CN115328115A - Internet of things joint positioning method and application - Google Patents
Internet of things joint positioning method and application Download PDFInfo
- Publication number
- CN115328115A CN115328115A CN202210797380.0A CN202210797380A CN115328115A CN 115328115 A CN115328115 A CN 115328115A CN 202210797380 A CN202210797380 A CN 202210797380A CN 115328115 A CN115328115 A CN 115328115A
- Authority
- CN
- China
- Prior art keywords
- sweeping robot
- intelligent
- intelligent equipment
- internet
- equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
The invention discloses a joint positioning method of an Internet of things and application thereof, wherein the method comprises the following steps: s1: when the sweeping robot works, an SLAM module of the sweeping robot establishes an environment map and positions self coordinates; s2: the sweeping robot obtains the distances between the sweeping robot and intelligent equipment in the environment from different coordinate points, and positions the three-dimensional coordinates of all the intelligent equipment in an environment map; s3: and the user carries the target equipment to enter the environment, executes a ranging protocol with the intelligent equipment, at least obtains the distances between the user and the three intelligent equipment, and positions the coordinates of the target equipment. According to the invention, the environment map of the user is drawn by the sweeping robot commonly used in a family, and meanwhile, the feature of continuous motion of the sweeping robot is utilized, and the positioning between the sweeping robot and intelligent equipment in the environment is realized by means of the ultrasonic module, so that the three-dimensional map with the intelligent equipment is drawn, and after the user enters the environment with target equipment, the user can be positioned by utilizing the interaction between the ultrasonic module and the intelligent equipment.
Description
Technical Field
The invention relates to a joint positioning method and application of the Internet of things, and belongs to the technical field of the Internet of things.
Background
The Internet of Things (Internet of Things, IOT for short) is used for collecting any object or process needing monitoring, connection and interaction in real time and collecting various required information such as sound, light, heat, electricity, mechanics, chemistry, biology and position through various devices and technologies such as various information sensors, radio frequency identification technologies, global positioning systems, infrared sensors and laser scanners, and realizing the ubiquitous connection of objects and people through various possible network accesses and the intelligent sensing, identification and management of the objects and the processes. The internet of things is an information bearer based on the internet, a traditional telecommunication network and the like, and all common physical objects which can be independently addressed form an interconnected network.
The existing household environment has numerous devices, and if the function of the internet of things is to be realized, all intelligent devices in the environment need to be positioned, so that autonomous controllable human-computer interaction can be realized.
Disclosure of Invention
The invention aims to provide a joint positioning method and application of the Internet of things, which not only solve the problem that a plurality of intelligent devices are difficult to position in a family environment in the prior art, but also solve the problem that the position of the intelligent devices in the environment is changed to influence the positioning of a user.
In order to achieve the purpose, the invention adopts the technical scheme that: an Internet of things joint positioning method and application are provided, and the method comprises the following steps:
s1: when the sweeping robot works, an SLAM module of the sweeping robot establishes an environment map and positions self coordinates;
s2: the sweeping robot obtains the distances between the sweeping robot and intelligent equipment in the environment from different coordinate points, one intelligent equipment at least obtains the distances between three groups of intelligent equipment and the sweeping robot, and three-dimensional coordinates of all intelligent equipment in an environment map are positioned according to a TOA positioning method;
s3: and the user carries the target equipment to enter the environment, executes a ranging protocol with the intelligent equipment, at least obtains the distances between the user and the three intelligent equipment, and positions the coordinates of the target equipment.
