CN113671849A - Intelligent household equipment control method and device - Google Patents
Intelligent household equipment control method and device Download PDFInfo
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Abstract
The application relates to an intelligent household equipment control method and device, wherein if a specified user is detected to leave a specified area, a first instruction is generated, whether a non-specified user exists in the specified area or not is determined according to point cloud data collected by a millimeter wave radar, and a non-specified user detection result is generated; and sending the first instruction to the intelligent household equipment in the designated area, so that the intelligent household equipment receiving the first instruction adjusts the working state of the intelligent household equipment to be the first state, the working efficiency of the intelligent household equipment in the first state is lower than that of the intelligent household equipment in the second state, and if the detection result of the non-designated user shows that the non-designated user exists in the designated area, generating a safety prompt message and sending the safety prompt message to the designated terminal. The method in the specification can reduce the control burden of the user on the intelligent household equipment and is beneficial to guaranteeing the property safety of the designated area.
Description
Technical Field
The application relates to the technical field of data processing, in particular to a method and a device for controlling intelligent household equipment.
Background
The smart home equipment (home automation) is characterized in that a home is used as a platform, facilities related to home life are integrated by utilizing a comprehensive wiring technology, a network communication technology, a safety precaution technology, an automatic control technology and an audio and video technology, an efficient management system of home facilities and home schedule affairs is constructed, home safety, convenience, comfortableness and artistry are improved, and an environment-friendly and energy-saving living environment is realized.
On one hand, the intelligent household equipment can provide great convenience for the life of the user; on the other hand, controlling the smart home devices also becomes a burden to the user to some extent.
Disclosure of Invention
The application provides a control method and device for intelligent household equipment, and aims to solve the problem that in the prior art, the delivered media data are difficult to achieve the expected conversion effect.
In a first aspect, the present application provides a method for controlling smart home devices, including:
if the fact that the designated user leaves the designated area is detected, a first instruction is generated, whether non-designated users exist in the designated area or not is determined according to point cloud data collected by the millimeter wave radar, and a non-designated user detection result is generated; and sending the first instruction to the intelligent household equipment located in the designated area, so that the intelligent household equipment receiving the first instruction adjusts the working state of the intelligent household equipment to be the first state, the working efficiency of the intelligent household equipment in the first state is lower than that of the intelligent household equipment in the second state, and if the detection result of the non-designated user shows that the non-designated user exists in the designated area, generating a safety prompt message and sending the safety prompt message to the designated terminal.
In an alternative embodiment of the present description, generating the first instruction includes: identifying the category of the intelligent household equipment in the designated area according to the point cloud data acquired by the millimeter wave radar, and generating a first instruction corresponding to the intelligent household equipment of the category as a first target instruction of the category aiming at each identified category; sending the first instruction to the intelligent household equipment located in the designated area, wherein the sending step comprises the following steps: and aiming at each generated first target instruction, sending the first target designation to the intelligent household equipment of the category corresponding to the first target instruction.
In an optional embodiment of the present specification, identifying, according to the point cloud data acquired by the millimeter wave radar, the category of the smart home device located in the designated area includes: according to the point cloud data acquired by the millimeter wave radar and the time-frequency information represented by the point cloud data, determining one of the following characteristics of each object in the specified area as a target characteristic: doppler offset, Doppler trunk bandwidth, Doppler centroid, Doppler velocity, Doppler total bandwidth, velocity standard deviation, angle standard deviation, distance standard deviation, frame mean, frame standard deviation, mean of point cloud distribution area, standard deviation of point cloud distribution area, and standard deviation of relative movement distance average deviation; and inputting the target characteristics into a classification model to obtain the class of the intelligent household equipment to which each object output by the classification model belongs.
In an alternative embodiment of the present description, the method comprises at least one of:
the classification model is a support vector machine;
the doppler shift is obtained by using formula one:
offset mean (high) -mean (low) (formula one)
Where Offset is the amount of doppler shift, mean (high) is the mean of the high frequency envelope, and mean (low) is the mean of the low frequency envelope;
the doppler torso bandwidth is obtained using equation two:
torso band ═ min (high) -max (low) (equation two)
Wherein, Torso Bandwise is Doppler trunk bandwidth, min (high) is the minimum frequency value of the high-frequency envelope, and max (low) is the maximum frequency value of the low-frequency envelope;
the Doppler centroid is obtained by adopting a formula three and a formula four:
where meanest is the Doppler centroid, m is the number of points in a frame of point cloud data, SNRiIs the signal-to-noise ratio, doppler, of the ith pointiIs the Doppler velocity of the ith point, and n is the number of frames of point cloud data acquired in a specified period;
the total doppler bandwidth is obtained by using the formula five:
band ═ max (high) -min (low) (formula five)
Where Bandwise is the total doppler bandwidth, max (high) is the maximum frequency of the high frequency envelope, and min (low) is the minimum frequency value of the low frequency envelope;
the frame mean is obtained by adopting a formula six to a formula eleven:
Acc_range＝range1*SNR1+range2*SNR2+…+rangem*SNRm(formula six)
Acc_angle＝angle1*SNR1+angle2*SNR2+…+anglem*SNRm(formula seven)
Acc_doppler＝doppler1*SNR1+doppler2*SNR2+…+dopplerm*SNRm(formula eight)
Acc_snr＝SNR1+SNR2+…+SNRm(formula nine)
Where mean _ rad is the frame mean, w1、w2And w3Is a preset weight; rangeiIs the moving distance, range, of the object corresponding to the ith point in a specified periodiIs the angle of the ith point;
the frame standard deviation is obtained by adopting a formula six to a formula ten and a formula twelve:
where std _ rad is the frame standard deviation;
the standard deviation of the mean difference of the relative moving distances is obtained by using the formula thirteen to the formula sixteenth:
in the formula, std _ MD _ range is a standard deviation of the average difference of the relative moving distances.
In an optional embodiment of the present specification, after generating the first instruction if it is detected that the specified user leaves the specified area, the method further includes: if the specified user is detected to enter the specified area, generating a second instruction; and sending the second instruction to the intelligent household equipment in the designated area, so that the intelligent household equipment receiving the first instruction adjusts the working state of the intelligent household equipment to be in a second state.
In an optional embodiment of the present specification, after generating the non-specified user detection result, the method further includes: processing the point cloud data acquired by the millimeter wave radar to obtain the moving track of the non-specified user in the specified area; and storing the moving track, and/or sending the moving track to the specified terminal.
In an optional embodiment of the present specification, processing the point cloud data acquired by the millimeter wave radar to obtain a movement track of the non-designated user in the designated area includes: according to the point cloud data acquired by the millimeter wave radar and the time-frequency information represented by the point cloud data, determining one of the following characteristics of each object in the specified area as a target characteristic: doppler offset, Doppler trunk bandwidth, Doppler centroid, Doppler velocity, Doppler total bandwidth, velocity standard deviation, angle standard deviation, distance standard deviation, frame mean, frame standard deviation, mean of point cloud distribution area, standard deviation of point cloud distribution area, and standard deviation of relative movement distance average deviation; and processing the target characteristics by adopting a tracking algorithm to obtain the movement track of the non-specified user in the specified area.
In a second aspect, the present application provides an intelligent household equipment control device, the device includes:
the designated user detection module is configured to generate a first instruction if the designated user is detected to leave the designated area;
the non-designated user detection result generation module is configured to determine whether non-designated users exist in the designated area according to the point cloud data acquired by the millimeter wave radar and generate a non-designated user detection result;
the first instruction sending module is configured to send the intelligent household equipment located in the designated area, so that the intelligent household equipment receiving the first instruction adjusts the working state of the intelligent household equipment to be a first state, and the working efficiency of the intelligent household equipment in the first state is lower than that of the intelligent household equipment in the second state;
and the safety prompt message sending module is configured to generate a safety prompt message and send the safety prompt message to a specified terminal if the detection result of the non-specified user shows that the non-specified user exists in the specified area.
In a third aspect, the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete mutual communication through the communication bus;
a memory for storing a computer program;
and the processor is used for realizing the steps of any one of the intelligent home equipment control methods in the first aspect when the program stored in the memory is executed.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps of any one of the intelligent home device control methods in the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
according to the method and the device for controlling the intelligent home equipment, on one hand, the working state of the intelligent home equipment is controlled according to the relative position relation between the designated user and the designated area. Specifically, under the condition that the designated user leaves the designated area, the first instruction is sent to the intelligent home equipment in the designated area, so that the intelligent home equipment reduces the working efficiency of the operation of the intelligent home equipment according to the first instruction, resources consumed by the intelligent home equipment are reduced, and the burden of the user for controlling the intelligent home equipment is reduced to a certain extent while the intelligent home equipment is controlled. On the other hand, under the condition that the non-designated user is detected to enter the designated area, the safety prompt message is sent to the designated terminal, so that the safety supervision of the designated area is realized, and the property safety of the designated area is guaranteed. In addition, the home control method in the specification takes the point cloud data acquired by the millimeter wave radar as a basis, and the detection precision can be effectively improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a scene schematic diagram related to a smart home device control process provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of a control process of an intelligent home device according to an embodiment of the present application;
fig. 3 is a schematic flow chart illustrating a process of determining a point cloud distribution area mean value and a standard deviation of a point cloud distribution area according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an intelligent home device control apparatus corresponding to a portion of the steps of the method process of FIG. 2;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
The control process of the intelligent home equipment in the specification can be executed by the master control equipment. The master control device may be a certain device, or a cluster formed by a certain number of devices. The general control equipment can be arranged in a designated area, and the general control equipment can also be arranged outside the designated area. As shown in fig. 1, the general control device is in communication connection with the millimeter wave radar to obtain point cloud data collected by the millimeter wave radar. The master control device is in communication connection with the smart home devices (for example, the smart home devices 1 to k) to control the working states of the smart home devices. The general control equipment is in communication connection with the appointed terminal so as to send a message to the appointed terminal.
As shown in fig. 2, the smart home device control method in this specification includes the following steps:
s200: detecting that a specified user leaves the specified area.
In this specification, a specific region may be a certain range in space. The designated user is a user having a higher level of management authority for the designated area. For example, the designated area may be a room and the designated user may be a user residing in the room.
The general control device in this specification is in communication connection with a designated terminal, and the designated terminal is a terminal managed by a designated user. In an alternative embodiment of the present specification, the first notification message is generated by the designated terminal and sent to the overall control device. The first notification message can be generated by the designated terminal under the control of the designated user, and is used for informing the general control device that the designated user is about to leave or has left the designated area. After receiving the first notification message, the master control device determines that the specified user leaves the specified area. Whether the appointed user is at home or not is judged in real time whether the appointed user is at home or not in the millimeter wave radar detection area, when the appointed user leaves home, the millimeter wave radar can give an alarm when detecting the invasion of a person, and meanwhile, information is sent to the appointed user equipment end, so that the defense deploying function is realized. At the moment, the appointed user is required to assist in judging whether the detected target is the family member of the appointed user or the invasion of others according to the information received by the appointed user equipment terminal. In this case, the user is specified to perform the assist determination.
S202: a first instruction is generated.
The first instruction in the specification is used for adjusting the working state of the intelligent household equipment in the designated area. Generally, the smart home device includes at least two operating states, for example, a standby state and an operating state. Some smart home devices may further include three or more operating states, for example, a standby state, a first state, and a second state, and the operating efficiency of the smart home devices in the three operating states increases sequentially. Taking the example that the smart home device is an air conditioner, the air supply working state of the air conditioner may be a first state, and the forced cooling working state of the air conditioner may be a second state.
S204: and determining whether non-designated users exist in the designated area according to the point cloud data acquired by the millimeter wave radar, and generating a non-designated user detection result.
After detecting that the designated user leaves the designated area, the master control equipment acquires the point cloud data acquired by the millimeter wave radar, and processes the acquired point cloud data to obtain a non-designated user detection result.
In an optional embodiment of this specification, the process of processing the point cloud data by the master control device may be: each object indicated in the point cloud data is recognized, and if each object includes a human being, the presence of a non-specified user in the specified area is regarded as a non-specified user detection result. And if the objects do not contain human beings, determining that no non-specified user exists in the specified area as a non-specified user detection result.
Since the process in this specification is performed after detecting that the specified user leaves the specified area, a human being detected within the specified area can be judged as a non-specified user after the specified user leaves the specified area.
In an optional embodiment of the description, the master control device acquires raw data acquired by the millimeter wave radar from the millimeter wave radar, and then performs analog-to-digital signal conversion and DSP signal processing on the raw data to obtain point cloud data.
It should be noted that the execution order of step S202 and step S204 is not sequential.
S206: and sending the first instruction to the intelligent household equipment located in the designated area.
And adjusting the working state of the intelligent household equipment to be the first state by the intelligent household equipment receiving the first instruction.
Therefore, through the control process of the intelligent home equipment in the specification, under the condition that the appointed user leaves the appointed area, the intelligent home equipment can reduce the working efficiency of the operation of the intelligent home equipment according to the first instruction so as to reduce the resource consumed by the intelligent home equipment, and the burden of the user for controlling the intelligent home equipment is reduced to a certain extent while the intelligent home equipment is controlled.
S208: and if the non-specified user detection result shows that the non-specified user exists in the specified area, generating a safety prompt message and sending the safety prompt message to a specified terminal.
The security prompt message in this specification may contain information in one of several dimensions: the time when the non-specified user enters the specified area, the specific position of the non-specified user in the specified area, the number of the non-specified users and the like. The security prompt message may be a short message or an application message, etc.
Therefore, through the control process of the intelligent household equipment in the specification, the safety prompt message can be sent to the appointed terminal when the situation that the non-appointed user enters the appointed area is detected, so that the safety supervision of the appointed area is realized, and the property safety of the appointed area is guaranteed.
Because the number of preset working states of different smart home devices may be different, for example, as described above, the number of working states of some smart home devices is 2, and the number of working states of some smart home devices is 3, how to adjust the working states of different smart home devices in accordance with the number of working states of some smart home devices becomes an urgent problem to be solved.
In an alternative embodiment of the present specification, the process of generating the first instruction may be: according to the point cloud data collected by the millimeter wave radar, the category of the intelligent household equipment in the designated area is identified, and for each identified category, a first instruction corresponding to the intelligent household equipment in the category is generated and serves as a first target instruction of the category.
Sending the first instruction to the intelligent household equipment located in the designated area, wherein the sending step comprises the following steps: and aiming at each generated first target instruction, sending the first target designation to the intelligent household equipment of the category corresponding to the first target instruction.
Optionally, the main control device stores a preset instruction comparison table, and the specified comparison table may be generated according to a manual operation. The instruction comparison table stores each intelligent household device and a first instruction corresponding to each intelligent household device. Then, for each smart home device, the first instruction corresponding to the smart home device may be found from the instruction comparison table.
For example, for the smart home device, namely an air conditioner, the first instruction is used to adjust the operating state of the air conditioner to a standby state, and when the owner is not indoors, the temperature in the room does not need to be adjusted. For the intelligent household equipment, namely the sweeping robot, the first instruction is used for adjusting the working state of the sweeping robot to be the working state of intermittent operation, and a master is not indoors but also should keep indoor cleanness.
In order to identify the smart home devices in the designated area more accurately, in an optional embodiment of the present specification, the main control device determines, according to point cloud data acquired by the millimeter wave radar and time-frequency information represented by the point cloud data, one of the following characteristics of each object in the designated area as a target characteristic: doppler shift, Doppler trunk bandwidth, Doppler centroid, Doppler velocity, Doppler total bandwidth, velocity standard deviation, angle standard deviation, distance standard deviation, frame mean, frame standard deviation, mean of point cloud distribution area, standard deviation of point cloud distribution area, and standard deviation of relative movement distance average deviation. And inputting the target characteristics into a classification model to obtain the class of the intelligent household equipment to which each object output by the classification model belongs.
Wherein the classification model may be a support vector machine.
How to determine each feature according to the point cloud data acquired by the millimeter wave radar is explained.
1. With respect to the doppler shift.
The asymmetry of the swing (e.g., back and forth swing, left and right swing, etc.) generated by different objects during the motion process is usually different, and the doppler shift amount can be expressed by the difference between the mean of the High frequency (High) envelope and the mean of the Low frequency (Low) envelope in the time-frequency information, as shown in formula one.
Offset mean (high) -mean (low) (formula one)
Where Offset is the doppler shift, mean (high) is the mean of the high frequency envelope, and mean (low) is the mean of the low frequency envelope. Wherein the upper envelope: the difference between the maximum value of the doppler velocity per frame (assumed to be upper _ envelope _ f) and the estCoM. Lower envelope: the minimum value of the doppler velocity per frame (assumed to be lower _ envelope _ f) is the difference between estCoM. Finally, the mean value is the mean value of a given period of time (i.e., a certain number of frames, n frames) calculated from the above equation of estCoM.
2. With respect to doppler torso bandwidth.
In the point cloud data acquisition process, the change amplitude of the trunk moving speed is usually different, and the Doppler trunk bandwidth is represented by the difference value of the minimum frequency value of the high-frequency envelope and the maximum frequency value of the low-frequency envelope. In this specification, the trunk refers to a main body part of the smart home device (for example, the cabinet of the air conditioner and components inside the cabinet may be regarded as the trunk of the air conditioner, but the power cord of the air conditioner is not suitable for being regarded as the trunk of the air conditioner) and/or a main body part of the unspecified user (for example, the body, limbs and head of the unspecified user may be regarded as the trunk of the unspecified user, and an article held in the hand of the unspecified user is not suitable for being regarded as the trunk of the unspecified user), as shown in formula two.
Torso band ═ min (high) -max (low) (equation two)
Where, Torso bandwidth is the doppler trunk bandwidth, min (high) is the minimum frequency value of the high frequency envelope, and max (low) is the maximum frequency value of the low frequency envelope. Wherein, the minimum (large) frequency value of the high frequency envelope is calculated to be the minimum (large) frequency value under a specified period with fixed time length (namely a certain number of frames, n frames).
3. With respect to the doppler centroid.
In this specification, a certain unit time duration t1 is taken as one frame, the total number of points in one frame of point cloud data is m, and a fixed time duration (i.e., a certain number of frames, n frames) is taken as a specified period, so as to determine the doppler centroid, as shown in formula three and formula four.
Where meanest is the Doppler centroid, m is the number of points in a frame of point cloud data, SNRiIs the signal-to-noise ratio, doppler, of the ith pointiIs the doppler velocity of the ith point, n is the number of frames of point cloud data acquired in a given period, and n may be a preset value.
4. With respect to doppler velocity.
The doppler velocity can be used to characterize the change in the velocity of the object movement. In the process in this specification, frequency values corresponding to peak signals in each designated period in a truncated spectrogram (spectrogram can be obtained from point cloud data) passing through a time window function (e.g., rolling) are averaged, so that a doppler frequency characteristic of an object trunk can be obtained.
5. With respect to the total doppler bandwidth.
The total doppler bandwidth can be used to characterize the swing velocity of an object. The present specification represents the total doppler bandwidth as the difference between the maximum frequency of the high frequency envelope and the minimum frequency of the low frequency envelope, as shown in equation five.
Band ═ max (high) -min (low) (formula five)
Where Bandwise is the total doppler bandwidth, max (high) is the maximum frequency of the high frequency envelope, and min (low) is the minimum frequency value of the low frequency envelope.
6. With respect to speed standard deviation, angle standard deviation, and distance standard deviation.
In this specification, the speed is a moving speed of the object. The speed standard deviation, the angle standard deviation, and the distance standard deviation can indicate the moving range of the object. Because the operation angle and the operation relative distance between the user and the intelligent household equipment are different, the speed standard deviation, the angle standard deviation and the distance standard deviation are adopted in the process in the specification to identify the object, and the identification accuracy is improved. The angular velocity of the point is included in the point cloud information after signal processing, and includes a distance, an angle, a doppler velocity, and a signal-to-noise ratio, which are relative quantities of the point with respect to the millimeter wave radar antenna.
Illustratively, the speed standard deviation, the angle standard deviation and the distance standard deviation can be obtained by the following steps.
Step 1: calculating the average value of the angle and the distance in each frame;
step 2: calculating the accumulated sum of the angle, the distance and the absolute value of the difference value of the average value of each point in each frame;
step 3: averaging the accumulated sums in step2, where the denominator is the number of points in the point cloud, i.e. m is the number of points in a frame of point cloud data;
step 4: the standard deviation of the angle and speed related quantity obtained in step3 is calculated with a fixed duration (i.e. a certain number of frames, n frames) as a specified period.
7. Regarding the frame mean.
The frame mean value in this specification can be calculated by using a formula six to a formula eleven.
The frame mean is obtained by adopting a formula six to a formula eleven:
Acc_range＝range1*SNR1+range2*SNR2+…+rangem*SNRm(formula six)
Acc_angle＝angle1*SNR1+angle2*SNR2+…+anglem*SNRm(formula seven)
Acc_doppler＝doppler1*SNR1+doppler2*SNR2+…+dopplerm*SNRm(formula eight)
Acc_snr＝SNR1+SNR2+…+SNRm(formula nine)
Where mean _ rad is the frame mean, w1、w2And w3Is a preset weight; rangeiIs the moving distance, range, of the object in the designated period corresponding to the ith pointiIs the angle of the ith point. In this specification, each frame contains a plurality of points, and the point cloud information includes distance, angle, doppler velocity, and signal-to-noise ratio.
8. Regarding the frame standard deviation.
The frame standard deviation is obtained by adopting a formula six to a formula ten and a formula twelve:
where std _ rad is the frame standard deviation.
9. Regarding the mean of the point cloud distribution area.
The areas of different objects in the images obtained after the point cloud data processing are different, for example, the detected area of a non-specified user is different from the detected area of a sweeping robot, the area of the maximum and minimum difference value of the horizontal and vertical coordinates of the detection points is taken as a single frame measurement basis, and the average value process of the point cloud distribution areas is determined as follows:
s300: for each frame of point cloud data, the maximum value and the minimum value of the horizontal and vertical coordinates in the frame of point cloud data are determined according to the relation between the distance and the angle (specifically, the relation between the distance and the angle is the relation of a cartesian coordinate system).
The relationship between the angle and the distance in the Cartesian coordinate system can be used for calculating the maximum value and the minimum value of the horizontal and vertical coordinate distance. The angles and distances are values in the point cloud information.
S302: and determining the corresponding area of each object in the image obtained after the frame of point cloud data is processed.
S304: determining the area corresponding to each frame of point cloud data of the object in the specified period, and determining the mean value (mean _ area) of the point cloud distribution area and the standard deviation (std _ area) of the point cloud distribution area of the object.
10. Standard deviation with respect to mean difference in relative movement distance.
For intelligent furniture equipment which moves regularly and relatively at a constant speed, the difference degree is represented by the arithmetic mean of the absolute values of the difference values of the variable values and the mean value, so that the difference between different objects can be represented.
The standard deviation of the mean difference of the relative movement distances can be obtained by using equations thirteen to sixteenth.
In the formula, std _ MD _ range is a standard deviation of the average difference of the relative moving distances.
Thus, the features for identifying the object are obtained.
In a further optional embodiment of this specification, in addition to controlling the smart home devices in a case where the designated user leaves the designated area, the smart home devices are also controlled in a case where the designated user enters the designated area.
Specifically, when the specified user is detected to enter the specified area, a second instruction is generated;
and sending the second instruction to the intelligent household equipment in the designated area, so that the intelligent household equipment receiving the first instruction adjusts the working state of the intelligent household equipment to be in a second state.
After the objects within the designated area are identified, if one of the objects is a human, the object is determined to be a non-designated user. And then, processing the point cloud data acquired by the millimeter wave radar to obtain the moving track of the non-specified user in the specified area. And storing the moving track, and/or sending the moving track to the specified terminal.
Specifically, the process of determining the movement track of the non-specified user may be to determine, according to point cloud data acquired by the millimeter wave radar and time-frequency information indicated by the point cloud data, one of the following characteristics of each object in the specified area as a target characteristic: doppler shift, Doppler trunk bandwidth, Doppler centroid, Doppler velocity, Doppler total bandwidth, velocity standard deviation, angle standard deviation, distance standard deviation, frame mean, frame standard deviation, mean of point cloud distribution area, standard deviation of point cloud distribution area, and standard deviation of relative movement distance average deviation. And inputting the target characteristics into a tracking algorithm to obtain the movement track of the non-specified user in the specified area.
The tracking algorithm may be a meanshif algorithm or the like, for example.
Therefore, the trace of the non-designated user in the designated area can be obtained through the process in the specification, and the illegal behavior of the non-designated user can be collected.
In an alternative embodiment of the present specification, the second notification message is generated by the designated terminal and sent to the overall control device. The second notification message may be generated by the designated terminal under the control of the designated user, and the second notification message is used for notifying the overall control device that the designated user is about to enter or has entered the designated area. After receiving the second notification message, the master control device determines that the designated user enters the designated area, so as to further reduce the control burden of the user on the smart home.
In an alternative embodiment of the present specification, before step S202, a spatial collection range of the millimeter wave radar is used as the designated area.
In another optional embodiment of the present specification, before step S202, point cloud data acquired by the millimeter wave radar within a preset time period may be acquired. And determining the spatial acquisition range of the millimeter wave radar as a reference range according to the spatial distribution of each point shown by the point cloud data. Then, the designated area is specified from the reference range.
Further, from the reference range, the process of determining the designated area may be: and identifying the intelligent household equipment in the reference range according to the point cloud data acquired by the millimeter wave radar. For each intelligent home device, the designated home device is used as a center, and a sphere is formed by taking a designated distance (which can be a preset value and can be set by a designated user) as a radius, so that a designated sub-range corresponding to the intelligent home device is obtained. And taking the union of the designated sub-ranges of the intelligent household equipment as the designated range. And determining the intersection of the specified range and the reference range as a specified area.
In an optional embodiment of the present specification, before step S204, the method in the present specification further includes: and when detecting that the designated user leaves the designated area, generating a defense deployment prompting message and sending the defense deployment prompting message to the designated terminal, wherein the defense deployment prompting message is used for prompting the designated user whether to execute defense deployment. And if the general control equipment receives a defense command returned by the appointed terminal according to the defense prompting message, executing the step S204.
Based on the same idea, this specification further provides an intelligent household equipment control device, is applied to intelligent household equipment control end, as shown in fig. 4, this intelligent household equipment control device includes one or more of the following modules:
a designated user detection module 400 configured to generate a first instruction if it is detected that the designated user leaves the designated area;
the non-designated user detection module 402 is configured to determine whether a non-designated user exists in the designated area according to the point cloud data acquired by the millimeter wave radar, and generate a non-designated user detection result;
a first instruction sending module 404, configured to send the first instruction to the smart home devices located in the designated area, so that the smart home devices receiving the first instruction adjust their own working states to a first state, and the working efficiency of the smart home devices in the first state is lower than the working efficiency of the smart home devices in the second state;
and a safety prompt message sending module 406, configured to generate a safety prompt message and send the safety prompt message to a specified terminal if the detection result of the unspecified user shows that the unspecified user exists in the specified area.
In an alternative embodiment of the present description, the user detection module 400 is specifically configured to: according to the point cloud data collected by the millimeter wave radar, the category of the intelligent household equipment in the designated area is identified, and for each identified category, a first instruction corresponding to the intelligent household equipment in the category is generated and serves as a first target instruction of the category.
In an alternative embodiment of the present disclosure, the first instruction sending module 404 is specifically configured to: and aiming at each generated first target instruction, sending the first target designation to the intelligent household equipment of the category corresponding to the first target instruction.
In an alternative embodiment of the present description, the user detection module 400 is specifically configured to: according to the point cloud data acquired by the millimeter wave radar and the time-frequency information represented by the point cloud data, determining one of the following characteristics of each object in the specified area as a target characteristic: doppler shift, Doppler trunk bandwidth, Doppler centroid, Doppler velocity, Doppler total bandwidth, velocity standard deviation, angle standard deviation, distance standard deviation, frame mean, frame standard deviation, mean of point cloud distribution area, standard deviation of point cloud distribution area, and standard deviation of relative movement distance average deviation. And inputting the target characteristics into a classification model to obtain the class of the intelligent household equipment to which each object output by the classification model belongs.
In an alternative embodiment of the present description, the apparatus comprises at least one of:
the classification model is a support vector machine;
the doppler shift is obtained by using formula one:
offset mean (high) -mean (low) (formula one)
Where Offset is the amount of doppler shift, mean (high) is the mean of the high frequency envelope, and mean (low) is the mean of the low frequency envelope;
the doppler torso bandwidth is obtained using equation two:
torso band ═ min (high) -max (low) (equation two)
Wherein, Torso Bandwise is Doppler trunk bandwidth, min (high) is the minimum frequency value of the high-frequency envelope, and max (low) is the maximum frequency value of the low-frequency envelope;
the Doppler centroid is obtained by adopting a formula three and a formula four:
where meanest is the Doppler centroid, m is the number of points in a frame of point cloud data, SNRiIs the signal-to-noise ratio, doppler, of the ith pointiIs the Doppler velocity of the ith point, and n is the number of frames of point cloud data acquired in a specified period;
the total doppler bandwidth is obtained by using the formula five:
band ═ max (high) -min (low) (formula five)
Where Bandwise is the total doppler bandwidth, max (high) is the maximum frequency of the high frequency envelope, and min (low) is the minimum frequency value of the low frequency envelope;
the frame mean is obtained by adopting a formula six to a formula eleven:
Acc_range＝range1*SNR1+range2*SNR2+…+rangem*SNRm(formula six)
Acc_angle＝angle1*SNR1+angle2*SNR2+…+anglem*SNRm(formula seven)
Acc_doppler＝doppler1*SNR1+doppler2*SNR2+…+dopplerm*SNRm(formula eight)
Acc_snr＝SNR1+SNR2+…+SNRm(formula nine)
Where mean _ rad is the frame mean, w1、w2And w3Is presetThe weight of (c); rangeiIs the moving distance, range, of the object corresponding to the ith point in a specified periodiIs the angle of the ith point;
the frame standard deviation is obtained by adopting a formula six to a formula ten and a formula twelve:
where std _ rad is the frame standard deviation;
the standard deviation of the mean difference of the relative moving distances is obtained by using the formula thirteen to the formula sixteenth:
in the formula, std _ MD _ range is a standard deviation of the average difference of the relative moving distances.
In an optional embodiment of the present specification, the apparatus may further include a second instruction generation module configured to: if the specified user is detected to enter the specified area, generating a second instruction; and sending the second instruction to the intelligent household equipment in the designated area, so that the intelligent household equipment receiving the first instruction adjusts the working state of the intelligent household equipment to be in a second state.
In an optional embodiment of the present description, the apparatus may further include a trajectory detection module configured to: processing the point cloud data acquired by the millimeter wave radar to obtain the moving track of the non-specified user in the specified area; and storing the moving track, and/or sending the moving track to the specified terminal.
In an optional embodiment of the present specification, the track detection module is specifically configured to determine, according to point cloud data acquired by a millimeter wave radar and time-frequency information indicated by the point cloud data, one of the following characteristics of each object in the specified area as a target characteristic: doppler offset, Doppler trunk bandwidth, Doppler centroid, Doppler velocity, Doppler total bandwidth, velocity standard deviation, angle standard deviation, distance standard deviation, frame mean, frame standard deviation, mean of point cloud distribution area, standard deviation of point cloud distribution area, and standard deviation of relative movement distance average deviation; and inputting the target characteristics into a tracking algorithm to obtain the movement track of the non-specified user in the specified area.
As shown in fig. 5, an embodiment of the present application provides an intelligent home device control device, which includes a processor 111, a communication interface 112, a memory 113, and a communication bus 114, where the processor 111, the communication interface 112, and the memory 113 complete mutual communication through the communication bus 114,
a memory 113 for storing a computer program;
in an embodiment of the present application, the processor 111 is configured to implement the control method for controlling the smart home devices provided in any one of the foregoing method embodiments when executing the program stored in the memory 113.
An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of controlling the smart home device according to any one of the foregoing method embodiments.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, 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 process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A smart home device control method is characterized by comprising the following steps:
if the fact that the designated user leaves the designated area is detected, a first instruction is generated, whether non-designated users exist in the designated area or not is determined according to point cloud data collected by the millimeter wave radar, and a non-designated user detection result is generated;
and sending the first instruction to the intelligent household equipment located in the designated area, so that the intelligent household equipment receiving the first instruction adjusts the working state of the intelligent household equipment to be the first state, the working efficiency of the intelligent household equipment in the first state is lower than that of the intelligent household equipment in the second state, and if the detection result of the non-designated user shows that the non-designated user exists in the designated area, generating a safety prompt message and sending the safety prompt message to the designated terminal.
2. The method of claim 1,
generating a first instruction comprising: identifying the category of the intelligent household equipment in the designated area according to the point cloud data acquired by the millimeter wave radar, and generating a first instruction corresponding to the intelligent household equipment of the category as a first target instruction of the category aiming at each identified category;
sending the first instruction to the intelligent household equipment located in the designated area, wherein the sending step comprises the following steps: and aiming at each generated first target instruction, sending the first target designation to the intelligent household equipment of the category corresponding to the first target instruction.
3. The method according to claim 2, wherein identifying the category of the smart home devices located in the designated area according to the point cloud data collected by the millimeter wave radar comprises:
according to the point cloud data acquired by the millimeter wave radar and the time-frequency information represented by the point cloud data, determining one of the following characteristics of each object in the specified area as a target characteristic: doppler offset, Doppler trunk bandwidth, Doppler centroid, Doppler velocity, Doppler total bandwidth, velocity standard deviation, angle standard deviation, distance standard deviation, frame mean, frame standard deviation, mean of point cloud distribution area, standard deviation of point cloud distribution area, and standard deviation of relative movement distance average deviation;
and inputting the target characteristics into a classification model to obtain the class of the intelligent household equipment to which each object output by the classification model belongs.
4. The method of claim 3, wherein the method comprises at least one of:
the classification model is a support vector machine;
the doppler shift is obtained by using formula one:
offset mean (high) -mean (low) (formula one)
Where Offset is the amount of doppler shift, mean (high) is the mean of the high frequency envelope, and mean (low) is the mean of the low frequency envelope;
the doppler torso bandwidth is obtained using equation two:
torso band ═ min (high) -max (low) (equation two)
Wherein, Torso Bandwise is Doppler trunk bandwidth, min (high) is the minimum frequency value of the high-frequency envelope, and max (low) is the maximum frequency value of the low-frequency envelope;
the Doppler centroid is obtained by adopting a formula three and a formula four:
where meanest is the Doppler centroid, m is the number of points in a frame of point cloud data, SNRiIs the signal-to-noise ratio, doppler, of the ith pointiIs the Doppler velocity of the ith point, and n is the number of frames of point cloud data acquired in a specified period;
the total doppler bandwidth is obtained by using the formula five:
band ═ max (high) -min (low) (formula five)
Where Bandwise is the total doppler bandwidth, max (high) is the maximum frequency of the high frequency envelope, and min (low) is the minimum frequency value of the low frequency envelope;
the frame mean is obtained by adopting a formula six to a formula eleven:
Acc_range＝range1*SNR1+range2*SNR2+…+rangem*SNRm(formula six)
Acc_angle＝angle1*SNR1+angle2*SNR2+…+anglem*SNRm(formula seven)
Acc_doppler＝doppler1*SNR1+doppler2*SNR2+…+dopplerm*SNRm(formula eight)
Acc_snr＝SNR1+SNR2+…+SNRm(formula nine)
Where mean _ rad is the frame mean, w1、w2And w3Is a preset weight; rangeiIs the moving distance, range, of the object corresponding to the ith point in a specified periodiIs the angle of the ith point;
the frame standard deviation is obtained by adopting a formula six to a formula ten and a formula twelve:
where std _ rad is the frame standard deviation;
the standard deviation of the mean difference of the relative moving distances is obtained by using the formula thirteen to the formula sixteenth:
in the formula, std _ MD _ range is a standard deviation of the average difference of the relative moving distances.
5. The method of claim 1, wherein after generating the first instruction if it is detected that the designated user leaves the designated area, the method further comprises:
if the specified user is detected to enter the specified area, generating a second instruction;
and sending the second instruction to the intelligent household equipment in the designated area, so that the intelligent household equipment receiving the first instruction adjusts the working state of the intelligent household equipment to be in a second state.
6. The method of claim 1, wherein after generating the non-specified user detection result, the method further comprises:
processing the point cloud data acquired by the millimeter wave radar to obtain the moving track of the non-specified user in the specified area;
and storing the moving track, and/or sending the moving track to the specified terminal.
7. The method of claim 6, wherein processing the point cloud data collected by the millimeter wave radar to obtain the movement track of the non-designated user in the designated area comprises:
according to the point cloud data acquired by the millimeter wave radar and the time-frequency information represented by the point cloud data, determining one of the following characteristics of each object in the specified area as a target characteristic: doppler offset, Doppler trunk bandwidth, Doppler centroid, Doppler velocity, Doppler total bandwidth, velocity standard deviation, angle standard deviation, distance standard deviation, frame mean, frame standard deviation, mean of point cloud distribution area, standard deviation of point cloud distribution area, and standard deviation of relative movement distance average deviation;
and processing the target characteristics by adopting a tracking algorithm to obtain the movement track of the non-specified user in the specified area.
8. The utility model provides an intelligent household equipment controlling means which characterized in that, the device includes:
the designated user detection module is configured to generate a first instruction if the designated user is detected to leave the designated area;
the non-designated user detection result generation module is configured to determine whether non-designated users exist in the designated area according to the point cloud data acquired by the millimeter wave radar and generate a non-designated user detection result;
the first instruction sending module is configured to send the intelligent household equipment located in the designated area, so that the intelligent household equipment receiving the first instruction adjusts the working state of the intelligent household equipment to be a first state, and the working efficiency of the intelligent household equipment in the first state is lower than that of the intelligent household equipment in the second state;
and the safety prompt message sending module is configured to generate a safety prompt message and send the safety prompt message to a specified terminal if the detection result of the non-specified user shows that the non-specified user exists in the specified area.
9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the steps of the smart home device control method according to any one of claims 1 to 7 when executing the program stored in the memory.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the smart home device control method according to any one of claims 1 to 7.
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