angle value; the distance change condition includes: the first distance is equal to a first predetermined distance value and the second distance is equal to a second predetermined distance value.
An access controller 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 which is sent by intelligent equipment at a first position point and directly reaches the first sound detection module, and enabling a second sound detection module to detect a second sound signal which is sent by the intelligent equipment at the first position point and directly reaches the second sound detection module, wherein the first sound signal and the second sound signal are sent by the intelligent equipment at the first position point at the same time, and the first sound signal and the second sound signal respectively comprise unlocking keys; determining a first time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining a first relative angle between the access controller and the intelligent device based on the distance between the first sound detection module and the second sound detection module and the first time difference; enabling a first sound detection module to detect a third sound signal which is sent by the intelligent equipment moving from a first position point to a second position point and is directly transmitted to the first sound detection module, and enabling a second sound detection module to detect a fourth sound signal which is sent by the intelligent equipment moving from the first position point to the second position point and is directly transmitted to the second sound detection module, wherein the third sound signal and the fourth sound signal are sent by the intelligent equipment at the second position point at the same time, and the third sound signal and the fourth sound signal respectively contain unlocking keys; determining a second time difference between the reception time of the third sound signal and the reception time of the fourth sound signal; determining a second relative angle between the access controller and the intelligent device at a second position point based on the distance between the first sound detection module and the second time difference; and when the movement track of the intelligent device is determined to meet the preset condition based on the first relative angle and the second relative angle and the unlocking key passes the verification, an unlocking instruction is sent to the entrance guard.
In one embodiment, a processor configured to: and when the change from the first relative angle to the second relative angle meets a preset angle change condition and the change from the first distance between the first position point and the access controller to the second distance between the second position point and the access controller meets a preset distance change condition, determining that the movement track of the intelligent device meets the preset condition.
In one embodiment, the angle change condition includes: the first relative angle is equal to a first predetermined angle value and the second relative angle is equal to a second predetermined angle value; the distance change condition includes: the first distance is equal to a first predetermined distance value and the second distance is equal to a second predetermined distance value.
An access control method is suitable for an access controller comprising a first sound detection module, a second sound detection module and a door control component, and comprises the following steps: enabling a first sound detection module to detect a first sound signal which is sent by intelligent equipment at a first position point and directly reaches the first sound detection module, and enabling a second sound detection module to detect a second sound signal which is sent by the intelligent equipment at the first position point and directly reaches the second sound detection module, wherein the first sound signal and the second sound signal are sent by the intelligent equipment at the first position point at the same time, and the first sound signal and the second sound signal respectively comprise unlocking keys; determining a first time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining a first relative angle between the access controller and the intelligent device based on the distance between the first sound detection module and the second sound detection module and the first time difference; enabling a first sound detection module to detect a third sound signal which is sent by the intelligent equipment moving from a first position point to a second position point and is directly transmitted to the first sound detection module, and enabling a second sound detection module to detect a fourth sound signal which is sent by the intelligent equipment moving from the first position point to the second position point and is directly transmitted to the second sound detection module, wherein the third sound signal and the fourth sound signal are sent by the intelligent equipment at the second position point at the same time, and the third sound signal and the fourth sound signal respectively contain unlocking keys; determining a second time difference between the reception time of the third sound signal and the reception time of the fourth sound signal; determining a second relative angle between the access controller and the intelligent device based on the distance between the first sound detection module and the second time difference; and when the movement track of the intelligent device is determined to meet the preset condition based on the first relative angle and the second relative angle and the unlocking key passes the verification, an unlocking instruction is sent to the entrance guard.
In one embodiment, when the change from the first relative angle to the second relative angle meets a predetermined angle change condition, and the change from the first distance between the first position point and the access controller to the second distance between the second position point and the access controller meets a predetermined distance change condition, the movement track of the smart device is determined to meet the predetermined condition.
In one embodiment, the angle change condition includes: the first relative angle is equal to a first predetermined angle value and the second relative angle is equal to a second predetermined angle value; the distance change condition includes: the first distance is equal to a first predetermined distance value and the second distance is equal to a second predetermined distance value.
A computer readable storage medium having computer readable instructions stored therein for performing the access control method of any of the above.
According to the technical scheme, the intelligent access control system realizes intelligent access control aiming at the change of the relative angle, can accurately control the access control, and also realizes brand new user experience.
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 structural view of the door controller for controlling the door of 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, determining the relative angle between the first smart device and the second smart device comprises: based on
Determining theta; wherein arcsin is an arcsine function, D is t × c, t is a time difference, c is a sound propagation speed, and D is a distance between the first sound detection module and the second sound detection module; determining a relative angle between a first smart device and a second smart device based on θ
Wherein
In one embodiment, the method further comprises at least one of the following processes:
(1) determining the ultrasonic signal with the intensity larger than a preset threshold value in a preset time window in the ultrasonic signal stream of the second intelligent device received by the first sound detection module as the ultrasonic signal directly reaching the first sound detection module, and determining the time of receiving the ultrasonic signal directly reaching the first sound detection module as the first time; and determining the ultrasonic signal with the intensity larger than the preset threshold value in the preset time window in the ultrasonic signal flow of the second intelligent device received by the second sound detection module as the ultrasonic signal of the direct second sound detection module, and determining the time of receiving the ultrasonic signal of the direct second sound detection module as the second time.
(2) Determining ultrasonic signals with the intensity larger than a preset threshold value in ultrasonic signal streams of the second intelligent device detected by the first sound detection module to form a first candidate signal set; determining the ultrasonic signals with the intensity larger than the preset threshold value in the ultrasonic signal flow of the second intelligent device detected by the second sound detection module to form a second candidate signal set; determining a respective time difference between the time of receipt of each ultrasonic signal in the first candidate signal set and the time of receipt of each ultrasonic signal in the second candidate signal set; the receiving time of a pair of ultrasonic signals with the time difference smaller than M is determined as a first time and a second time, wherein M is (D/c), D is the distance between the first sound detection module and the second sound detection module, and c is the propagation speed of sound.
The principle and calculation process of the relative positioning of the present invention are exemplarily explained as follows.
Fig. 2 is a schematic diagram illustrating the principle of relative angle determination between smart devices according to the present invention. FIG. 3 is a schematic diagram of the calculation of relative angles between smart devices according to the present invention. As shown in fig. 2, a microphone a1 disposed at the bottom of smart device a emits an ultrasonic signal containing the MAC address of smart device a, and smart device B (not shown in fig. 2) has two microphones, microphone B1 and microphone B2, respectively, disposed at a distance. It is composed ofThe method comprises the following steps: 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; an intelligent robot; an intelligent access controller; and so on.
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 the Mac address of the smart sound box, and meanwhile, the smart phone solves two direct signals of the two sets of microphone arraysThe distance difference d between them. 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 technical solution for intelligently controlling the access control on the intelligent device based on the above relative angle calculation manner.
Fig. 11 is a structural view of the door controller for controlling the door of the present invention. The access controller may be installed near a residential or building entrance and connected to an entrance (e.g., an electronic lock). The door may be implemented as a lock using a power source or a battery, such as a car door, an electronic door lock, an electromagnetic lock, an electric car lock, and the like, wherein the power source includes a battery, a direct current power source, an alternating current power source, and the like.
In one embodiment, a door access controller includes: 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 which is sent by the intelligent equipment at a first position point and directly reaches the first sound detection module, and enabling a second sound detection module to detect a second sound signal which is sent by the intelligent equipment at the first position point and directly reaches the second sound detection module, wherein the first sound signal and the second sound signal are sent by the intelligent equipment at the first position point at the same time; determining a first time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining a first relative angle between the access controller and the intelligent device at the first position point based on the distance between the first sound detection module and the second sound detection module and the first time difference; enabling the first sound detection module to detect a third sound signal which is emitted by the intelligent equipment moving from the first position point to the second position point and is directly transmitted to the first sound detection module, and enabling the second sound detection module to detect a fourth sound signal which is emitted by the intelligent equipment moving from the first position point to the second position point and is directly transmitted to the second sound detection module, wherein the third sound signal and the fourth sound signal are emitted by the intelligent equipment at the second position point simultaneously; determining a second time difference between the reception time of the third sound signal and the reception time of the fourth sound signal; determining a second relative angle between the access controller and the intelligent device at a second position point based on the distance between the first sound detection module and the second time difference; and when the movement track of the intelligent equipment is determined to accord with the preset condition based on the first relative angle and the second relative angle, an unlocking instruction is sent to the entrance guard.
The first sound signal, the second sound signal, the third sound signal, and the fourth sound signal may include respective transmission timings, so that the processor may accurately distinguish a signal pair at the first position point (the first sound signal and the second sound signal) and a signal pair at the second position point (the third sound signal and the fourth sound signal) based on the transmission timings. Wherein the transmission time in the third and fourth sound signals is the same, the transmission time in the first and second sound signals is the same, and the transmission time in the third and fourth sound signals is after the transmission time in the first and second sound signals.
The first and second sound detection modules may be implemented as microphones or microphone arrays, respectively; the processor may be implemented as a single chip, a single board computer, or a DSP, among others.
The specific manner of determining the first relative angle and the second relative angle between the access controller and the intelligent device may refer to the related description of fig. 1, and is not described herein again. The access controller corresponds to the first intelligent device in the flow shown in fig. 1; the smart device (e.g., a feature phone, a Personal Digital Assistant (PDA), a tablet or smart phone, a bracelet, a wearable smart device, etc.) controlling the access controller corresponds to the second smart device in the flow chart shown in fig. 1.
In one embodiment, the smart device maintains time synchronization with the gate controller, and the first sound signal further includes a transmission time T1 of the first sound signal; a processor further configured to: calculating a first distance L1; wherein L1 ═ (T2-T1) × c; c is the speed of sound propagation in air; t2 is the reception time of the first sound signal; the third sound signal further includes a transmission time T3 of the third sound signal; a processor further configured to: calculating a second distance L2; wherein L2 ═ (T4-T3) × c; c is the speed of sound propagation in air; t4 is the reception timing of the third sound signal.
In the embodiment of the present invention, the access controller may obtain only the relative angles at the start point and the end point of the movement process of the smart device, that is, a first relative angle (corresponding to the start point) and a second relative angle (corresponding to the end point), and determine whether the movement trajectory meets the predetermined condition based on whether the values of the first relative angle and the first relative angle are respectively equal to respective predetermined values. Or the entrance guard controller determines whether the movement track meets the predetermined condition based on whether the values of the first relative angle and the first relative angle are respectively equal to respective predetermined values and whether the first distance and the second distance are respectively equal to respective predetermined values.
In one embodiment, a processor configured to: and when the change of the first relative angle and the second relative angle meets a preset angle change condition and the change of a first distance between the first position point and the access controller and the change of a second distance between the second position point and the access controller meet a preset distance change condition, determining that the moving track of the intelligent equipment meets the preset condition. Preferably, the angle change condition includes: the first relative angle is equal to a first predetermined angle value and the second relative angle is equal to a second predetermined angle value; the distance change condition includes: the first distance is equal to a first predetermined distance value and the second distance is equal to a second predetermined distance value.
In the embodiment of the invention, the access controller may further continuously obtain the relative angles and distances of a plurality of intermediate process points of the moving process of the smart device, and determine the variation trend of the relative angles based on the relative angles of the intermediate process points, such as monotonically increasing, monotonically decreasing, increasing and then decreasing, decreasing and then decreasing, and the like.
A processor configured to: and when the change of the first relative angle and the second relative angle meets a preset angle change condition and the change of a first distance between the first position point and the access controller and the change of a second distance between the second position point and the access controller meet a preset distance change condition, determining that the moving track of the intelligent equipment meets the preset condition. Wherein the angle change condition includes: the first relative angle is equal to a first predetermined angle value, the second relative angle is equal to a second predetermined angle value, and a change trend (for example, monotonically increasing, monotonically decreasing, or monotonically increasing first and then monotonically decreasing, or monotonically decreasing first and then monotonically increasing, etc.) of the relative angle between the access controller and the smart device conforms to a predetermined angle change trend condition in the moving process of the smart device from the first position point to the second position point. Such as: the angle change trend conditions include: the relative angle between the mobile terminal and the intelligent access control is monotonically increased from a first angle preset value (such as 30 degrees) to a second angle preset value (such as 60 degrees); the relative angle between the mobile terminal and the intelligent access control is monotonically increased from 30 degrees to 90 degrees and then monotonically decreased from 90 degrees to 60 degrees; and so on. The distance change condition includes: the first distance is equal to a first distance preset value, the second distance is equal to a second distance preset value, and in the moving process of the intelligent device from the first position point to the second position point, the variation trend (monotone increasing, monotone decreasing, or monotone increasing and then monotone decreasing, or monotone decreasing and then monotone increasing) of the distance between the access control unit and the intelligent device meets the preset distance variation trend condition. Such as: the distance variation tendency condition includes: the relative distance between the mobile terminal and the intelligent entrance guard is monotonically increased from 0.2 meter (first distance) to 0.5 meter (second distance), and the like.
Preferably, the unlocking can be realized by further combining an unlocking key contained in the sound signal. In one embodiment, a door access controller includes: 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 which is sent by intelligent equipment at a first position point and directly reaches the first sound detection module, and enabling a second sound detection module to detect a second sound signal which is sent by the intelligent equipment at the first position point and directly reaches the second sound detection module, wherein the first sound signal and the second sound signal are sent by the intelligent equipment at the first position point at the same time, and the first sound signal and the second sound signal respectively comprise unlocking keys; determining a first time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining a first relative angle between the access controller and the intelligent device based on the distance between the first sound detection module and the second sound detection module and the first time difference; enabling a first sound detection module to detect a third sound signal which is sent by the intelligent equipment moving from a first position point to a second position point and is directly transmitted to the first sound detection module, and enabling a second sound detection module to detect a fourth sound signal which is sent by the intelligent equipment moving from the first position point to the second position point and is directly transmitted to the second sound detection module, wherein the third sound signal and the fourth sound signal are sent by the intelligent equipment at the second position point at the same time, and the third sound signal and the fourth sound signal respectively contain unlocking keys; determining a second time difference between the reception time of the third sound signal and the reception time of the fourth sound signal; determining a second relative angle between the access controller and the intelligent device at a second position point based on the distance between the first sound detection module and the second time difference; and when the movement track of the intelligent device is determined to meet the preset condition based on the first relative angle and the second relative angle and the unlocking key passes the verification, an unlocking instruction is sent to the entrance guard. Therefore, only when the movement track meets the preset condition and the unlocking key passes the verification, the unlocking operation is executed, and the safety is improved.
The embodiment of the invention also provides an access control method. The method is used for the entrance guard controller comprising a first sound detection module, a second sound detection module and a door control component, and comprises the following steps: enabling a first sound detection module to detect a first sound signal which is sent by intelligent equipment at a first position point and directly reaches the first sound detection module, and enabling a second sound detection module to detect a second sound signal which is sent by the intelligent equipment at the first position point and directly reaches the second sound detection module, wherein the first sound signal and the second sound signal are sent by the intelligent equipment at the first position point at the same time, and the first sound signal and the second sound signal respectively comprise unlocking keys; determining a first time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining a first relative angle between the access controller and the intelligent device based on the distance between the first sound detection module and the second sound detection module and the first time difference; enabling a first sound detection module to detect a third sound signal which is sent by the intelligent equipment moving from a first position point to a second position point and is directly transmitted to the first sound detection module, and enabling a second sound detection module to detect a fourth sound signal which is sent by the intelligent equipment moving from the first position point to the second position point and is directly transmitted to the second sound detection module, wherein the third sound signal and the fourth sound signal are sent by the intelligent equipment at the second position point at the same time, and the third sound signal and the fourth sound signal respectively contain unlocking keys; determining a second time difference between the reception time of the third sound signal and the reception time of the fourth sound signal; determining a second relative angle between the access controller and the intelligent device based on the distance between the first sound detection module and the second time difference; and when the movement track of the intelligent device is determined to meet the preset condition based on the first relative angle and the second relative angle and the unlocking key passes the verification, an unlocking instruction is sent to the entrance guard.
Based on the structural diagram shown in fig. 11, access control can be implemented based on the relative angle control between the smart device as a sound source and the access controller.
For example, when a user desires to unlock the door lock, a control command may be input to the handheld smart device to unlock the unlocking function. The smart device held by the user then begins transmitting a sound signal at a first location near the access controller and is moved by the user to a second location, where the movement may be a rotation, a translation, or a combination of rotation and translation.
For example, a control command in a text format may be input on a touch screen of the smart device, or a control command in a voice format may be input, such as voice input: the lock is unlocked. And after the intelligent equipment analyzes the instruction, starting an unlocking function. Then, when the user triggers the start button on the display interface of the smart device, the smart device emits a sound signal at a first location near the access controller. Also, the smart device is moved to a second location by the user. In the moving process of the intelligent equipment, the intelligent equipment sends out sound signals every preset time period. Preferably, the sound signal (preferably in an ultrasonic format) transmitted by the smart device includes an identifier of the smart device, an identifier of the access controller, a transmission time of the sound signal, and an unlocking key, and is a signal based on a CDMA code division multiple access technology architecture, so that a plurality of access controllers and a plurality of smart devices can be distinguished.
The entrance guard controller receives the sound signals sent by the intelligent equipment in each time period, analyzes the identification of the intelligent equipment and the identification of the entrance guard controller, determines that the relative angle and the distance between the entrance guard controller and the intelligent equipment (the identification corresponding to the intelligent equipment) need to be calculated based on the identification of the intelligent equipment and the identification of the entrance guard controller, and the entrance guard controller carries out time distinguishing on each sound signal based on the sending time in the sound signals. In the moving process of the intelligent equipment, the access controller continuously calculates the distance and the relative angle between the access controller and the intelligent equipment, so that the moving track of the intelligent equipment can be determined. And when the moving track meets the preset condition, an unlocking instruction is sent to the entrance guard. For example, the predetermined condition includes any one of the following: (1) the relative distance between the mobile terminal and the intelligent access control is increased from 0.2 meter to 0.5 meter; (2) the relative angle between the mobile terminal and the intelligent access control is changed from 30 degrees to 60 degrees; (3) the relative distance between the mobile terminal and the intelligent entrance guard is increased from 0.2 meter to 0.5 meter, and the relative angle is changed from 30 degrees to 60 degrees, and the like.
The entrance guard controller can further combine the unlocking key contained in the sound signal to determine whether to open the entrance guard. Wherein the processor may verify the unlocking key in a number of ways.
Example 1: when the processor judges that the movement track accords with the predetermined condition and the identification of the access controller is consistent with the identification of the access controller carried in the sound signal, the unlocking password of the access control side is calculated based on the terminal unlocking password, when the unlocking password of the access control side is consistent with the prestored unlocking password, the unlocking password is determined to pass verification, otherwise, the unlocking password does not pass verification.
Example 2: when the processor judges that the movement track accords with the preset condition and the identification of the access controller is consistent with the identification of the access controller carried in the sound signal, whether the same terminal unlocking key is stored in the processor is further judged, if so, the unlocking key is determined to pass the verification, otherwise, the unlocking key does not pass the verification.
Example 3: when the processor judges that the movement track meets the preset condition and the identification of the access controller is consistent with the identification of the access controller carried in the sound signal, the terminal unlocking key is sent to the cloud end to be verified by the cloud end.
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.
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. An access controller, 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 which is sent by the intelligent equipment at a first position point and directly reaches the first sound detection module, and enabling a second sound detection module to detect a second sound signal which is sent by the intelligent equipment at the first position point and directly reaches the second sound detection module, wherein the first sound signal and the second sound signal are sent by the intelligent equipment at the first position point at the same time; determining a first time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining a first relative angle between the access controller and the intelligent device at the first position point based on the distance between the first sound detection module and the second sound detection module and the first time difference; enabling the first sound detection module to detect a third sound signal which is emitted by the intelligent equipment moving from the first position point to the second position point and is directly transmitted to the first sound detection module, and enabling the second sound detection module to detect a fourth sound signal which is emitted by the intelligent equipment moving from the first position point to the second position point and is directly transmitted to the second sound detection module, wherein the third sound signal and the fourth sound signal are emitted by the intelligent equipment at the second position point simultaneously; determining a second time difference between the reception time of the third sound signal and the reception time of the fourth sound signal; determining a second relative angle between the access controller and the intelligent device at a second position point based on the distance between the first sound detection module and the second time difference; and when the movement track of the intelligent equipment is determined to accord with the preset condition based on the first relative angle and the second relative angle, an unlocking instruction is sent to the entrance guard.
2. The door access controller of claim 1,
a processor configured to: and when the change of the first relative angle and the second relative angle meets a preset angle change condition and the change of a first distance between the first position point and the access controller and the change of a second distance between the second position point and the access controller meet a preset distance change condition, determining that the moving track of the intelligent equipment meets the preset condition.
3. The door access controller of claim 2,
the angle change condition includes: the first relative angle is equal to a first predetermined angle value and the second relative angle is equal to a second predetermined angle value;
the distance change condition includes: the first distance is equal to a first predetermined distance value and the second distance is equal to a second predetermined distance value.
4. An access controller, 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 which is sent by intelligent equipment at a first position point and directly reaches the first sound detection module, and enabling a second sound detection module to detect a second sound signal which is sent by the intelligent equipment at the first position point and directly reaches the second sound detection module, wherein the first sound signal and the second sound signal are sent by the intelligent equipment at the first position point at the same time, and the first sound signal and the second sound signal respectively comprise unlocking keys; determining a first time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining a first relative angle between the access controller and the intelligent device based on the distance between the first sound detection module and the second sound detection module and the first time difference; enabling a first sound detection module to detect a third sound signal which is sent by the intelligent equipment moving from a first position point to a second position point and is directly transmitted to the first sound detection module, and enabling a second sound detection module to detect a fourth sound signal which is sent by the intelligent equipment moving from the first position point to the second position point and is directly transmitted to the second sound detection module, wherein the third sound signal and the fourth sound signal are sent by the intelligent equipment at the second position point at the same time, and the third sound signal and the fourth sound signal respectively contain unlocking keys; determining a second time difference between the reception time of the third sound signal and the reception time of the fourth sound signal; determining a second relative angle between the access controller and the intelligent device at a second position point based on the distance between the first sound detection module and the second time difference; and when the movement track of the intelligent device is determined to meet the preset condition based on the first relative angle and the second relative angle and the unlocking key passes the verification, an unlocking instruction is sent to the entrance guard.
5. The door access controller of claim 4,
a processor configured to: and when the change from the first relative angle to the second relative angle meets a preset angle change condition and the change from the first distance between the first position point and the access controller to the second distance between the second position point and the access controller meets a preset distance change condition, determining that the movement track of the intelligent device meets the preset condition.
6. The door access controller of claim 5,
the angle change condition includes: the first relative angle is equal to a first predetermined angle value and the second relative angle is equal to a second predetermined angle value;
the distance change condition includes: the first distance is equal to a first predetermined distance value and the second distance is equal to a second predetermined distance value.
7. An access control method is applicable to an access controller comprising a first sound detection module, a second sound detection module and a door control component, and comprises the following steps:
enabling a first sound detection module to detect a first sound signal which is sent by intelligent equipment at a first position point and directly reaches the first sound detection module, and enabling a second sound detection module to detect a second sound signal which is sent by the intelligent equipment at the first position point and directly reaches the second sound detection module, wherein the first sound signal and the second sound signal are sent by the intelligent equipment at the first position point at the same time, and the first sound signal and the second sound signal respectively comprise unlocking keys; determining a first time difference between a reception time of the first sound signal and a reception time of the second sound signal; determining a first relative angle between the access controller and the intelligent device based on the distance between the first sound detection module and the second sound detection module and the first time difference;
enabling a first sound detection module to detect a third sound signal which is sent by the intelligent equipment moving from a first position point to a second position point and is directly transmitted to the first sound detection module, and enabling a second sound detection module to detect a fourth sound signal which is sent by the intelligent equipment moving from the first position point to the second position point and is directly transmitted to the second sound detection module, wherein the third sound signal and the fourth sound signal are sent by the intelligent equipment at the second position point at the same time, and the third sound signal and the fourth sound signal respectively contain unlocking keys; determining a second time difference between the reception time of the third sound signal and the reception time of the fourth sound signal; determining a second relative angle between the access controller and the intelligent device based on the distance between the first sound detection module and the second time difference;
and when the movement track of the intelligent device is determined to meet the preset condition based on the first relative angle and the second relative angle and the unlocking key passes the verification, an unlocking instruction is sent to the entrance guard.
8. The door access control method according to claim 7, wherein when a change from the first relative angle to the second relative angle meets a predetermined angle change condition, and a change from a first distance between the first position point and the door access controller to a second distance between the second position point and the door access controller meets a predetermined distance change condition, it is determined that the movement trajectory of the smart device meets the predetermined condition.
9. The door access control method according to claim 8,
the angle change condition includes: the first relative angle is equal to a first predetermined angle value and the second relative angle is equal to a second predetermined angle value;
the distance change condition includes: the first distance is equal to a first predetermined distance value and the second distance is equal to a second predetermined distance value.
10. A computer-readable storage medium having computer-readable instructions stored therein for performing the access control method of any one of claims 7-9.
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| CN106204817A (en) * | 2016-06-24 | 2016-12-07 | 福建求实智能股份有限公司 | A kind of control method of control of bluetooth access |
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| CN113192226A (en) * | 2021-04-29 | 2021-07-30 | 重庆天智慧启科技有限公司 | Intelligent management system for community patrol |
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