CN113891242B - Positioning method, device and system of intelligent wearable equipment - Google Patents
Positioning method, device and system of intelligent wearable equipment Download PDFInfo
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- CN113891242B CN113891242B CN202111315504.9A CN202111315504A CN113891242B CN 113891242 B CN113891242 B CN 113891242B CN 202111315504 A CN202111315504 A CN 202111315504A CN 113891242 B CN113891242 B CN 113891242B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The invention provides a positioning method, a device and a system of intelligent wearable equipment, wherein the first preliminary position of first target sub-equipment is determined based on the acquired first distance between the first target sub-equipment and first sub-equipment, the second distance between the first target sub-equipment and preset second sub-equipment, the position of the first sub-equipment and the position of the second sub-equipment; then, determining a second preliminary position of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the fourth distance between the second target sub-device and the preset second sub-device, the position of the first sub-device and the position of the second sub-device; and determining the accurate positions of the first target sub-equipment and the second target sub-equipment based on the first preliminary position, the second preliminary position and the acquired relative position relation between the first target sub-equipment and the second target sub-equipment. The method accurately determines the position of the intelligent wearable device, and is quick and effective.
Description
Technical Field
The invention relates to the technical field of Bluetooth positioning, in particular to a positioning method of intelligent wearable equipment, electronic equipment and a system.
Background
In the related art, the bluetooth positioning method of two pairs of headphones is generally: searching the distance between the two opposite side strength calculation devices through two Bluetooth devices based on the received signal strength indication; and determining a fourth bluetooth device coordinate in combination with the three known positioning bluetooth coordinates. However, in the process of positioning the two pairs of true wireless headphones, the requirement on the coordinate positioning conditions of the known Bluetooth headphones is high, so that the Bluetooth positioning method is complex.
Disclosure of Invention
In view of the above, the present invention aims to provide a positioning method, device and system for an intelligent wearable device, which accurately determine the position of the intelligent wearable device, and accurately determine the position of the intelligent wearable device, so that the positioning method, device and system are fast and effective.
In a first aspect, an embodiment of the present invention provides a positioning method for an intelligent wearable device, including: the method is applied to first sub-equipment, and the first sub-equipment and a preset second sub-equipment form first intelligent wearable equipment; the location of the first sub-device and the second sub-device is known; the target intelligent wearable device comprises a first target sub-device and a second target sub-device; the method comprises the following steps: determining a first preliminary position of the first target sub-device based on the acquired first distance between the first target sub-device and the first sub-device, the second distance between the first target sub-device and the second sub-device, the position of the first sub-device and the position of the second sub-device; determining a second preliminary position of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the fourth distance between the second target sub-device and the second sub-device, the position of the first sub-device and the position of the second sub-device; and determining the accurate positions of the first target sub-equipment and the second target sub-equipment based on the first preliminary position, the second preliminary position and the acquired relative position relation between the first target sub-equipment and the second target sub-equipment.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where before determining the first preliminary location of the first target sub-device based on the obtained first distance between the first target sub-device and the first sub-device, the obtained second distance between the first target sub-device and the preset second sub-device, the obtained location of the first sub-device, and the obtained location of the second sub-device, the method includes: determining a first distance between the first target sub-device and the first intelligent wearable device based on the acquired first signal information of the first target sub-device; wherein the first signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the first target sub-device and a bluetooth power received by the first sub-device; receiving a second distance between a first target piece of equipment sent by a second piece of equipment and a preset second piece of equipment; the second distance is determined by the second sub-device based on the acquired second signal information of the first target sub-device; the second signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the first target sub-device and a bluetooth power received by the second sub-device.
With reference to the first aspect, the embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein the first preliminary location includes a first sub-location and a second sub-location; the step of determining the first preliminary position of the first target sub-device based on the obtained first distance between the first target sub-device and the first sub-device, the second distance between the first target sub-device and the preset second sub-device, the position of the first sub-device and the position of the second sub-device, comprises the following steps: and determining two intersection points of a circle with the first distance as the radius and the second distance as the radius as the center of the circle with the position of the first sub-device as the center of the circle, as the first sub-position and the second sub-position of the first target sub-device respectively.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where before determining the second preliminary location of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the obtained fourth distance between the second target sub-device and the preset second sub-device, the obtained location of the first sub-device, and the obtained location of the second sub-device, the method further includes: determining a third distance between the second target sub-device and the first sub-device based on the acquired third signal information of the second target sub-device; wherein the second signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the second target sub-device and a bluetooth power received by the first sub-device; receiving a fourth distance between a second target piece of equipment sent by a second piece of equipment and a preset second piece of equipment; the fourth distance is determined by the second sub-device based on the acquired fourth signal information of the second target sub-device; the fourth signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the second target sub-device and a bluetooth power received by the second sub-device.