The further improved scheme in the technical scheme is as follows:
1. in the above scheme, the distance measurement method between the sweeping robot and the intelligent device and the distance measurement method between the intelligent device and the target device are as follows:
the sweeping robot and the target equipment are respectively provided with an ultrasonic transmitting module, the intelligent equipment is provided with an ultrasonic receiving module, and the ultrasonic transmitting module is arranged on the T 1 Sending out ultrasonic positioning signals at all times, wherein the ultrasonic receiving module is arranged at T 2 Receiving ultrasonic positioning signals at the moment, and enabling the distance D = c (T) 2 -T 1 ) Wherein C is the propagation speed of the sound wave in the medium;
alternatively, the first and second electrodes may be,the sweeping robot and the target equipment are respectively provided with an ultrasonic receiving module, the intelligent equipment is provided with an ultrasonic transmitting module, and the ultrasonic transmitting module is arranged at T 1 Sending out ultrasonic positioning signals at all times, wherein the ultrasonic receiving module is arranged at T 2 Time of receipt of an ultrasound locating signal, distance D = c (T) 2 -T 1 ) Wherein C is the propagation speed of the sound wave in the medium.
2. In the scheme, in step S2, one intelligent device obtains N groups of distance values from the sweeping robot, where N is greater than 3, and obtains a minimum mean square error solution.
3. In the above scheme, in step S3, distance values between the target device and M pieces of intelligent devices are obtained, where M > 3.
4. In the scheme, based on the two-dimensional map in the step S1, after the information of the intelligent equipment in the environment is acquired, the three-dimensional map with the intelligent equipment is constructed and stored.
5. In the scheme, the real-time coordinates of the target equipment obtained based on the step S3 are projected into the three-dimensional map and displayed to a target equipment/intelligent equipment interface for a user to view.
6. In the scheme, the IMU of the target device is called, the pointing direction of the target device is confirmed by combining the real-time coordinates, and when the target device points to any intelligent device, the instruction corresponding to the intelligent device and stored in the target device is called.
7. In the above scheme, a control trigger instruction is pre-written into the target device and/or the intelligent device, and when the change of the relative position relation conforms to the control trigger instruction, the instruction is triggered to perform a control action.
8. In the scheme, the sweeping robot can measure the distance with the intelligent equipment every time when working, and the three-dimensional coordinate of the intelligent equipment is corrected.
9. In the above scheme, the ultrasonic transmitting module is a loudspeaker, and the ultrasonic receiving module is a microphone.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1. according to the internet of things joint positioning method and application, an environment map where a user is located is drawn through a sweeping robot commonly used in a family, meanwhile, the sweeping robot is positioned with intelligent equipment in the environment by means of an ultrasonic module by means of the characteristic that the sweeping robot moves constantly, and therefore a three-dimensional map with the intelligent equipment is drawn, after the user enters the environment with target equipment, the user can be positioned by interacting with the intelligent equipment through ultrasonic, the intelligent equipment and the target equipment (namely the user) in the environment are positioned, and real-time interaction is facilitated; the ultrasonic module is a loudspeaker carried by the sweeping robot, so that the sweeping robot is not required to be additionally arranged, and the sweeping robot is very convenient.
2. According to the Internet of things combined positioning method and application, the intelligent equipment coordinates are located by ranging with the intelligent equipment again through the ultrasonic module according to the working time of the sweeping robot, so that the intelligent equipment coordinates are corrected, the situation that the positioning of target equipment is influenced after the position of the intelligent equipment is changed is avoided, and the positioning accuracy is guaranteed.
3. According to the Internet of things combined positioning method and application, errors in distance measurement are corrected by collecting data far larger than 3 groups, and the distance measurement precision is improved, so that the positioning precision is improved.
4. The invention relates to a combined positioning method of an internet of things and application thereof.
Detailed Description
Example 1: an internet of things joint positioning method and application thereof are disclosed, wherein the method comprises the following steps:
s1: the sweeping robot is started to work, the sweeping robot in the first working starts the SLAM module, the environment terrain is scanned, a two-dimensional map is constructed, the two-dimensional map and the real-time coordinate of the sweeping robot are extracted from the sweeping APP and uploaded to the positioning system.
