CN116567536A - Intelligent environment interaction system for building - Google Patents
Intelligent environment interaction system for building Download PDFInfo
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- CN116567536A CN116567536A CN202310524249.1A CN202310524249A CN116567536A CN 116567536 A CN116567536 A CN 116567536A CN 202310524249 A CN202310524249 A CN 202310524249A CN 116567536 A CN116567536 A CN 116567536A
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- 230000003993 interaction Effects 0.000 title claims abstract description 24
- 230000010365 information processing Effects 0.000 claims abstract description 26
- 230000004927 fusion Effects 0.000 claims abstract description 16
- 238000006243 chemical reaction Methods 0.000 claims description 18
- 230000007704 transition Effects 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims 4
- 238000005516 engineering process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Classifications
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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
- H04W4/024—Guidance services
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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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
-
- 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
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a building intelligent environment interaction system, which relates to the technical field of navigation and positioning, and comprises a position data acquisition module, a positioning information processing module and a control module, wherein the position data acquisition module is used for determining the indoor position of a terminal device in a room according to a first Bluetooth signal sent by a Bluetooth beacon and a second Bluetooth signal sent by the terminal device; a plurality of bluetooth beacons are arranged indoors; each Bluetooth beacon periodically transmits a first Bluetooth signal; the positioning information processing module is used for judging the navigation scene of the terminal equipment; when the navigation scene is outdoor navigation, taking GPS positioning signals of the terminal equipment as positioning data; when the navigation scene is indoor navigation, taking the indoor position as positioning data; and when the navigation scene is the indoor and outdoor fusion area navigation, determining the positioning data of the terminal equipment according to the GPS positioning signal and the second Bluetooth signal of the terminal equipment. The invention realizes indoor and outdoor integrated navigation, thereby realizing intelligent environment interaction of the building.
Description
Technical Field
The invention relates to the technical field of navigation and positioning, in particular to a building intelligent environment interaction system.
Background
With the continuous development of urban China, large buildings such as markets, airports, exhibition halls, office buildings, hospitals and the like are larger and larger, and the activity time of people in the large buildings is increased, so that the indoor positioning and navigation requirements are also increased. However, unlike outdoors, which can acquire accurate positioning information and navigation service using satellite positioning, indoor satellite signals are rapidly attenuated due to the shielding of a building and cannot penetrate the building, so that new technologies are required for indoor positioning and navigation.
Currently common indoor positioning technologies include Wi-Fi, bluetooth, RFID, ultrasound, ultra wideband, etc. Compared with other positioning technologies, the Bluetooth beacon positioning has unique advantages, such as no additional positioning equipment is needed, and a user only needs to carry terminal equipment (such as a smart phone) with Bluetooth function; bluetooth beacons are economical to deploy and low power consumption devices.
In outdoor open areas, satellite positioning provides mature positioning services; in an indoor environment, the Bluetooth beacon positioning is economical and applicable. The realization of integrated navigation service from outdoor to indoor inevitably involves the problems of switching of navigation modes and derived positioning errors, which requires the positioning technology to realize stable transition in different scenes so as to meet the higher requirements of people on navigation service.
Disclosure of Invention
The invention aims to provide a building intelligent environment interaction system which realizes indoor and outdoor integrated navigation.
In order to achieve the above object, the present invention provides the following solutions:
the intelligent building environment interaction system comprises a position data acquisition module and a positioning information processing module which are connected in sequence;
the position data acquisition module is used for determining the indoor position of the terminal equipment indoors according to a first Bluetooth signal sent by the Bluetooth beacon and a second Bluetooth signal sent by the terminal equipment, and sending the indoor position to the positioning information processing module; a plurality of bluetooth beacons are arranged indoors; each Bluetooth beacon periodically transmits the first Bluetooth signal;
the positioning information processing module is used for judging the navigation scene of the terminal equipment; when the navigation scene is outdoor navigation, taking GPS positioning signals of the terminal equipment as positioning data; when the navigation scene is indoor navigation, taking the indoor position as positioning data; and when the navigation scene is the indoor and outdoor fusion area navigation, determining the positioning data of the terminal equipment according to the GPS positioning signal of the terminal equipment and the second Bluetooth signal.
Optionally, the position data acquisition module comprises an outdoor satellite navigation positioning sub-module and an indoor bluetooth beacon positioning sub-module;
the outdoor satellite navigation positioning sub-module is used for determining positioning data of the terminal equipment according to GPS positioning signals of the terminal equipment;
and the indoor Bluetooth beacon positioning sub-module is used for determining the indoor position of the terminal equipment indoors by adopting a triangular positioning algorithm according to the first Bluetooth signal sent by the Bluetooth beacon and the second Bluetooth signal sent by the terminal equipment.
Optionally, the bluetooth beacon includes a transition identification beacon and an indoor beacon, the transition identification beacon is disposed in a preset indoor and outdoor fusion area, and the indoor beacon is disposed in a preset indoor area.
Optionally, the positioning information processing module comprises a navigation scene judging sub-module; the navigation scene judging submodule is used for judging that the navigation scene of the terminal equipment is outdoor navigation when the terminal equipment does not receive any Bluetooth beacon signal; when the terminal equipment receives the signal of the conversion identification beacon, judging that the navigation scene of the terminal equipment is the indoor and outdoor fusion area navigation; and when the terminal equipment receives the signal of the indoor beacon, judging that the navigation scene of the terminal equipment is indoor navigation.
Optionally, the positioning information processing module includes a positioning correction sub-module, where the positioning correction sub-module is configured to determine, when the navigation scene is an indoor and outdoor fusion area navigation, positioning data of the terminal device by using a kalman filtering algorithm according to a GPS positioning signal of the terminal device and the second bluetooth signal.
Optionally, the system further comprises a positioning scene conversion module, wherein the positioning scene conversion module is connected with the positioning information processing module;
the positioning scene conversion module is used for taking a satellite navigation positioning mode as a navigation engine when the navigation scene is outdoor navigation; when the navigation scene is the indoor and outdoor fusion area navigation, the Bluetooth beacon navigation positioning and the satellite navigation positioning are used as navigation engines; and when the navigation scene is indoor navigation, the Bluetooth beacon navigation positioning is used as a navigation engine.
Optionally, the system further comprises a navigation track generation module, wherein the navigation track generation module is used for acquiring the positioning data of the positioning information processing module in real time and performing path navigation according to the positioning data.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the invention, the indoor position of the terminal equipment is determined according to the first Bluetooth signal sent by the Bluetooth beacon and the second Bluetooth signal sent by the terminal equipment, when the navigation scene is the indoor and outdoor integrated area navigation, the positioning data of the terminal equipment is determined according to the GPS positioning signal of the terminal equipment and the second Bluetooth signal, the error generated by switching from outdoor positioning to indoor positioning is reduced, and the indoor and outdoor integrated navigation is realized, so that the intelligent environment interaction of the building is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a building intelligent environment interaction system according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only 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 invention aims to provide a building intelligent environment interaction system which realizes indoor and outdoor integrated navigation.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1, the invention discloses a building intelligent environment interaction system, which comprises a position data acquisition module 101, a positioning information processing module 102, a positioning scene conversion module 103 and a navigation track generation module 104 which are connected in sequence. The output end of the position data acquisition module 101 is connected with the input end of the positioning information processing module 102, the output end of the positioning information processing module 102 is connected with the input end of the positioning scene conversion module 103, and the output end of the positioning scene conversion module 103 is connected with the input end of the navigation track generation module 104.
The location data acquisition module 101 is configured to determine an indoor location of the terminal device in the room according to a first bluetooth signal sent by a bluetooth beacon and a second bluetooth signal sent by the terminal device, and send the indoor location to the positioning information processing module 102; a plurality of bluetooth beacons are arranged indoors; each Bluetooth beacon periodically transmits the first Bluetooth signal and a data packet.
The data packet of the Bluetooth beacon is attribute data of the Bluetooth beacon, including a number, a media access control (MediaAccessControl, MAC) address, a state, an electric quantity and the like. The data packet realizes the overhaul maintenance of the Bluetooth beacon and the position determination calculation of the terminal equipment in an auxiliary mode.
The positioning information processing module 102 is configured to determine a navigation scenario of the terminal device; when the navigation scene is outdoor navigation, taking GPS positioning signals of the terminal equipment as positioning data; when the navigation scene is indoor navigation, taking the indoor position as positioning data; and when the navigation scene is the indoor and outdoor fusion area navigation, determining the positioning data of the terminal equipment according to the GPS positioning signal of the terminal equipment and the second Bluetooth signal. The positioning information processing module 102 is configured to obtain positioning data of the terminal device in real time.
The position data acquisition module 101 includes an outdoor satellite navigation positioning sub-module and an indoor bluetooth beacon positioning sub-module.
The outdoor satellite navigation positioning sub-module is used for determining positioning data of the terminal equipment according to GPS positioning signals of the terminal equipment.
The indoor Bluetooth beacon positioning sub-module is used for determining the indoor position of the terminal equipment indoors by adopting a triangular positioning algorithm according to a first Bluetooth signal sent by the Bluetooth beacon and a second Bluetooth signal sent by the terminal equipment.
The location data acquisition module 101 further includes a bluetooth beacon management sub-module for managing the laying of bluetooth beacons in the indoor area, and dividing the bluetooth beacons into a conversion identification beacon and an indoor beacon.
The bluetooth beacons include a transition identification beacon and an indoor beacon, the transition identification beacon is arranged in a preset indoor and outdoor fusion area, namely, the transition identification beacon is arranged at the limit of the indoor and outdoor (indoor and outdoor seamless switching area), and the indoor beacon is arranged in a preset indoor area.
The terminal equipment starts a GPS outdoors, receives and acquires global satellite navigation signals to accurately position, starts Bluetooth indoors (namely, enters the coverage range of Bluetooth beacon signals), and acquires the Bluetooth beacon signals to accurately position.
The positioning information processing module 102 comprises a navigation scene judging sub-module; the navigation scene judging submodule is used for judging that the navigation scene of the terminal equipment is outdoor navigation when the terminal equipment does not receive any Bluetooth beacon signal; when the terminal equipment receives the signal of the conversion identification beacon, judging that the navigation scene of the terminal equipment is the indoor and outdoor fusion area navigation; and when the terminal equipment receives the signal of the indoor beacon, judging that the navigation scene of the terminal equipment is indoor navigation.
The positioning information processing module 102 includes a positioning correction sub-module, where the positioning correction sub-module is configured to perform fusion correction on a satellite navigation position and a bluetooth beacon position by means of a point location smoothing algorithm and a position compensation algorithm through a bluetooth positioning engine and a map engine when the navigation scene is an indoor and outdoor fusion area navigation, that is, when the terminal device is located in an indoor and outdoor seamless switching area, that is, near an entrance and an exit of a building, specifically including: and determining the positioning data of the terminal equipment by adopting a Kalman filtering algorithm according to the GPS positioning signal of the terminal equipment and the second Bluetooth signal.
The map engine refers to indoor map information and is used for marking positioning data information on a map. The positioning information only appears on the road and does not appear in the building wall, so that the positioning information is subjected to a position compensation algorithm, and the positioning data is prevented from appearing in the building.
The positioning scene conversion module 103 performs different navigation modes according to different scenes, and rapidly switches the proper positioning navigation engine.
The positioning scene conversion module 103 is configured to use a satellite navigation positioning mode as a navigation engine when the navigation scene is outdoor navigation; when the navigation scene is the indoor and outdoor fusion area navigation, the Bluetooth beacon navigation positioning and the satellite navigation positioning are used as navigation engines; and when the navigation scene is indoor navigation, the Bluetooth beacon navigation positioning is used as a navigation engine.
The navigation engine refers to the manner in which navigation is performed, and in the navigation track generation module 104, the navigation engine provides a source of positioning data for path planning.
The positioning scene conversion module 103 is used for generating traffic road network data of an indoor map and traffic road network data of an outdoor map, and establishing a space geographic information road network database containing traffic road network data of the indoor map and the outdoor map for path planning and traffic navigation.
The navigation track generation module 104 is used for seamless connection of indoor and outdoor navigation map paths, so that indoor and outdoor integrated navigation is realized. More specifically, the navigation track generation module 104 is configured to obtain the positioning data of the positioning information processing module 102 in real time, perform path navigation according to the positioning data, output a navigation route to a terminal device of a corresponding user, and implement joint path planning and continuous navigation of an indoor area and an outdoor area according to different navigation modes in the positioning scene conversion module 103.
The navigation trajectory generation module 104 supports joint path planning and continuous navigation for indoor areas as well as outdoor areas without switching between different navigation systems. Calculating a route reaching the indoor and outdoor boundaries of the building according to the input outdoor position; combining the outdoor navigation route with the indoor navigation route to obtain a navigation route from the outdoor position to the indoor position or from the indoor position to the outdoor position.
The intelligent building environment interaction system is suitable for special space environments of exhibition halls, and exhibitors and spectators can realize integrated indoor and outdoor seamless positioning navigation by using the intelligent building environment interaction system based on the Bluetooth beacons.
The position data acquisition module 101 can acquire the positioning information of the vehicle in real time, adapt to the randomness of the running speed of the vehicle, and rapidly identify the transition of indoor and outdoor environments so as to rapidly switch the proper positioning navigation engine.
The positioning information processing module 102 can efficiently and accurately judge the indoor and outdoor environment changes, so that corresponding positioning modes are switched, and the map engine and the navigation engine support seamless connection and automatic switching of indoor and outdoor navigation maps and paths and are integrated and displayed in mobile application.
The positioning scene conversion module 103 draws indoor and outdoor positioning scenes, each segment of the path supports weight and direction attribute, the on-off of the road network is defined according to the requirement, and traffic road network data of the outdoor map are seamlessly connected so as to facilitate indoor and outdoor integrated navigation. The method comprises the steps of collecting road network information of a exhibition hall and a parking area, and establishing a space geographic information road network database for path planning and traffic navigation to produce and manufacture traffic topology connection relation data of all target nodes with fine granularity.
The navigation track generation module 104 realizes the functions of path planning, real-time position updating, map interaction and the like based on real-time position information generated by indoor and outdoor seamless switching. In the area, supporting cross-floor dynamic path planning and continuous navigation; the wide area range supports joint path planning and continuous navigation in the wide area and project range of any place, namely the mobile terminal application developed by the invention can be used for one-touch navigation from any outdoor position to any position in an indoor area (including the inside of an exhibition hall), and vice versa. Joint path planning and continuous navigation of indoor areas as well as outdoor wide areas are supported without switching between different navigation systems.
Aiming at a large building, the invention provides a building intelligent environment interaction system, which eliminates a gap generated by switching an outdoor positioning technology to an indoor positioning technology, rapidly identifies the transition of indoor and outdoor environments, rapidly switches a proper positioning navigation engine, supports seamless connection and automatic switching of indoor and outdoor navigation maps and paths, and performs integrated display in mobile application to realize indoor and outdoor integrated navigation.
The beneficial effects of the invention are as follows:
1. the method and the device can be used for integrated navigation requirements of users in scenes such as large venues and business oversubstances, provide an optimal navigation route when an outdoor starting point starts or a certain indoor point leaves, avoid the users from switching different navigation modes and causing position information deviation in the switching process, improve the travel efficiency and experience of the users, and have higher practical application value.
2. The intelligent environment interaction system for the building has convenience, the navigation mode based on the Bluetooth beacon can be realized through the intelligent mobile phone without using complex terminal equipment, and the global satellite navigation mode can be realized outdoors and synchronously. The combination of satellite positioning and Bluetooth positioning is adopted, so that the indoor and outdoor seamless switching is realized without sense when a user uses the system.
3. The intelligent environment interaction system for the building provided by the invention has expansibility, the indoor positioning accuracy is closely related to the laying density and the transmitting power of the Bluetooth beacons, and the Bluetooth beacons can be additionally arranged in the future so as to realize the positioning with higher accuracy. According to the invention, the Bluetooth beacon is set to convert the identification beacon and the indoor beacon, so that indoor and outdoor integrated navigation is realized. On the basis, bluetooth beacon states among different floors can be set, so that positioning navigation of travel among floors is realized, and real-time accurate positioning during free walking is realized.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (7)
1. The intelligent building environment interaction system is characterized by comprising a position data acquisition module and a positioning information processing module which are connected in sequence;
the position data acquisition module is used for determining the indoor position of the terminal equipment indoors according to a first Bluetooth signal sent by the Bluetooth beacon and a second Bluetooth signal sent by the terminal equipment, and sending the indoor position to the positioning information processing module; a plurality of bluetooth beacons are arranged indoors; each Bluetooth beacon periodically transmits the first Bluetooth signal;
the positioning information processing module is used for judging the navigation scene of the terminal equipment; when the navigation scene is outdoor navigation, taking GPS positioning signals of the terminal equipment as positioning data; when the navigation scene is indoor navigation, taking the indoor position as positioning data; and when the navigation scene is the indoor and outdoor fusion area navigation, determining the positioning data of the terminal equipment according to the GPS positioning signal of the terminal equipment and the second Bluetooth signal.
2. The building intelligent environmental interaction system of claim 1, wherein the location data acquisition module comprises an outdoor satellite navigation positioning sub-module and an indoor bluetooth beacon positioning sub-module;
the outdoor satellite navigation positioning sub-module is used for determining positioning data of the terminal equipment according to GPS positioning signals of the terminal equipment;
and the indoor Bluetooth beacon positioning sub-module is used for determining the indoor position of the terminal equipment indoors by adopting a triangular positioning algorithm according to the first Bluetooth signal sent by the Bluetooth beacon and the second Bluetooth signal sent by the terminal equipment.
3. The architecture intelligent environmental interaction system of claim 1, wherein the bluetooth beacon comprises a transition identification beacon and an indoor beacon, the transition identification beacon being disposed in a predetermined indoor and outdoor convergence area, the indoor beacon being disposed in a predetermined indoor area.
4. The building intelligent environmental interaction system of claim 3, wherein the positioning information processing module comprises a navigation scene determination sub-module; the navigation scene judging submodule is used for judging that the navigation scene of the terminal equipment is outdoor navigation when the terminal equipment does not receive any Bluetooth beacon signal; when the terminal equipment receives the signal of the conversion identification beacon, judging that the navigation scene of the terminal equipment is the indoor and outdoor fusion area navigation; and when the terminal equipment receives the signal of the indoor beacon, judging that the navigation scene of the terminal equipment is indoor navigation.
5. The building intelligent environment interaction system according to claim 1, wherein the positioning information processing module comprises a positioning correction sub-module, and the positioning correction sub-module is configured to determine positioning data of the terminal device by using a kalman filtering algorithm according to a GPS positioning signal of the terminal device and the second bluetooth signal when the navigation scene is an indoor and outdoor fusion area navigation.
6. The building intelligent environmental interaction system of claim 1, further comprising a positioning scene conversion module, the positioning scene conversion module being connected with the positioning information processing module;
the positioning scene conversion module is used for taking a satellite navigation positioning mode as a navigation engine when the navigation scene is outdoor navigation; when the navigation scene is the indoor and outdoor fusion area navigation, the Bluetooth beacon navigation positioning and the satellite navigation positioning are used as navigation engines; and when the navigation scene is indoor navigation, the Bluetooth beacon navigation positioning is used as a navigation engine.
7. The building intelligent environment interaction system according to claim 1, further comprising a navigation track generation module, wherein the navigation track generation module is configured to acquire positioning data of the positioning information processing module in real time, and perform path navigation according to the positioning data.
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| CN202310524249.1A CN116567536A (en) | 2023-05-08 | 2023-05-08 | Intelligent environment interaction system for building |
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