With reference to the third possible implementation manner of the first aspect, the present embodiment provides a fourth possible implementation manner of the first aspect, wherein the second preliminary location includes a third sub-location and a fourth sub-location; determining a second preliminary position of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the fourth distance between the second target sub-device and the preset second sub-device, the position of the first sub-device and the position of the second sub-device, including: and determining the position of the first sub-device as a center, the position of the third distance as a radius circle and the position of the second sub-device as a center, and the fourth distance as two intersection points of the radius circle as the third sub-position and the fourth sub-position of the second target sub-device respectively.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the first preliminary location includes a first location and a second location; the second preliminary position comprises a third position and a fourth position; the first target sub-device is provided with a first gesture sensor, and the second target sub-device is provided with a second gesture sensor; determining the positions of the first target sub-device and the second target sub-device based on the first preliminary position, the second preliminary position and the acquired relative position relation between the first target sub-device and the second target sub-device, wherein the determining comprises the following steps: determining a first position combination and a second position combination based on a preset distance relation between the first target sub-device and the second target sub-device; the first position combination comprises a first position and a third position, and the second position combination comprises a second position and a fourth position; alternatively, the first combination of positions includes a first position and a fourth position, and the second combination of positions includes a second position and a third position; calculating a first relative attitude position relation of the first position combination and a second relative attitude position relation of the second position combination; acquiring a first posture parameter acquired by a first posture sensor and a second posture parameter acquired by a second posture sensor; determining a relative attitude position relationship between the first target sub-device and the second target sub-device based on the first attitude parameter and the second attitude parameter; the positions of the first target sub-device and the second target sub-device are determined based on the relative gesture position relationship of the first target sub-device and the second sub-device, and the first relative gesture position relationship and the second relative gesture position relationship.
With reference to the fifth possible implementation manner of the first aspect, the embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein the step of determining the positions of the first target sub-device and the second target sub-device based on the relative pose position relationship of the first target sub-device and the second target sub-device, and the first relative pose position relationship and the second relative pose position relationship includes: if the first relative posture position relation is the same as the relative posture position relation of the first target sub-equipment and the second sub-equipment, respectively determining two positions in the first position combination as the position of the first target sub-equipment and the position of the second target sub-equipment; and if the second relative posture position relation is the same as the relative posture position relation of the first target sub-device and the second sub-device, respectively determining two positions in the second position combination as the position of the first target sub-device and the position of the second target sub-device.
In a second aspect, an embodiment of the present invention further provides a positioning device of an intelligent wearable apparatus, where the device is disposed in a first sub-device; the first sub-equipment and a preset second sub-equipment form first intelligent wearable equipment; the location of the first sub-device and the second sub-device is known; the target intelligent wearable device comprises a first target sub-device and a second target sub-device; the device comprises: the first preliminary positioning module is used for determining a first preliminary position of the first target sub-device based on the obtained first distance between the first target sub-device and the first sub-device, the second distance between the first target sub-device and the second sub-device, the position of the first sub-device and the position of the second sub-device; the second preliminary positioning module is used for determining a second preliminary position of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the fourth distance between the second target sub-device and the preset second sub-device, the position of the first sub-device and the position of the second sub-device; the positioning module is used for determining the accurate positions of the first target sub-equipment and the second target sub-equipment based on the first preliminary position, the second preliminary position and the acquired relative position relation between the first target sub-equipment and the second target sub-equipment.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes a processor and a memory, and the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the positioning method of the smart wearable device.
In a fourth aspect, an embodiment of the present invention further provides a positioning system, where the positioning system includes a first smart wearable device and a target smart wearable device; the first smart wearable device includes a first sub-device; the target intelligent wearable device comprises a first target sub-device and a second target sub-device; the first target sub-equipment and the second target sub-equipment are provided with gesture sensors, and the gesture sensors are arranged on the first sub-equipment.
The embodiment of the invention has the following beneficial effects:
the invention provides a positioning method, a device and a system of intelligent wearable equipment, wherein the first preliminary position of first target sub-equipment is determined based on the acquired first distance between the first target sub-equipment and first sub-equipment, the second distance between the first target sub-equipment and preset second sub-equipment, the position of the first sub-equipment and the position of the second sub-equipment; then, determining a second preliminary position of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the fourth distance between the second target sub-device and the preset second sub-device, the position of the first sub-device and the position of the second sub-device; and determining the accurate positions of the first target sub-equipment and the second target sub-equipment based on the first preliminary position, the second preliminary position and the acquired relative position relation between the first target sub-equipment and the second target sub-equipment. The method accurately determines the position of the intelligent wearable device, and is quick and effective.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are some embodiments of the invention and that other drawings may be obtained from these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a positioning method of an intelligent wearable device according to an embodiment of the present invention;
fig. 2 is a flowchart of another positioning method of an intelligent wearable device according to an embodiment of the present invention;
Fig. 3 is a schematic diagram of a wearable intelligent wearable device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of positioning an intelligent wearable device according to an embodiment of the present invention;
fig. 5 is a schematic diagram of another positioning of an intelligent wearable device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a positioning device of an intelligent wearable device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Icon: 301-left earphone; 302-right earphone.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The real wireless earphone is one of Bluetooth earphone, it is by two earphone collocations of left and right sides ear receiver of charging, accomodate in the receiver of charging when not using and charge, the people each wears an earphone about the ear when using. The left earphone and the right earphone are respectively provided with an independent Bluetooth control chip, the left earphone and the right earphone are connected through Bluetooth wireless connection, the left earphone receives and transmits left channel audio data, and the right earphone receives and transmits right channel audio data.
The current bluetooth positioning method is generally implemented by combining an RSSI (Received Signal Strength Indication ) technology with a three-point positioning method. The RSSI technology is that two Bluetooth devices search each other for the signal intensity of each other and calculate the distance between the two Bluetooth devices according to the attenuation characteristic of the radio frequency signal in the space transmission. Knowing the spacing of two bluetooth devices alone does not allow locating the direction of each other, so existing locating methods typically also use three bluetooth devices with known location information to locate the coordinates of the fourth bluetooth device.
Based on the above, the positioning method, the device and the system for the intelligent wearable equipment provided by the embodiment of the invention can be applied to positioning in the Bluetooth positioning process of various intelligent wearable equipment.
The embodiment of the invention provides a positioning method of intelligent wearable equipment. The method is applied to first sub-equipment, and the first sub-equipment and a preset second sub-equipment form first intelligent wearable equipment; the location of the first sub-device and the second sub-device is known; the target smart wearable device includes a first target sub-device and a second target sub-device. As shown in fig. 1: the method comprises the following steps:
Step S100, determining a first preliminary position of the first target sub-device based on the obtained first distance between the first target sub-device and the first sub-device, the obtained second distance between the first target sub-device and the second sub-device, the obtained position of the first sub-device and the obtained position of the second sub-device.
The smart wearable device may be a wireless earphone, for example, the first smart wearable device may be a set of located wireless earphones, the first sub-device may be a left earphone of the set of located wireless earphones, and the second sub-device may be a right earphone of the set of located wireless earphones; the target intelligent wearable device can be a wireless earphone set to be positioned, the first target sub-device can be a left earphone of the wireless earphone set to be positioned, and the second target sub-device can be a right earphone of the wireless earphone set to be positioned; the first distance is the distance between the left earphone of the positioned wireless earphone set and the left earphone of the wireless earphone set to be positioned, and the second distance is the distance between the right earphone of the positioned wireless earphone set and the left earphone of the wireless earphone set to be positioned; the first preliminary location is a possible location of the left earpiece of the set of wireless earpieces to be located, the first preliminary location being two possible.
Step S102, determining a second preliminary position of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the fourth distance between the second target sub-device and the second sub-device, the position of the first sub-device and the position of the second sub-device.
The third distance is the distance between the right earphone of the earphone set to be positioned and the left earphone of the earphone set to be positioned, and the fourth distance is the distance between the right earphone of the earphone set to be positioned and the right earphone of the earphone set to be positioned; the second preliminary location is a possible location of the right earpiece of the group of wireless earpieces to be located, the second preliminary location being two possible.
Step S104, determining the accurate positions of the first target sub-equipment and the second target sub-equipment based on the first preliminary position, the second preliminary position and the acquired relative position relation between the first target sub-equipment and the second target sub-equipment.
The first preliminary position and the second preliminary position form position solutions of four wireless earphone sets to be positioned, the relative position relation between the first target sub-equipment and the second target sub-equipment is the distance between left and right earphones of the wireless earphone sets to be positioned, the distance is a known distance, and position solutions larger than the known distance in the position solutions of the wireless earphone sets to be positioned are eliminated according to the known distance.
The invention provides a positioning method of intelligent wearable equipment, which comprises the steps of firstly determining a first preliminary position of first target sub-equipment based on the acquired first distance between the first target sub-equipment and first sub-equipment, the second distance between the first target sub-equipment and preset second sub-equipment, the position of the first sub-equipment and the position of the second sub-equipment; then, determining a second preliminary position of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the fourth distance between the second target sub-device and the preset second sub-device, the position of the first sub-device and the position of the second sub-device; and determining the accurate positions of the first target sub-equipment and the second target sub-equipment based on the first preliminary position, the second preliminary position and the acquired relative position relation between the first target sub-equipment and the second target sub-equipment. The method accurately determines the position of the intelligent wearable device, and is quick and effective.
The embodiment of the invention also provides another positioning method of the intelligent wearable equipment, which is realized on the basis of the method shown in fig. 1. The method mainly describes a specific implementation process of determining a first distance between a first target sub-device and a first sub-device, a second distance between the first target sub-device and a preset second sub-device, a first preliminary position of the first target sub-device, a third distance between the second target sub-device and the first sub-device, a fourth distance between the second target sub-device and the preset second sub-device, and a second preliminary position of the second target sub-device. As shown in fig. 2, the method comprises the steps of:
Step S200, determining a first distance between the first target sub-device and the first intelligent wearable device based on the acquired first signal information of the first target sub-device; wherein the first signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the first target sub-device and a bluetooth power received by the first sub-device.
The left earphone of the wireless earphone set to be positioned sends the self transmitting power to the left earphone of the wireless earphone set to be positioned, the left earphone of the wireless earphone set to be positioned calculates a power attenuation value of the left earphone of the wireless earphone set to be positioned according to the actually received transmitting power of the left earphone of the wireless earphone set to be positioned, and a first distance between the left earphone of the wireless earphone set to be positioned and the left earphone of the wireless earphone set to be positioned is calculated according to the power attenuation value.
Step S202, receiving a second distance between a first target piece of equipment and a preset second piece of equipment, wherein the second distance is sent by the second piece of equipment; the second distance is determined by the second sub-device based on the acquired second signal information of the first target sub-device; the second signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the first target sub-device and a bluetooth power received by the second sub-device.
The left earphone of the wireless earphone set to be positioned sends the self transmitting power to the right earphone of the wireless earphone set to be positioned, the right earphone of the wireless earphone set to be positioned calculates a power attenuation value of the left earphone of the wireless earphone set to be positioned according to the actually received transmitting power of the left earphone of the wireless earphone set to be positioned, and a second distance between the left earphone of the wireless earphone set to be positioned and the right earphone of the wireless earphone set to be positioned is calculated according to the power attenuation value.
In step S204, the first sub-position and the second sub-position of the first target sub-device are determined respectively by two intersection points of the circle with the first sub-device position as the center, the circle with the first distance as the radius, and the second sub-device position as the center, and the circle with the second distance as the radius.
Specifically, a circle of a left earphone of the wireless earphone set to be positioned from a left earphone range of the wireless earphone set to be positioned is obtained by taking a position of the left earphone of the wireless earphone set to be positioned as a circle center and a first distance as a radius, a circle of a right earphone of the wireless earphone set to be positioned from a right earphone range of the wireless earphone set to be positioned is obtained by taking a second distance as a radius, and the two circles are intersected at two points to obtain a first sub-position and a second sub-position of two possible positions of the left earphone of the wireless earphone set to be positioned.
Step S206, determining a third distance between the second target sub-equipment and the first sub-equipment based on the acquired third signal information of the second target sub-equipment; wherein the second signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the second target sub-device and a bluetooth power received by the first sub-device.
The right earphone of the wireless earphone set to be positioned sends the self transmitting power to the left earphone of the wireless earphone set to be positioned, the left earphone of the wireless earphone set to be positioned calculates a power attenuation value of the left earphone of the wireless earphone set to be positioned according to the actually received transmitting power of the right earphone of the wireless earphone set to be positioned, and a third distance between the right earphone of the wireless earphone set to be positioned and the left earphone of the wireless earphone set to be positioned is calculated according to the power attenuation value.
Step S208, receiving a fourth distance between the second target sub-device and the preset second sub-device, wherein the fourth distance is sent by the second sub-device; the fourth distance is determined by the second sub-device based on the acquired fourth signal information of the second target sub-device; the fourth signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the second target sub-device and a bluetooth power received by the second sub-device.
The right earphone of the wireless earphone set to be positioned sends the self transmitting power to the right earphone of the wireless earphone set to be positioned, the right earphone of the wireless earphone set to be positioned calculates a power attenuation value of the left earphone of the wireless earphone set to be positioned according to the actually received transmitting power of the right earphone of the wireless earphone set to be positioned, and a fourth distance between the right earphone of the wireless earphone set to be positioned and the right earphone of the wireless earphone set to be positioned is calculated according to the power attenuation value.
In step S210, the position of the first sub-device is used as the center, the third distance is used as the radius circle, and the position of the second sub-device is used as the center, and the fourth distance is used as the two intersection points of the radius circle, so as to determine the third sub-position and the fourth sub-position of the second target sub-device.
Specifically, a circle of a range of the right earphone of the wireless earphone set to be positioned from the left earphone of the wireless earphone set to be positioned is obtained by taking the position of the left earphone of the wireless earphone set to be positioned as a circle center and a third distance as a radius, a circle of a range of the right earphone of the wireless earphone set to be positioned from the right earphone of the wireless earphone set to be positioned is obtained by taking the position of the right earphone of the wireless earphone set to be positioned as a circle center and a fourth distance as a radius, and the two circles are intersected at two points to obtain a third sub-position and a fourth sub-position of the right earphone of the wireless earphone set to be positioned.
Step S212, determining a first position combination and a second position combination based on a preset distance relation between the first target sub-device and the second target sub-device; the first position combination comprises a first position and a third position, and the second position combination comprises a second position and a fourth position; alternatively, the first combination of positions includes a first position and a fourth position, and the second combination of positions includes a second position and a third position.
In particular, the possible positions of the left and right earphones of the earphone set to be positioned are combined with a first sub-position and a third sub-position, a second sub-position and a fourth sub-position or a first sub-position and a fourth sub-position, a second sub-position and a third sub-position.
Step S214, calculating a first relative posture position relationship of the first position combination and a second relative posture position relationship of the second position combination.
Specifically, the first relative posture position relationship of the first position combination may be a distance between the first sub-position and the third sub-position, or may be a distance between the first sub-position and the fourth sub-position, and the second relative posture position relationship of the second position combination may be a distance between the second sub-position and the fourth sub-position, or may be a distance between the second sub-position and the third sub-position.
Step S216, acquiring a first posture parameter acquired by the first posture sensor and a second posture parameter acquired by the second posture sensor.
Specifically, the left earphone and the right earphone of the wireless earphone set to be positioned are provided with gesture sensors, the left earphone of the wireless earphone set to be positioned determines the distance between the left earphone and the right earphone according to the position information of the left earphone of the wireless earphone set to be positioned and the position information of the right earphone of the wireless earphone set to be positioned.
Step S218, determining the relative attitude position relation of the first target sub-equipment and the second target sub-equipment based on the first attitude parameter and the second attitude parameter.
Step S220, determining the positions of the first target sub-device and the second target sub-device based on the relative gesture position relationship between the first target sub-device and the second sub-device, and the first relative gesture position relationship and the second relative gesture position relationship.
The distance between the left earphone and the right earphone of the wireless earphone set to be positioned is fixed, the distance between the left earphone and the right earphone is compared with the first relative posture position relation and the second relative posture position relation, and the positions of the left earphone and the right earphone of the wireless earphone set to be positioned are determined, specifically as follows:
(1) And if the first relative posture position relation is the same as the relative posture position relation of the first target sub-device and the second sub-device, respectively determining the two positions in the first position combination as the position of the first target sub-device and the position of the second target sub-device.
In a specific implementation process, if the distance of the first relative posture position relationship is the same as the distance of the left and right earphones of the wireless earphone set to be positioned, the first position combination can be determined as the possible positions of the left and right earphones of the wireless earphone set to be positioned. The left and right earphone posture information of the wireless earphone set to be positioned further comprises angles of the left and right earphones, and the final position of the wireless earphone to be positioned is determined according to the angles of the left and right earphones.
For example, if the angle acquired by the left earphone of the wireless earphone to be positioned is 135 degrees, taking the middle point of the distance between the left earphone and the right earphone of the wireless earphone set to be positioned as the origin of coordinates, calculating the angles of the middle points of the distances between the first position and the third position and the middle point of the distances between the first position and the fourth position in the first position combination relative to the middle point of the distances between the left earphone and the right earphone of the wireless earphone set to be positioned, and taking two positions of the middle point which is the same as the angle acquired by the left earphone of the wireless earphone to be positioned as the final positions of the left earphone and the right earphone of the wireless earphone set to be positioned.
(2) And if the second relative posture position relation is the same as the relative posture position relation of the first target sub-device and the second sub-device, respectively determining two positions in the second position combination as the position of the first target sub-device and the position of the second target sub-device.
In a specific implementation, if the distance of the second relative pose position relationship is the same as the distance of the left and right earphones of the wireless earphone set to be positioned, the second position combination may be determined as a possible position of the left and right earphones of the wireless earphone set to be positioned. The left and right earphone posture information of the wireless earphone set to be positioned further comprises angles of the left and right earphones, and the final position of the wireless earphone to be positioned is determined according to the angles of the left and right earphones.
For example, if the angle acquired by the left earphone of the wireless earphone to be positioned is 135 degrees, taking the middle point of the distance between the left earphone and the right earphone of the wireless earphone set to be positioned as the origin of coordinates, calculating the angles of the middle points between the second position and the third position and the middle point between the second position and the fourth position in the second position combination relative to the middle point of the distance between the left earphone and the right earphone of the wireless earphone set to be positioned, and taking two positions of the same middle point as the angle acquired by the left earphone of the wireless earphone to be positioned as the final positions of the left earphone and the right earphone of the wireless earphone set to be positioned.
The invention provides a positioning method of intelligent wearable equipment, which is used for accurately determining the position of the intelligent wearable equipment by determining the first distance between first target sub-equipment and first sub-equipment, the second distance between first target sub-equipment and preset second sub-equipment, the first preliminary position of the first target sub-equipment, the third distance between second target sub-equipment and the first sub-equipment, the fourth distance between second target sub-equipment and preset second sub-equipment, the second preliminary position of the second target sub-equipment and determining the accurate positions of the first target sub-equipment and the second target sub-equipment.
The embodiment of the invention also provides another positioning method of the intelligent wearable equipment, which is realized on the basis of the method shown in fig. 1.
After the smart wearable device is worn, as shown in fig. 3, 301 represents a left earphone, and 302 represents a right earphone.
The positioning principle is shown in fig. 4, assuming that coordinates of left and right ears of a pair of true wireless headphones are known, for convenience of description, the left headphone is denoted by L1, and the right headphone is denoted by R1. The left earphone in the earphone to be positioned is denoted by L2, and the right earphone is denoted by R2.
The method comprises the following specific steps of:
1. The two pairs of headphones broadcast through Bluetooth, and the positioned headphones search in the Bluetooth broadcast frequency band to judge whether the headphones to be positioned enter a positionable range. If the earphone to be positioned is retrieved, a connection request is sent to the earphone to be positioned, and after the earphone to be positioned receives the request, the two pairs of earphones are interconnected.
2. The earphone to be positioned informs the positioned earphone of the transmitting power values of the left ear and the right ear of the earphone to be positioned. And the positioned earphone obtains a power attenuation value according to the actual transmitting power of the earphone to be positioned, and the distance between the positioned earphone and the earphone to be positioned is calculated. The left 1-to-left 2-earpiece spacing is defined as DL1L2, and the right 1-to-left 2-earpiece spacing is defined as DR1L2. As shown in fig. 2, a circle is drawn by using the left 1 earphone as a center and DL1L2 as a radius, a circle is drawn by using the right 1 earphone as a center and DR1L2 as a radius, and an intersection point of the two circles is the coordinates of L2. Note that: in general, there are two intersections, and it has not been possible to determine at which intersection L2 is located.
3. The coordinates (two possible positions) of R2 can be located using the same method as step 2.
4. Through the above positioning method, two possible positions of the earphone to be positioned can be positioned as shown in fig. 3.
5. Final confirmation of two positions: by means of the compass principle. An electronic compass chip is placed in each earphone, and the earphone can know the orientation calculated according to the electronic compass chip. Direction information is exchanged between two pairs of headphones. As shown in fig. 3, assuming that the earphone to be positioned faces the northwest direction, the earphone to be positioned is positioned at the position of the second quadrant, and the final position of the earphone to be positioned relative to the positioned earphone is obtained as shown in fig. 5.
Corresponding to the method embodiment, the embodiment of the invention also provides an intelligent wearable equipment positioning device. The device is arranged on the first sub-equipment; the first sub-equipment and a preset second sub-equipment form first intelligent wearable equipment; the location of the first sub-device and the second sub-device is known; the target intelligent wearable device comprises a first target sub-device and a second target sub-device; as shown in fig. 6, the apparatus includes:
a first preliminary positioning module 600, configured to determine a first preliminary location of the first target sub-device based on the obtained first distance between the first target sub-device and the first sub-device, the obtained second distance between the first target sub-device and the second sub-device, the obtained location of the first sub-device, and the obtained location of the second sub-device;
the second preliminary positioning module 602 is configured to determine a second preliminary location of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the obtained fourth distance between the second target sub-device and the preset second sub-device, the obtained location of the first sub-device, and the obtained location of the second sub-device;
the positioning module 604 is configured to determine accurate positions of the first target sub-device and the second target sub-device based on the first preliminary position, the second preliminary position, and the acquired relative positional relationship between the first target sub-device and the second target sub-device.
The intelligent wearable equipment positioning device provided by the embodiment of the invention has the same technical characteristics as the intelligent wearable equipment positioning method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The embodiment of the invention also provides a positioning system, which comprises intelligent wearable equipment, wherein the intelligent wearable equipment comprises a first intelligent wearable equipment group and a second intelligent wearable equipment group; the first smart wearable device group includes a first child device; the second intelligent wearable device group comprises a first target sub-device and a second target sub-device; the first target sub-equipment and the second sub-target are provided with gesture sensors in a wireless mode, and the device is arranged on the first sub-equipment.
The positioning system provided by the embodiment of the invention has the same technical characteristics as the intelligent wearable equipment positioning method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The embodiment of the present invention further provides an electronic device, as shown in fig. 7, where the electronic device includes a processor 130 and a memory 131, where the memory 131 stores machine executable instructions that can be executed by the processor 130, and the processor 130 executes the machine executable instructions to implement the positioning method of the smart wearable device.
Further, the electronic device shown in fig. 7 further includes a bus 132 and a communication interface 133, and the processor 130, the communication interface 133, and the memory 131 are connected through the bus 132.
The memory 131 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 133 (which may be wired or wireless), and may use the internet, a wide area network, a local network, a metropolitan area network, etc. Bus 132 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 7, but not only one bus or type of bus.
The processor 130 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in processor 130. The processor 130 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131, and in combination with its hardware, performs the steps of the method of the foregoing embodiment.
The embodiment of the invention also provides a machine-readable storage medium, which stores machine-executable instructions that, when being called and executed by a processor, cause the processor to implement the positioning method of the intelligent wearable device, and the specific implementation can be referred to the method embodiment and will not be repeated herein.
The computer program product of the positioning method, the positioning device and the positioning system of the intelligent wearable device provided by the embodiment of the invention comprises a computer readable storage medium storing program codes, wherein the instructions included in the program codes can be used for executing the method described in the method embodiment, and specific implementation can be referred to the method embodiment and will not be repeated here.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood by those skilled in the art in specific cases.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention for illustrating the technical solution of the present invention, but not for limiting the scope of the present invention, and although the present invention has been described in detail with reference to the foregoing examples, it will be understood by those skilled in the art that the present invention is not limited thereto: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. The positioning method of the intelligent wearable device is characterized by being applied to first sub-devices, wherein the first sub-devices and a preset second sub-device form the first intelligent wearable device; the location of the first sub-device and the second sub-device is known; the target intelligent wearable device comprises a first target sub-device and a second target sub-device; the method comprises the following steps:
Determining a first preliminary position of the first target sub-device based on the acquired first distance between the first target sub-device and the first sub-device, the second distance between the first target sub-device and the second sub-device, the position of the first sub-device and the position of the second sub-device;
determining a second preliminary position of the second target sub-device based on the acquired third distance between the second target sub-device and the first sub-device, the fourth distance between the second target sub-device and the second sub-device, the position of the first sub-device and the position of the second sub-device;
and determining the accurate positions of the first target sub-equipment and the second target sub-equipment based on the first preliminary position, the second preliminary position and the acquired relative position relation between the first target sub-equipment and the second target sub-equipment.
2. The method of claim 1, wherein prior to determining the first preliminary location of the first target sub-device based on the obtained first distance of the first target sub-device from the first sub-device, the second distance of the first target sub-device from a preset second sub-device, the location of the first sub-device, and the location of the second sub-device, the method comprises:
Determining a first distance between the first target sub-device and the first intelligent wearable device based on the acquired first signal information of the first target sub-device; wherein the first signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the first target sub-device and a bluetooth power received by the first sub-device;
receiving a second distance between the first target sub-device and a preset second sub-device, wherein the second distance is sent by the second sub-device; the second distance is determined by a second sub-device based on the acquired second signal information of the first target sub-device; the second signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the first target sub-device and a bluetooth power received by the second sub-device.
3. The method of claim 1, wherein the first preliminary location comprises a first sub-location and a second sub-location;
the step of determining the first preliminary position of the first target sub-device based on the obtained first distance between the first target sub-device and the first sub-device, the second distance between the first target sub-device and a preset second sub-device, the position of the first sub-device and the position of the second sub-device includes:
And respectively determining two intersection points of a circle taking the position of the first sub-device as the center of a circle, taking the first distance as the radius and the position of the second sub-device as the center of a circle, and taking the second distance as the radius as the first sub-position and the second sub-position of the first target sub-device.
4. The method of claim 2, wherein prior to determining the second preliminary location of the second target sub-device based on the obtained third distance of the second target sub-device from the first sub-device, the fourth distance of the second target sub-device from the preset second sub-device, the location of the first sub-device, and the location of the second sub-device, the method further comprises:
determining a third distance between the second target sub-device and the first sub-device based on the acquired third signal information of the second target sub-device; wherein the second signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the second target sub-device and a bluetooth power received by the first sub-device;
receiving a fourth distance between the second target sub-device and a preset second sub-device, wherein the fourth distance is sent by the second sub-device; the fourth distance is determined by the second sub-device based on the acquired fourth signal information of the second target sub-device; the fourth signal information includes a bluetooth transmission attenuation value determined based on an actual bluetooth transmission power of the second target sub-device and a bluetooth power received by the second sub-device.
5. The method of claim 1, wherein the second preliminary location comprises a third sub-location and a fourth sub-location; the step of determining the second preliminary position of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the fourth distance between the second target sub-device and the preset second sub-device, the position of the first sub-device and the position of the second sub-device includes:
and respectively determining the third sub-position and the fourth sub-position of the second target sub-device by taking the position of the first sub-device as the circle center, taking the third distance as the circle with the radius and the position of the second sub-device as the circle center, and taking the fourth distance as the two intersection points of the circle with the radius.
6. The method of claim 1, wherein the first preliminary location comprises a first location and a second location; the second preliminary position comprises a third position and a fourth position; the first target sub-device is provided with a first gesture sensor, and the second target sub-device is provided with a second gesture sensor;
determining the positions of the first target sub-device and the second target sub-device based on the first preliminary position, the second preliminary position and the acquired relative position relation between the first target sub-device and the second target sub-device, including:
Determining a first position combination and a second position combination based on a preset distance relation between the first target sub-device and the second target sub-device; the first position combination comprises a first position and a third position, and the second position combination comprises a second position and a fourth position; alternatively, the first position combination includes a first position and a fourth position, and the second position combination includes a second position and a third position;
calculating a first relative pose position relationship of the first position combination and a second relative pose position relationship of the second position combination;
acquiring a first posture parameter acquired by the first posture sensor and a second posture parameter acquired by the second posture sensor;
determining a relative attitude position relationship of the first target sub-device and the second target sub-device based on the first attitude parameter and the second attitude parameter;
and determining the positions of the first target sub-device and the second target sub-device based on the relative posture position relation of the first target sub-device and the second sub-device and the first relative posture position relation and the second relative posture position relation.
7. The method of claim 6, wherein determining the locations of the first target sub-device and the second target sub-device based on the relative pose location relationship of the first target sub-device and the second target sub-device and the first and second relative pose location relationships comprises:
if the first relative posture position relation is the same as the relative posture position relation of the first target sub-device and the second sub-device, respectively determining two positions in the first position combination as the position of the first target sub-device and the position of the second target sub-device;
and if the second relative posture position relation is the same as the relative posture position relation of the first target sub-equipment and the second sub-equipment, respectively determining two positions in the second position combination as the position of the first target sub-equipment and the position of the second target sub-equipment.
8. The positioning device of the intelligent wearable equipment is characterized by being arranged on first sub equipment; the first sub-equipment and the preset second sub-equipment form first intelligent wearable equipment; the location of the first sub-device and the second sub-device is known; the target intelligent wearable device comprises a first target sub-device and a second target sub-device; the device comprises:
The first preliminary positioning module is used for determining a first preliminary position of the first target sub-device based on the obtained first distance between the first target sub-device and the first sub-device, the obtained second distance between the first target sub-device and the second sub-device, the obtained position of the first sub-device and the obtained position of the second sub-device;
the second preliminary positioning module is used for determining a second preliminary position of the second target sub-device based on the obtained third distance between the second target sub-device and the first sub-device, the fourth distance between the second target sub-device and the preset second sub-device, the position of the first sub-device and the position of the second sub-device;
the positioning module is used for determining accurate positions of the first target sub-equipment and the second target sub-equipment based on the first preliminary position, the second preliminary position and the acquired relative position relation between the first target sub-equipment and the second target sub-equipment.
9. An electronic device comprising a processor and a memory, the memory storing computer executable instructions executable by the processor, the processor executing the computer executable instructions to implement the method of locating a smart wearable device of any of claims 1 to 7.
10. A positioning system, characterized in that the positioning system comprises a first intelligent wearable device and a target intelligent wearable device; the first smart wearable device includes a first sub-device; the target intelligent wearable device comprises a first target sub-device and a second target sub-device; the first target sub-device and the second target sub-device are provided with gesture sensors, and the apparatus of claim 8 is provided in the first sub-device.
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