S2: after the two-dimensional map is uploaded, when the sweeping robot works, the ultrasonic transmitting module (loudspeaker) is started at different coordinate points to send ultrasonic positioning signals carrying data such as sending time, the coordinate points and equipment information, and after an ultrasonic receiving module (microphone) of one intelligent device (a television, a sound device, an electric lamp and the like) in the environment receives direct ultrasonic positioning signals sent by the sweeping robot from the three different coordinate points, the three-dimensional coordinates of the intelligent device based on the environment map are calculated by using a TOA positioning algorithm.
And calculating the Z-axis coordinate of the sweeping robot by taking 0, and calculating the coordinate points of all intelligent equipment by the method to obtain the three-dimensional map with the position of the intelligent equipment.
S3: after a user carries a target device (a mobile phone, a watch and the like) to enter an environment with a three-dimensional map, a distance measuring protocol is executed, an ultrasonic transmitting module of the target device sends an ultrasonic positioning signal carrying data such as sending time, device information and the like, three intelligent devices receive the direct ultrasonic positioning signal and then obtain the distance between each intelligent device and the target device, and under the condition that the coordinates of the intelligent devices are known, the three-dimensional coordinate points of the target device are calculated by adopting a TOA positioning algorithm, so that the coordinates of the user entering the environment are positioned.
The distance measurement between the sweeping robot and the intelligent equipment or the distance measurement between the intelligent equipment and the target equipment is realized by the following method:
the sending time of the ultrasonic transmitting module is recorded as T 1 And the receiving time of the ultrasonic receiving module is marked as T 2 Distance D = c (T) 2 -T 1 ) Here, c is the propagation velocity of the ultrasonic wave in the medium.
Example 2: a joint positioning method of the Internet of things and application thereof are provided, and the method comprises the following steps:
s1: the sweeping robot is started to work, the sweeping robot in the first working starts the SLAM module, the environment terrain is scanned, a two-dimensional map is constructed, the two-dimensional map and the real-time coordinate of the sweeping robot are extracted from the sweeping APP and uploaded to the positioning system.
S2: after the two-dimensional map is uploaded, when the sweeping robot works, the ultrasonic transmitting module is started at different coordinate points to send ultrasonic positioning signals carrying data such as sending time, the coordinate points and equipment information, and after an ultrasonic receiving module of one intelligent device (a television, a sound device, an electric lamp and the like) in the environment receives direct ultrasonic positioning signals sent by the sweeping robot from 6 different coordinate points, the three-dimensional coordinates of the intelligent device based on the environment map are calculated by utilizing a TOA positioning algorithm.
The Z-axis coordinate of the sweeping robot is calculated by taking 0 and more than 3 coordinate points are calculated to obtain a minimum mean square error solution, so that errors are reduced, and a three-dimensional map with the intelligent equipment positions can be obtained by calculating the coordinate points of all intelligent equipment through the method.
S3: a user carries a target device (a mobile phone, a watch and the like) to enter an environment with a three-dimensional map, a distance measuring protocol is executed, an ultrasonic transmitting module of the target device sends an ultrasonic positioning signal carrying data such as transmitting time and device information, 6 intelligent devices receive the direct ultrasonic positioning signal to obtain the distance between each intelligent device and the target device, under the condition that the coordinates of the intelligent devices are known, a TOA positioning algorithm is adopted to calculate more than 3 intelligent devices to obtain a minimum mean square error solution, so that errors are reduced, three-dimensional coordinate points of the target devices are calculated, so that the user coordinates entering the environment are positioned, a user image is simulated and projected into the three-dimensional map, and a display interface is displayed on the target device/the intelligent devices for the user to check.
The distance measurement between the sweeping robot and the intelligent equipment or the distance measurement between the intelligent equipment and the target equipment is realized by the following method:
the sending time of the ultrasonic transmitting module is recorded as T 1 And the receiving time of the ultrasonic receiving module is recorded as T 2 Distance D = c (T) 2 -T 1 ) Here, c is the propagation speed of the ultrasonic wave in the medium.
S4: invoking an IMU of the target device (the direction and posture of the target device can be obtained), confirming the pointing direction of the target device by combining the obtained real-time coordinates, and invoking an instruction corresponding to the intelligent device stored in the target device when the intelligent device is located in the pointing direction of the target device, for example: when the mobile phone points to the intelligent lamp, the mobile phone controls the intelligent lamp to be turned on from a turned-off state or turned off from a turned-on state.
The data transmission and the instruction issuing can be realized in the forms of an environment wireless network, bluetooth and the like.
Example 3: based on embodiment 2, a control trigger instruction is pre-written into the target device and the smart device, for example: when the distance D between the target device and the intelligent device is smaller than L, once the target device moves in the horizontal direction, the intelligent device is turned on/off or the intelligent device adjusts the volume, the brightness and the like;
and after the target equipment enters the environment and performs the actions, triggering an instruction to control the intelligent equipment to be opened by the target equipment.
Example 4: based on the embodiments 1 to 3, in order to avoid that the positioning and application functions of the target device are affected after the intelligent device in the environment is displaced, when the sweeping robot works, the distance between the sweeping robot and the intelligent device is measured again, the three-dimensional coordinate of the intelligent device is corrected, and the accuracy of the positioning reference is ensured.
The above embodiments are only for illustrating the technical idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the protection scope of the present invention by this means. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. An Internet of things joint positioning method and application are characterized in that the method comprises the following steps:
s1: when the sweeping robot works, an SLAM module of the sweeping robot establishes an environment map and positions self coordinates;
s2: the sweeping robot obtains the distances between the sweeping robot and intelligent equipment in the environment from different coordinate points, one intelligent equipment at least obtains the distances between three groups of intelligent equipment and the sweeping robot, and three-dimensional coordinates of all intelligent equipment in an environment map are positioned according to a TOA positioning method;
s3: and the user carries the target equipment to enter the environment, executes a ranging protocol with the intelligent equipment, at least obtains the distances between the user and the three intelligent equipment, and positions the coordinates of the target equipment.
2. The Internet of things combined positioning method and application of claim 1, wherein the distance measurement method of the sweeping robot and the intelligent device and the distance measurement method of the intelligent device and the target device are as follows:
the sweeping robot and the target equipment are respectively provided with an ultrasonic transmitting module, the intelligent equipment is provided with an ultrasonic receiving module, and the ultrasonic transmitting module is arranged at T 1 Sending out ultrasonic positioning signals at all times, wherein the ultrasonic receiving module is arranged at T 2 Time of receipt of an ultrasound locating signal, distance D = c (T) 2 -T 1 ) Wherein C is the propagation speed of the sound wave in the medium;
or the sweeping robot and the target equipment are respectively provided with an ultrasonic receiving module, the intelligent equipment is provided with an ultrasonic transmitting module, and the ultrasonic transmitting module is arranged at T 1 Sending out ultrasonic positioning signals at all times, wherein the ultrasonic receiving module is arranged at T 2 Time of receipt of an ultrasound locating signal, distance D = c (T) 2 -T 1 ) Wherein C is the propagation speed of the sound wave in the medium.
3. The Internet of things joint positioning method and application according to claim 1, wherein in step S2, one intelligent device obtains N sets of distance values from the sweeping robot, wherein N is greater than 3, and a minimum mean square error solution is obtained.
4. The joint positioning method of the internet of things as claimed in claim 1, wherein in step S3, distance values between the target device and M smart devices are obtained, where M > 3.
5. The Internet of things joint positioning method and application according to claim 1, wherein a three-dimensional map with intelligent equipment is constructed and stored after intelligent equipment information in the environment is acquired based on the two-dimensional map in the step S1.
6. The Internet of things joint positioning method and application of claim 5, wherein the real-time coordinates of the target device obtained based on the step S3 are projected into a three-dimensional map and displayed to a target device/intelligent device interface for a user to view.
7. The Internet of things joint positioning method and application according to claim 1, wherein the IMU of the target device is called, the pointing direction of the target device is confirmed by combining real-time coordinates, and when any intelligent device is pointed, the instruction corresponding to the intelligent device and stored in the target device is called.
8. The Internet of things joint positioning method and application according to any one of claims 1-7, wherein a control trigger instruction is pre-written into the target device and/or the intelligent device, and when the change of the relative position relation conforms to the control trigger instruction, the instruction is triggered to perform a control action.
9. The Internet of things joint positioning method and application according to claim 1, wherein the sweeping robot is used for ranging with the intelligent equipment again during working, and three-dimensional coordinates of the intelligent equipment are corrected.
10. The joint positioning method and application of the internet of things as claimed in claim 2, wherein the ultrasonic transmitting module is a loudspeaker, and the ultrasonic receiving module is a microphone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210797380.0A CN115328115A (en) | 2022-07-06 | 2022-07-06 | Internet of things joint positioning method and application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210797380.0A CN115328115A (en) | 2022-07-06 | 2022-07-06 | Internet of things joint positioning method and application |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115328115A true CN115328115A (en) | 2022-11-11 |
Family
ID=83917677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210797380.0A Pending CN115328115A (en) | 2022-07-06 | 2022-07-06 | Internet of things joint positioning method and application |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115328115A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116330301A (en) * | 2023-05-26 | 2023-06-27 | 广东隆崎机器人有限公司 | Robot movement system and automatic movement route planning method thereof |
-
2022
- 2022-07-06 CN CN202210797380.0A patent/CN115328115A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116330301A (en) * | 2023-05-26 | 2023-06-27 | 广东隆崎机器人有限公司 | Robot movement system and automatic movement route planning method thereof |
| CN116330301B (en) * | 2023-05-26 | 2023-08-25 | 广东隆崎机器人有限公司 | Robot movement system and automatic movement route planning method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101906329B1 (en) | Apparatus and method for indoor localization based on camera | |
| JP2021516401A (en) | Data fusion method and related equipment | |
| WO2015117477A1 (en) | Indoor positioning method and device, and computer storage medium | |
| CN104754515A (en) | Hybrid positioning assistant map correction method and system | |
| KR101007608B1 (en) | The apparatus and method of positioning pursuit with wipi, gps and rf finger printing | |
| CN201805551U (en) | Indoor accurate positioning system | |
| CN110026993B (en) | Human body following robot based on UWB and pyroelectric infrared sensor | |
| CN112261669A (en) | Network beam orientation control method and device, readable medium and electronic equipment | |
| WO2019019819A1 (en) | Mobile electronic device and method for processing tasks in task region | |
| CN102441277A (en) | Multi-purpose game controller, system and method with posture sensing function | |
| CN110806560B (en) | Object positioning method and system, electronic equipment and readable storage medium | |
| CN104580872A (en) | Automatic-positioning tracking photography system and automatic-positioning tracking photography method | |
| KR102328673B1 (en) | Method And System for Controlling SmartHome based on Location | |
| CN108051778A (en) | Positioning device and method | |
| CN104571135A (en) | Cloud deck tracking photography system and cloud deck tracking photography method | |
| CN108008433A (en) | The indoor slitless connection alignment system in outdoor based on UWB and GPS technology | |
| CN115328115A (en) | Internet of things joint positioning method and application | |
| TW201413278A (en) | Positioning method and positioning device | |
| CN110032213A (en) | Robot system for tracking and robot follower method | |
| CN107229055B (en) | Mobile equipment positioning method and mobile equipment positioning device | |
| CN104580873A (en) | Positioning tracking shooting system and positioning tracking shooting method | |
| CN205049732U (en) | Compound positioning system of wireless, ultrasonic wave | |
| CN114466304B (en) | Control method of intelligent household equipment, mobile terminal and intelligent household platform | |
| CN113259843A (en) | Control method, device and system of controlled equipment, terminal equipment and UWB assembly | |
| CN103076591A (en) | Ultrasonic technology-based industrial robot movement locating method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |