CN112665166B - Position determination method and device and multi-device system - Google Patents
Position determination method and device and multi-device system Download PDFInfo
- Publication number
- CN112665166B CN112665166B CN202011507133.XA CN202011507133A CN112665166B CN 112665166 B CN112665166 B CN 112665166B CN 202011507133 A CN202011507133 A CN 202011507133A CN 112665166 B CN112665166 B CN 112665166B
- Authority
- CN
- China
- Prior art keywords
- target slave
- determining
- slave device
- coordinates
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The invention discloses a position determining method, a position determining device and a multi-device system. Wherein, the method comprises the following steps: determining at least one device as a main device, and defining the position of the main device as the origin of a coordinate system; the coordinate system is a two-dimensional coordinate system established on a preset plane; the master equipment sends positioning signals to all directions, and at least two target slave equipment are determined according to the signal feedback result of all directions; the signal receiving and transmitting device of each device in the multi-device system is arranged on the preset plane; acquiring coordinates of the at least two target slave devices; and determining the coordinates of the rest slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices. According to the invention, the coordinates of each slave device can be accurately determined, so that the parameters of the devices in the specified area can be accurately controlled.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a position determining method, a position determining device and a multi-device system.
Background
As indispensable equipment for modern buildings, a multi-equipment system (such as a multi-split air conditioner) is widely used along with the expansion of buildings.
A multiple equipment system typically contains multiple working equipment, especially for commercial buildings, which can be as many as several hundred. In a large-scale open room, due to the fact that a plurality of working devices exist, when a user wants to adjust parameters of the device in the area or the specific area, the conventional control terminal cannot identify which device the indoor machine in the area where the user is located is on the control terminal, and cannot accurately control the device in the area where the user is located or the specific area.
Aiming at the problem that in the prior art, in a multi-device system, accurate control cannot be performed on devices in an area where a user is located or a designated area, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a position determining method, a position determining device and a multi-device system, and aims to solve the problem that in the prior art, in the multi-device system, accurate control cannot be performed on devices in an area where a user is located or in a designated area.
In order to solve the above technical problem, the present invention provides a position determining method, which is applied to a multi-device system, and the method includes:
determining at least one device as a main device, and defining the position of the main device as the origin of a coordinate system; the coordinate system is a two-dimensional coordinate system established on a preset plane;
the master equipment sends positioning signals to all directions, and at least two target slave equipment are determined according to the signal feedback result of all directions; the signal receiving and transmitting device of each device in the multi-device system is arranged on the preset plane;
acquiring coordinates of the at least two target slave devices;
and determining the coordinates of the rest slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices.
Further, determining at least two target slave devices according to the signal feedback result of each position comprises:
determining a first target slave device according to the signal feedback time;
after the first target slave device is determined, a second target slave device is determined according to the signal feedback time and the position relation between the slave device sending the feedback signal and the first target slave device and the master device.
Further, determining a first target slave device according to the signal feedback time includes:
and determining the slave equipment with the shortest signal feedback time as the first target slave equipment.
Further, after determining the first target slave device, determining a second target slave device according to the signal feedback time and the position relationship between the slave device sending the feedback signal and the first target slave device and the master device, including:
after the first target slave equipment is excluded, determining the slave equipment with the shortest feedback time in the remaining slave equipment as alternative slave equipment;
determining whether the alternate slave device is co-linear with the first target slave device and the master device;
if not, determining that the alternative slave equipment is second target slave equipment;
if yes, after the candidate slave equipment is excluded, determining the slave equipment with the shortest feedback time in the remaining slave equipment as new candidate slave equipment; determining that the new candidate slave device is a second target slave device after determining that the new candidate slave device is not collinear with the first target slave device and the master device.
Further, before determining the first target slave device according to the signal feedback time, the method further comprises:
and determining the signal source according to the type of the feedback signal.
Further, determining the signal source according to the type of the feedback signal includes:
if the feedback signal is a reflection signal, determining that the signal source is the boundary of the space where the multi-equipment system is located;
and if the feedback signal is a transmitting signal, determining that the signal source is the slave equipment.
Further, obtaining coordinates of the at least two target slave devices comprises:
taking a straight line where the first target slave equipment and the master equipment are located as a first coordinate axis;
calculating a first distance between the first target slave device and the master device according to the signal feedback time and the signal propagation speed of the first target slave device, and further determining the coordinate of the first target slave device;
taking a straight line where a second target slave device and the master device are located as a second coordinate axis;
and calculating a second distance between the second target slave device and the master device according to the signal feedback time and the signal propagation speed of the second target slave device, and further determining the coordinate of the second target slave device.
Further, if the first coordinate axis is perpendicular to the second coordinate axis, determining coordinates of the rest of the slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices, including:
controlling each of the remaining slave devices to transmit a distance measurement signal to the master device, the first target slave device, and the second target slave device;
determining the distances between the same slave device and the master device, the first target slave device and the second target slave device according to the time when the same slave device receives the signals fed back by the master device, the first target slave device and the second target slave device;
and establishing an equation according to the distances between the same slave device and the master device, the first target slave device and the second target slave device, and the coordinates of the master device, the first target slave device and the second target slave device, and calculating the coordinates of each slave device.
Further, if the first coordinate axis and the second coordinate axis are not perpendicular, determining coordinates of the rest of slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices, including:
acquiring an included angle between the first coordinate axis and the second coordinate axis;
controlling each of the remaining slave devices to transmit a distance measurement signal to the master device, the first target slave device, and the second target slave device;
determining the distances between the same slave device and the master device, the first target slave device and the second target slave device according to the time when the same slave device receives the signals fed back by the master device, the first target slave device and the second target slave device;
and establishing an equation according to the distance between the same slave device and the master device, the distance between the same slave device and the first target slave device and the distance between the same slave device and the second target slave device, the included angle between the first coordinate axis and the second coordinate axis, the coordinate of the master device, the coordinate of the first target slave device and the coordinate of the second target slave device, and calculating the coordinate of each slave device.
Further, after determining the coordinates of the rest of the slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices, the method further includes:
obtaining a plane distribution diagram of all devices in the multi-device system according to the coordinates of the master device and all the slave devices in the multi-device system;
and displaying the plane distribution map after reducing the plane distribution map according to a preset proportion.
The present invention also provides a position determination apparatus, comprising:
the first determining module is used for determining at least one device as a main device and defining the position of the main device as the origin of a coordinate system; the coordinate system is a two-dimensional coordinate system established on a preset plane;
the second determining module is used for determining at least two target slave devices according to the signal feedback result of each position; the signal feedback result of each direction responds to a positioning signal sent to each direction by the main equipment, and the signal transceiving device of each equipment in the multi-equipment system is arranged on the preset plane;
the coordinate acquisition module is used for acquiring the coordinates of the at least two target slave devices;
and the third determining module is used for determining the coordinates of the rest slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices.
The invention also provides a multi-device system, which comprises the master device and a plurality of slave devices, and the multi-device system also comprises the position determining device.
Further, the multi-device system is a multi-split air conditioning system, and the main device and the slave device are air conditioner internal units.
The present invention also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the above-mentioned position determination method.
The technical scheme of the invention is applied, at least one device is determined as a main device, and the position of the main device is defined as the origin of a coordinate system; wherein, the coordinate system is a two-dimensional coordinate system established on a preset plane; the master equipment sends positioning signals to all directions, and at least two target slave equipment are determined according to the signal feedback result of all directions; the signal receiving and transmitting device of each device in the multi-device system is arranged on a preset plane; acquiring coordinates of at least two target slave devices; and determining the coordinates of the rest slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices. The coordinate of each slave device can be accurately determined, and therefore parameters of the devices in the specified area can be accurately controlled.
Drawings
FIG. 1 is a flow chart of a method of position determination according to an embodiment of the present invention;
FIG. 2 is a block diagram of a position determining apparatus according to an embodiment of the present invention;
FIG. 3 is a block diagram of a position determining apparatus according to another embodiment of the present invention;
fig. 4 is a mapping between an internal machine plane distribution diagram and a display diagram according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It should be understood that although the terms first, second, etc. may be used to describe target slave devices in embodiments of the present invention, these target slave devices should not be limited by these terms. These terms are only used to distinguish the target from the device. For example, a first target slave device may also be referred to as a second target slave device, and similarly, a second target slave device may also be referred to as a first target slave device, without departing from the scope of embodiments of the present invention.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in the article or device in which the element is included.
Alternative embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Example 1
The present embodiment provides a location determining method, which is applied to a multi-device system, and fig. 1 is a flowchart of the location determining method according to the embodiment of the present invention, as shown in fig. 1, the method includes:
s101, determining at least one device as a main device, and defining the position of the main device as the origin of a coordinate system; wherein the coordinate system is a two-dimensional coordinate system established on a preset plane.
In the multi-device system, each system is provided with at least one main device and a plurality of slave devices, when the multi-device system is provided with only one system, the position of the main device is taken as the origin (0, 0) of a coordinate system, when the multi-split system is provided with a plurality of subsystems, the main system and the slave systems exist, and the position of the main device in the main system is taken as the origin (0, 0) of the coordinate system.
S102, the main equipment sends positioning signals to all directions, and at least two target slave equipment are determined according to the signal feedback results of all directions; the signal receiving and transmitting device of each device in the multi-device system is arranged on the preset plane.
The master device and the slave devices are respectively provided with a signal transmitting and receiving device, positioning signals are transmitted to all directions through the signal transmitting and receiving devices of the master device, whether the slave devices exist in a certain direction can be judged according to whether the direction feeds back signals, the distance between the slave devices and the master device is judged according to the time of the feedback signals, and then at least two slave devices with the distance meeting certain requirements can be selected from the slave devices to serve as a first target slave device and a second target slave device.
S103, coordinates of at least two target slave devices are obtained.
After the first target slave device and the second target slave device are determined, a coordinate system is established according to the first target slave device, the second target slave device and the position of the origin of the coordinate system, so that the coordinates of the first target slave device and the second target slave device in the coordinate system are obtained.
And S104, determining the coordinates of the rest slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices.
After the coordinates of three known points of the master device, the first target slave device and the second target slave device are determined, the signal transceiving devices of the master device and the slave devices are all in the same plane, so that the coordinates of the unknown points can be determined according to the coordinates of the three known points and the distances from the unknown points to the three known points.
The technical scheme of the invention is applied, at least one device is determined as a main device, and the position of the main device is defined as the origin of a coordinate system; wherein, the coordinate system is a two-dimensional coordinate system established on a preset plane; the master equipment sends positioning signals to all directions, and at least two target slave equipment are determined according to the signal feedback result of all directions; the signal receiving and transmitting device of each device in the multi-device system is arranged on a preset plane; acquiring coordinates of at least two target slave devices; and determining the coordinates of the rest slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices. The coordinate of each slave device can be accurately determined, and therefore parameters of the devices in the specified area can be accurately controlled.
Example 2
In this embodiment, in order to determine a target slave device according to the distance between each slave device and the master device, the step S102 specifically includes: a first target slave device is determined based on the signal feedback time. Specifically, after receiving the signals fed back by the slave devices, the slave device with the shortest signal feedback time is determined to be the first target slave device, and the slave device with the shortest signal feedback time is the slave device closest to the master device.
After the first target slave device is determined, a second target slave device is determined according to the signal feedback time and the position relation between the slave device sending the feedback signal and the first target slave device and the master device. Since determining the coordinates of the unknown point in the plane requires at least the coordinates of three known points that are not collinear in the same plane, determining the second target slave device specifically includes: after the first target slave equipment is excluded, determining the slave equipment with the shortest feedback time in the remaining slave equipment as alternative slave equipment; determining whether the alternate slave device is co-linear with the first target slave device and the master device; if not, determining that the alternative slave equipment is second target slave equipment; if yes, after the candidate slave equipment is excluded, determining the slave equipment with the shortest feedback time in the remaining slave equipment as new candidate slave equipment; and after determining that the new alternative slave device is not collinear with the first target slave device and the master device, determining that the new alternative slave device is a second target slave device. That is, only if the new candidate slave device satisfies the condition of not being collinear with the first target slave device and the master device can be determined as the second target device.
In a specific implementation process, since there is a boundary (for example, a wall) outside a space where the device system is located, the positioning signal is also reflected back to the feedback signal after encountering the wall, and the positioning result is disturbed, so that before the first target slave device is determined according to the signal feedback time, the method further includes: and determining the signal source according to the type of the feedback signal. The method specifically comprises the following steps: if the feedback signal is a reflection signal, determining that the signal source is the boundary of the space where the multi-equipment system is located; and if the feedback signal is a transmitting signal, determining that the signal source is the slave equipment.
In this embodiment, obtaining coordinates of at least two target slave devices includes: taking a straight line where the first target slave equipment and the main equipment are located as a first coordinate axis; and calculating a first distance between the first target slave device and the master device according to the signal feedback time and the signal propagation speed of the first target slave device, and further determining the coordinates of the first target slave device. For example, if the signal feedback time of the first target slave device is T1 and the signal transmission speed is S, the first distance d1 between the first target slave device and the master device is S × T1, and since the first target slave device is on the first coordinate axis, the first coordinate is the first distance d1 from the location (0, 0) where the master device is located, and the second coordinate is 0, that is, the coordinate of the first target slave device is (d1, 0).
Taking a straight line where the second target slave equipment and the main equipment are located as a second coordinate axis; and calculating a second distance between the second target slave device and the master device according to the signal feedback time and the signal propagation speed of the second target slave device, and further determining the coordinate of the second target slave device. For example, if the signal feedback time of the second target slave device is T2 and the signal transmission speed is S, the first distance d2 between the second target slave device and the master device is S × T2, and since the second target slave device is on the second coordinate axis, the first coordinate is 0, and the second coordinate is the second distance d2 from the location (0, 0) where the master device is located, that is, the coordinate of the second target slave device is (0, d 2).
Through the steps, the coordinates of the master device, the first target slave device and the second target slave device are obtained, and since the positions of the first target slave device and the second target slave device are random, the first coordinate axis may or may not be perpendicular to the second coordinate axis, if the first coordinate axis is perpendicular to the second coordinate axis, the established coordinate system is a two-dimensional rectangular coordinate system, and in the two-dimensional rectangular coordinate system, the distance formula of two points is as follows:
wherein the first point coordinate is (x)1，y1) The second point has the coordinate of (x)2，y2) Determining the coordinates of the rest slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devicesCoordinates, including: controlling each of the remaining slave devices to transmit a distance measurement signal to the master device, the first target slave device, and the second target slave device; determining the distances between the same slave device and the master device, the first target slave device and the second target slave device according to the time when the same slave device receives signals fed back by the master device, the first target slave device and the second target slave device; and calculating the coordinate of each slave device according to the distances between the same slave device and three known points of the master device, the first target slave device and the second target slave device and the coordinate establishment equations of the three known points.
If the first coordinate axis and the second coordinate axis are not vertical, the established coordinate system is a two-dimensional oblique coordinate system, and the distance formula of the two points in the two-dimensional oblique coordinate system is as follows:
wherein the first point coordinate is (x)1，y1) The second point has the coordinate of (x)2，y2) And theta is an included angle between the first coordinate axis and the second coordinate axis, so that the coordinates of the rest of slave devices in the multi-device system are determined according to the coordinates of the master device and the coordinates of the at least two target slave devices, and the method comprises the following steps: acquiring an included angle theta between a first coordinate axis and a second coordinate axis, specifically, continuously changing a signal transmitting angle after a signal receiving and transmitting device on the main equipment detects a signal fed back by first target slave equipment, and stopping changing the signal transmitting angle until a signal fed back by second target equipment is received, wherein the angle variation at the moment is the included angle theta between the first coordinate axis and the second coordinate axis; controlling each of the remaining slave devices to transmit a distance measurement signal to the master device, the first target slave device, and the second target slave device; determining the distances between the same slave device and the master device, the first target slave device and the second target slave device according to the time when the same slave device receives signals fed back by the master device, the first target slave device and the second target slave device; according to the distances between the same slave device and the master device, the first target slave device and the second target slave device, the included angle theta between the first coordinate axis and the second coordinate axis, and the sitting position of the master deviceThe coordinates of the target, the first target slave device and the coordinates of the second target slave device establish an equation, and the coordinates of each slave device are calculated.
After obtaining the coordinates of all devices in the multi-device system, the method further includes: obtaining a plane distribution diagram of all devices in the multi-device system according to the coordinates of the master device and all the slave devices in the multi-device system; and after the plane distribution diagram is reduced according to a preset proportion, displaying, specifically, after the midpoint of the terminal display screen is taken as an original point and is automatically calibrated through a plurality of coordinates, mapping the internal machine plane distribution diagram on the control terminal display screen so that a user can control parameters of equipment in a designated area according to the displayed plane distribution diagram.
Example 3
This embodiment provides a position determining apparatus, and fig. 2 is a structural diagram of the position determining apparatus according to an embodiment of the present invention, as shown in fig. 2, the apparatus includes:
a first determining module 10, configured to determine that at least one device is a master device, and define a location of the master device as an origin of a coordinate system; wherein the coordinate system is a two-dimensional coordinate system established on a preset plane.
In the multi-device system, each system is provided with at least one main device and a plurality of slave devices, when the multi-device system is provided with only one system, the position of the main device is taken as the origin (0, 0) of a coordinate system, when the multi-split system is provided with a plurality of subsystems, the main system and the slave systems exist, and the position of the main device in the main system is taken as the origin (0, 0) of the coordinate system.
The second determining module 20 is used for determining at least two target slave devices according to the signal feedback result of each position; the signal feedback result of each direction responds to the positioning signal sent to each direction by the main equipment, and the signal receiving and sending device of each equipment in the multi-equipment system is arranged on a preset plane.
The master device and the slave devices are respectively provided with a signal transmitting and receiving device, positioning signals are transmitted to all directions through the signal transmitting and receiving devices of the master device, whether the slave devices exist in a certain direction can be judged according to whether the direction feeds back signals, the distance between the slave devices and the master device is judged according to the time of the feedback signals, and then at least two slave devices with the distance meeting certain requirements can be selected from the slave devices to serve as a first target slave device and a second target slave device.
And a coordinate obtaining module 30, configured to obtain coordinates of at least two target slave devices.
After the first target slave device and the second target slave device are determined, a coordinate system is established according to the first target slave device, the second target slave device and the origin position of the coordinate system, so that the coordinates of the first target slave device and the second target slave device in the coordinate system are obtained.
And a third determining module 40, configured to determine coordinates of the remaining slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices.
After the coordinates of three known points of the master device, the first target slave device and the second target slave device are determined, the signal transceiving devices of the master device and the slave devices are all in the same plane, so that the coordinates of the unknown points can be determined according to the coordinates of the three known points and the distances from the unknown points to the three known points.
By applying the technical scheme of the invention, at least one device is determined as a main device through a first determining module 10, and the position of the main device is defined as the origin of a coordinate system; wherein, the coordinate system is a two-dimensional coordinate system established on a preset plane; determining at least two target slave devices according to the signal feedback result of each direction through a second determination module 20; the signal receiving and transmitting device of each device in the multi-device system is arranged on a preset plane; coordinates of at least two target slave devices are obtained through a coordinate obtaining module 30; and determining the coordinates of the rest slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices through a third determining module 40. The coordinate of each slave device can be accurately determined, and therefore parameters of the devices in the specified area can be accurately controlled.
Example 4
In this embodiment, another position determining apparatus is provided, and fig. 3 is a structural diagram of a position determining apparatus according to another embodiment of the present invention, in which a master device sends a positioning signal through a signal transceiver, and after receiving the positioning signal, a slave device feeds back a signal, and since a signal transmission speed of the signal transceiver is constant, and a distance is shorter, a time for feeding back the signal is shorter, in order to determine a target slave device according to a distance between each slave device and the master device, the second determining module 20 includes: a first determining unit 201, configured to determine a first target slave device according to the signal feedback time. Specifically, after receiving the signals fed back by the slave devices, the slave device with the shortest signal feedback time is determined to be the first target slave device, and the slave device with the shortest signal feedback time is the slave device closest to the master device.
Further comprising a second determination unit 202: and the second target slave device is determined according to the signal feedback time and the position relation between the slave device sending the feedback signal and the first target slave device and the master device after the first target slave device is determined. Since determining the coordinates of the unknown point in the plane requires at least the coordinates of three known points that are not collinear in the same plane, determining the second target slave device specifically includes: after the first target slave equipment is excluded, determining the slave equipment with the shortest feedback time in the remaining slave equipment as alternative slave equipment; determining whether the alternate slave device is co-linear with the first target slave device and the master device; if not, determining that the alternative slave equipment is second target slave equipment; if yes, after the candidate slave equipment is excluded, determining the slave equipment with the shortest feedback time in the remaining slave equipment as new candidate slave equipment; and after determining that the new alternative slave device is not collinear with the first target slave device and the master device, determining that the new alternative slave device is a second target slave device. That is, only if the new candidate slave device satisfies the condition of not being collinear with the first target slave device and the master device can be determined as the second target device.
In a specific implementation process, since there is a boundary (for example, a wall) outside a space where the equipment system is located, the positioning signal will also reflect back to the feedback signal after encountering the wall, and interfere with the positioning result, therefore, the second determining module 20 further includes: a third determining unit 203, configured to determine a signal source according to the type of the feedback signal. The method is specifically used for: when the feedback signal is a reflection signal, determining a signal source as a boundary of a space where the multi-equipment system is located; and when the feedback signal is a transmitting signal, determining that the signal source is the slave equipment.
As shown in fig. 3, the coordinate acquisition module 30 includes: a fourth determining unit 301, configured to determine a straight line where the first target slave device and the master device are located as a first coordinate axis; a fifth determining unit 302, configured to calculate a first distance between the first target slave device and the master device according to the signal feedback time and the signal propagation speed of the first target slave device, and further determine coordinates of the first target slave device. For example, if the signal feedback time of the first target slave device is T1 and the signal transmission speed is S, the first distance d1 between the first target slave device and the master device is S × T1, and since the first target slave device is on the first coordinate axis, the first coordinate is the first distance d1 from the location (0, 0) where the master device is located, and the second coordinate is 0, that is, the coordinate of the first target slave device is (d1, 0).
The coordinate acquisition module 30 further includes: a sixth determining unit 303, configured to determine a straight line where the second target slave device and the master device are located as a second coordinate axis; a seventh determining unit 304, configured to calculate a second distance between a second target slave device and the master device according to a signal feedback time and a signal propagation speed of the second target slave device, and further determine coordinates of the second target slave device. For example, if the signal feedback time of the second target slave device is T2 and the signal transmission speed is S, the first distance d2 between the second target slave device and the master device is S × T2, and since the second target slave device is on the second coordinate axis, the first coordinate is 0, and the second coordinate is the second distance d2 from the location (0, 0) where the master device is located, that is, the coordinate of the second target slave device is (0, d 2).
By the above modules or units, the coordinates of the master device, the first target slave device and the second target slave device are obtained, and since the positions of the first target slave device and the second target slave device are random, the first coordinate axis may or may not be perpendicular to the second coordinate axis, and therefore, the third determining module 40 includes: an eighth determining unit 401, configured to control each of the remaining slave devices to send a distance measurement signal to the master device, the first target slave device, and the second target slave device when the first coordinate axis is perpendicular to the second coordinate axis, that is, the established coordinate system is a two-dimensional rectangular coordinate system; determining the distances between the same slave device and the master device, the first target slave device and the second target slave device according to the time when the same slave device receives signals fed back by the master device, the first target slave device and the second target slave device; and calculating the coordinate of each slave device according to the distances between the same slave device and three known points of the master device, the first target slave device and the second target slave device and the coordinate establishment equations of the three known points.
The third determination module 40 further includes: a ninth determining unit 402, configured to determine coordinates of the remaining slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices when the first coordinate axis and the second coordinate axis are not perpendicular, that is, the established coordinate system is a two-dimensional oblique coordinate system, and specifically configured to: acquiring an included angle theta between a first coordinate axis and a second coordinate axis, specifically, continuously changing a signal transmitting angle after a signal receiving and transmitting device on the main equipment detects a signal fed back by first target slave equipment, and stopping changing the signal transmitting angle until a signal fed back by second target equipment is received, wherein the angle variation at the moment is the included angle theta between the first coordinate axis and the second coordinate axis; controlling each of the remaining slave devices to transmit a distance measurement signal to the master device, the first target slave device, and the second target slave device; determining the distances between the same slave device and the master device, the first target slave device and the second target slave device according to the time when the same slave device receives signals fed back by the master device, the first target slave device and the second target slave device; and establishing an equation according to the distances between the same slave device and the master device, the first target slave device and the second target slave device, the included angle theta between the first coordinate axis and the second coordinate axis, the coordinates of the master device, the coordinates of the first target slave device and the coordinates of the second target slave device, and calculating the coordinates of each slave device.
After obtaining the coordinates of all devices in the multi-device system, the coordinates of all devices need to be displayed, and the apparatus further includes: the display module 50 includes a drawing unit 501, configured to draw a plane distribution diagram of all devices in the multi-device system according to coordinates of the master device and all slave devices in the multi-device system; and the display unit 502 is configured to reduce the drawn plane distribution diagram according to a preset scale and display the reduced plane distribution diagram, and in specific implementation, the display unit 502 may map the internal machine plane distribution diagram on the control terminal display screen by using a midpoint of the terminal display screen as an origin and performing automatic calibration through a plurality of coordinates. So that the user can control the parameters of the device in the designated area according to the displayed histogram.
Example 5
The embodiment provides another position determination method, which is applicable to a multi-split air conditioning system, wherein the indoor units in the multi-split air conditioning system are distributed in a large-scale open indoor space, no other obstacles exist at the top of the space, only a plurality of indoor units (such as courtyard units) exist, each indoor unit is provided with a signal transmitting/receiving device, and the signal transmitting/receiving devices (such as radar devices) of all the indoor units are arranged on the same plane. The position determination method comprises the following steps:
and S1, measuring the distance between the inner machine and each other inner machine through the radar.
Every air conditioner indoor unit is equipped with a radar in the multi-split system, can measure the distance between the indoor unit and other indoor units, because the indoor unit is provided with radar equipment, and the wall arm of the indoor space is not provided with radar equipment, when detecting that there is two-way distance locating signal, think the signal source is the indoor unit, when receiving the one-way distance locating signal that reflects back, think the signal source is the wall.
And S2, defining the coordinates of the main internal machine as the origin of coordinates, and determining the coordinates of at least two slave internal machines according to the distances between other internal machines and the main internal machine.
Each system in the multi-split system is provided with at least one main indoor unit and a plurality of auxiliary indoor units, when the multi-split system is provided with only one system, the coordinates of the main indoor unit are taken as the origin A (0, 0) of a coordinate system, when the multi-split system is provided with a plurality of subsystems, the main system and the auxiliary systems exist, and the coordinates of the main indoor unit in the main system are taken as the origin A (0, 0) of the coordinate system; a straight line between an inner machine position (set as a point B) closest to the main inner machine and two points of the main inner machine position is taken as an X axis, a direction pointing to the point B from an origin A (0, 0) of a coordinate system is taken as a positive X axis direction, an inner machine position (except the point A) closest to the point B is determined as a point C, a straight line between the point C and the two points of the main inner machine position is taken as a Y axis, and a direction pointing to the point C from the origin A (0, 0) of a coordinate axis is taken as a positive Y axis direction. Thus, a coordinate system with the point A as the origin is established, the point B is in the positive direction of the X axis, the point C is above the positive direction of the Y axis, and the distance between each inner machine and other inner machines can be known.
And S3, acquiring coordinates of the A, B, C three points, and determining the coordinates of each slave internal machine according to the distance between each slave internal machine and the A, B, C three points and the coordinates of the A, B, C three points in the rest slave internal machines.
According to the established coordinate system, the coordinates of A, B points are known, the C point is located in the positive direction of the Y axis, the distance between the C point and the A point is obtained through radar equipment, the coordinates of the C point can be obtained, and meanwhile the included angle between the X axis and the Y axis, namely the CAB angle, can be obtained according to the radar equipment. And the coordinates of the other inner machines can be calculated according to the coordinates of the three points.
S4, the wall plan of the interior space is defined as a rectangle containing all the interior units, and a distribution diagram of the interior units including the position information of all the interior units is obtained.
And S5, the control terminal collects the inner machine plane distribution diagram, and maps the plane diagram of the inner machine position to the display screen of the control terminal according to the display scale a, wherein the display scale is the size of the inner machine plane distribution diagram/the size of the display screen.
And obtaining the positions of each internal machine and the wall on the display screen through the mapping relation and the display proportion. Fig. 4 is a mapping relationship diagram of an inner unit plane distribution diagram and a display diagram according to an embodiment of the present invention, as shown in fig. 4, the inner unit No. 5 is a main inner unit, the coordinates of which are (0, 0), the mapping coordinates of which are (0, 0), the coordinates of the inner unit No. 1 are (x1, y1), the mapping coordinates of which are (x1/a, y1/a), and the coordinates of the inner unit No. 2 is (x2, y2), the mapping coordinates of which are (x2/a, y 2/a).
In addition, the indoor wall is mapped in a similar way, for example, if the coordinates of the start point of the wall are (c1, d1), the coordinates of the map are (c1/a, d1/a), the coordinates of the end point are (c2, d2), the coordinates of the map are (c2/a, d2/a), and the like.
And S6, taking the middle point of the terminal display screen as an original point, automatically calibrating through a plurality of coordinates, and mapping an internal machine plane distribution diagram on the control terminal display screen.
By the method, when the air conditioner indoor unit in the specific area of the multi-split air conditioning system needs to be controlled or debugged, the indoor unit plane distribution diagram is obtained, the area needing to be controlled can be accurately controlled, the operation is simple, and electric quantity waste is avoided.
Example 6
The present embodiment provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the position determination method in the above-described embodiments.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. A position determination method is applied to a multi-device system, and is characterized by comprising the following steps:
determining at least one device as a main device, and defining the position of the main device as the origin of a coordinate system; the coordinate system is a two-dimensional coordinate system established on a preset plane;
the master equipment sends positioning signals to all directions, and at least two target slave equipment are determined according to the signal feedback result of all directions; the signal receiving and transmitting device of each device in the multi-device system is arranged on the preset plane;
acquiring coordinates of the at least two target slave devices; which comprises the following steps: taking a straight line where the first target slave equipment and the master equipment are located as a first coordinate axis; calculating a first distance between the first target slave device and the master device according to the signal feedback time and the signal propagation speed of the first target slave device, and further determining the coordinate of the first target slave device; taking a straight line where a second target slave device and the master device are located as a second coordinate axis; calculating a second distance between the second target slave device and the master device according to the signal feedback time and the signal propagation speed of the second target slave device, and further determining a coordinate of the second target slave device;
and determining the coordinates of the rest slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices.
2. The method of claim 1, wherein determining at least two target slave devices according to the signal feedback result of each orientation comprises:
determining a first target slave device according to the signal feedback time;
after the first target slave device is determined, a second target slave device is determined according to the signal feedback time and the position relation between the slave device sending the feedback signal and the first target slave device and the master device.
3. The method of claim 2, wherein determining the first target slave device based on the signal feedback time comprises:
and determining the slave equipment with the shortest signal feedback time as the first target slave equipment.
4. The method of claim 2, wherein after determining a first target slave device, determining a second target slave device according to a signal feedback time and a position relationship between a slave device sending a feedback signal and the first target slave device and the master device comprises:
after the first target slave equipment is excluded, determining the slave equipment with the shortest feedback time in the remaining slave equipment as alternative slave equipment;
determining whether the alternate slave device is co-linear with the first target slave device and the master device;
if not, determining that the alternative slave equipment is second target slave equipment;
if yes, after the candidate slave equipment is excluded, determining the slave equipment with the shortest feedback time in the remaining slave equipment as new candidate slave equipment; determining that the new candidate slave device is a second target slave device after determining that the new candidate slave device is not collinear with the first target slave device and the master device.
5. The method of claim 2, wherein prior to determining the first target slave device based on the signal feedback time, the method further comprises:
and determining the signal source according to the type of the feedback signal.
6. The method of claim 5, wherein determining the signal source based on the type of the feedback signal comprises:
if the feedback signal is a reflection signal, determining that the signal source is the boundary of the space where the multi-equipment system is located;
and if the feedback signal is a transmitting signal, determining that the signal source is the slave equipment.
7. The method of claim 1, wherein if the first axis is perpendicular to the second axis, determining coordinates of remaining slaves in the multi-device system according to the coordinates of the master and the coordinates of the at least two target slaves comprises:
controlling each of the remaining slave devices to transmit a distance measurement signal to the master device, the first target slave device, and the second target slave device;
determining the distances between the same slave device and the master device, the first target slave device and the second target slave device according to the time when the same slave device receives the signals fed back by the master device, the first target slave device and the second target slave device;
and establishing an equation according to the distances between the same slave device and the master device, the first target slave device and the second target slave device, and the coordinates of the master device, the first target slave device and the second target slave device, and calculating the coordinates of each slave device.
8. The method of claim 1, wherein if the first coordinate axis and the second coordinate axis are not perpendicular, determining coordinates of remaining slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices comprises:
acquiring an included angle between the first coordinate axis and the second coordinate axis;
controlling each of the remaining slave devices to transmit a distance measurement signal to the master device, the first target slave device, and the second target slave device;
determining the distances between the same slave device and the master device, the first target slave device and the second target slave device according to the time when the same slave device receives the signals fed back by the master device, the first target slave device and the second target slave device;
and establishing an equation according to the distance between the same slave device and the master device, the distance between the same slave device and the first target slave device and the distance between the same slave device and the second target slave device, the included angle between the first coordinate axis and the second coordinate axis, the coordinate of the master device, the coordinate of the first target slave device and the coordinate of the second target slave device, and calculating the coordinate of each slave device.
9. The method of claim 1, wherein after determining the coordinates of the remaining slaves in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slaves, the method further comprises:
obtaining a plane distribution diagram of all devices in the multi-device system according to the coordinates of the master device and all the slave devices in the multi-device system;
and displaying the plane distribution map after reducing the plane distribution map according to a preset proportion.
10. A position determination apparatus for implementing the position determination method according to any one of claims 1 to 9, characterized by comprising:
the first determining module is used for determining at least one device as a main device and defining the position of the main device as the origin of a coordinate system; the coordinate system is a two-dimensional coordinate system established on a preset plane;
the second determining module is used for determining at least two target slave devices according to the signal feedback result of each position; the signal feedback result of each direction responds to a positioning signal sent to each direction by the main equipment, and the signal transceiving device of each equipment in the multi-equipment system is arranged on the preset plane;
the coordinate acquisition module is used for acquiring the coordinates of the at least two target slave devices;
the third determining module is used for determining the coordinates of the rest slave devices in the multi-device system according to the coordinates of the master device and the coordinates of the at least two target slave devices;
the coordinate acquisition module further includes: the fourth determining unit is used for determining a straight line where the first target slave equipment and the main equipment are located as a first coordinate axis; the fifth determining unit is used for calculating a first distance between the first target slave device and the master device according to the signal feedback time and the signal propagation speed of the first target slave device, and further determining the coordinate of the first target slave device; a sixth determining unit, configured to determine a straight line where the second target slave device and the master device are located as a second coordinate axis; and the seventh determining unit is used for calculating a second distance between the second target slave device and the master device according to the signal feedback time and the signal propagation speed of the second target slave device, and further determining the coordinates of the second target slave device.
11. A multi-device system comprising a master device and a plurality of slave devices, characterized in that it further comprises a position determining apparatus as claimed in claim 10.
12. The multi-device system according to claim 11, wherein the multi-device system is a multi-split air conditioning system, and the master device and the slave device are air conditioner indoor units.
13. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011507133.XA CN112665166B (en) | 2020-12-18 | 2020-12-18 | Position determination method and device and multi-device system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011507133.XA CN112665166B (en) | 2020-12-18 | 2020-12-18 | Position determination method and device and multi-device system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112665166A CN112665166A (en) | 2021-04-16 |
| CN112665166B true CN112665166B (en) | 2022-03-29 |
Family
ID=75406879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011507133.XA Active CN112665166B (en) | 2020-12-18 | 2020-12-18 | Position determination method and device and multi-device system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112665166B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115103007A (en) * | 2022-05-19 | 2022-09-23 | 亿点云计算(珠海)有限公司 | Service discovery method and device based on distributed cloud and readable storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106878944A (en) * | 2017-01-22 | 2017-06-20 | 上海乐相科技有限公司 | A kind of method and locating calibration device for calibrating locating base station coordinate system |
| CN107635216A (en) * | 2017-08-31 | 2018-01-26 | 努比亚技术有限公司 | A kind of localization method, terminal and computer-readable recording medium |
| CN107734450A (en) * | 2017-11-17 | 2018-02-23 | 深圳市舜宝科技有限公司 | A kind of indoor bluetooth localization method and system |
| KR20190023820A (en) * | 2017-08-30 | 2019-03-08 | 엘지전자 주식회사 | Air-conditioning system and controlling method thereof |
| CN111239681A (en) * | 2020-02-14 | 2020-06-05 | 深圳空循环科技有限公司 | Positioning method and device and electronic equipment |
| CN111988730A (en) * | 2019-05-24 | 2020-11-24 | 瑞士优北罗股份有限公司 | Method and apparatus for positioning using wireless signals |
-
2020
- 2020-12-18 CN CN202011507133.XA patent/CN112665166B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106878944A (en) * | 2017-01-22 | 2017-06-20 | 上海乐相科技有限公司 | A kind of method and locating calibration device for calibrating locating base station coordinate system |
| KR20190023820A (en) * | 2017-08-30 | 2019-03-08 | 엘지전자 주식회사 | Air-conditioning system and controlling method thereof |
| CN107635216A (en) * | 2017-08-31 | 2018-01-26 | 努比亚技术有限公司 | A kind of localization method, terminal and computer-readable recording medium |
| CN107734450A (en) * | 2017-11-17 | 2018-02-23 | 深圳市舜宝科技有限公司 | A kind of indoor bluetooth localization method and system |
| CN111988730A (en) * | 2019-05-24 | 2020-11-24 | 瑞士优北罗股份有限公司 | Method and apparatus for positioning using wireless signals |
| CN111239681A (en) * | 2020-02-14 | 2020-06-05 | 深圳空循环科技有限公司 | Positioning method and device and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112665166A (en) | 2021-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109901139B (en) | Laser radar calibration method, device, equipment and storage medium | |
| CN112654886B (en) | External parameter calibration method, device, equipment and storage medium | |
| US9398414B2 (en) | Method and devices for determining the position of a mobile communication device | |
| JP6157598B2 (en) | Mobile robot and sound source position estimation system | |
| CN103091667B (en) | Vehicle-borne radar calibration device and calibration method | |
| CN110501712B (en) | Method, device and equipment for determining position attitude data in unmanned driving | |
| US8754866B2 (en) | Multi-touch detection | |
| CN107659893A (en) | A kind of error compensating method, device, electronic equipment and readable storage medium storing program for executing | |
| JP6330471B2 (en) | Wireless positioning device | |
| JP5116750B2 (en) | LOCATION METHOD, POSITIONING SYSTEM, AND PROGRAM | |
| WO2017199333A1 (en) | Information output device, terminal device, control method, program, and storage medium | |
| CN113038367B (en) | Non-exposed space rapid positioning method, device and equipment based on 5G technology | |
| CN111427027A (en) | Method, device and system for calibrating multi-line laser radar | |
| CN112665166B (en) | Position determination method and device and multi-device system | |
| CN110411435B (en) | Robot positioning method and device and robot | |
| KR20180059094A (en) | Method and system rssi calibration in beacon-based indoor positioning | |
| JP7405630B2 (en) | Information processing device, detection device, roadside device, and calibration method | |
| JPWO2020188671A1 (en) | Map information correction device, mobile body, map information correction system, map information correction method, map information correction program, control circuit and storage medium | |
| CN108895603B (en) | Air supply equipment, air supply control method and device thereof and readable storage medium | |
| CN112799108A (en) | Satellite direction positioning method and system applied to satellite communication mode | |
| CN105741260A (en) | Action positioning device and positioning method thereof | |
| CN111890368B (en) | Position calibration method, device and system based on robot and storage medium | |
| CN110971753A (en) | Positioning method and device based on browser, mobile terminal and storage medium | |
| CN110412613A (en) | Measurement method, mobile device, computer equipment and storage medium based on laser | |
| CN109631908B (en) | Object positioning method and device based on building structure data and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |