WO2023051305A1 - 一种智能设备控制方法、系统、电子设备及存储介质 - Google Patents

一种智能设备控制方法、系统、电子设备及存储介质 Download PDF

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Publication number
WO2023051305A1
WO2023051305A1 PCT/CN2022/119662 CN2022119662W WO2023051305A1 WO 2023051305 A1 WO2023051305 A1 WO 2023051305A1 CN 2022119662 W CN2022119662 W CN 2022119662W WO 2023051305 A1 WO2023051305 A1 WO 2023051305A1
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Prior art keywords
smart
positioning device
positioning
wearer
angle
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PCT/CN2022/119662
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English (en)
French (fr)
Inventor
王晓晨
葛晓宇
董科
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歌尔股份有限公司
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Publication of WO2023051305A1 publication Critical patent/WO2023051305A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2642—Domotique, domestic, home control, automation, smart house
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present application relates to the technical field of human-computer interaction, and in particular to an intelligent device control method, system, electronic device and storage medium.
  • the broadband technology of the Internet of Things is mainly used, and only the distance between the user and the smart device is used as the judgment basis.
  • a smart desk lamp next to the user but when the user wants to turn on the air conditioner farther away, when the user sends a simple command of "turn on", if the desk lamp lights up at this time, it is unfriendly in terms of interaction.
  • the purpose of the present application is to provide a smart device control method and system, an electronic device and a storage medium, which can realize precise control of smart devices.
  • the present application provides a smart device control method, which is applied to a head-mounted device.
  • the head-mounted device includes a symmetrically arranged first positioning device and a second positioning device.
  • the smart device control method includes:
  • the angle of sight deviation is the angle between the wearer's front view direction and the relative direction of the device
  • the relative direction of the device is the direction of the connection between the midpoint of the connection between the first positioning device and the second positioning device and the smart device
  • determining the smart device whose line-of-sight deviation angle is smaller than a preset value as the device to be controlled includes:
  • the device to be controlled is determined from the candidate devices according to the pitch angle of the wearer; wherein, the pitch angle of the wearer is within a preset pitch angle interval corresponding to the device to be controlled.
  • obtaining the pitch angle of the wearer includes:
  • the pitch angle of the wearer is determined according to the spatial position coordinates of the first positioning device, the second positioning device and the third positioning device.
  • obtaining the pitch angle of the wearer includes:
  • the method before sending the device control instruction to the device to be controlled, the method further includes:
  • connection lines of the first positioning device, the second positioning device and the fourth positioning device are not the same straight line;
  • the head-mounted device executes the device control instruction.
  • the present application also provides a method for controlling a smart device, which is applied to a smart device, and the method for controlling a smart device includes:
  • the receiving device control instructions and obtaining device distance information between the first positioning device and the second positioning device on the head-mounted device and the smart device; wherein, the first positioning device and the second positioning device are symmetrically arranged on the the sides of the headset;
  • the angle of sight deviation is the angle between the wearer's front view direction and the relative direction of the device, so The relative direction of the device is the connection direction between the midpoint of the connection between the first positioning device and the second positioning device and the smart device;
  • the method before performing the operation corresponding to the device control instruction, the method further includes:
  • the method before performing the operation corresponding to the device control instruction, the method further includes:
  • the connecting line between the first positioning device, the second positioning device and the fifth positioning device is not the same straight line ;
  • the present application also provides a smart device control system, which is applied to a head-mounted device.
  • the head-mounted device includes a symmetrically arranged first positioning device and a second positioning device.
  • the smart device control system includes:
  • a distance acquisition module configured to receive a device control instruction, and obtain device distance information between the first positioning device and the second positioning device and each smart device;
  • An included angle calculation module configured to calculate the angle of sight deviation between the wearer of the head-mounted device and each of the smart devices according to the device distance information; wherein, the angle of sight deviation is the direction of the wearer's front view
  • the angle between the relative direction of the device and the relative direction of the device is the direction of the connection between the midpoint of the line between the first positioning device and the second positioning device and the smart device;
  • An instruction sending module configured to determine the smart device whose line-of-sight deviation angle is smaller than a preset value as the device to be controlled, and send the device control instruction to the device to be controlled.
  • the present application also provides a smart device control system, which is applied to smart devices, and the smart device control system includes:
  • An information receiving module configured to receive a device control instruction, and obtain device distance information between the first positioning device and the second positioning device on the head-mounted device and the smart device respectively; wherein, the first positioning device and the second positioning device The positioning device is arranged symmetrically on both sides of the head-mounted device;
  • An angle determination module configured to calculate the angle of sight deviation between the wearer of the head-mounted device and the smart device according to the distance information of the device; wherein, the angle of sight deviation is that the wearer's frontal view direction is opposite to the device
  • the included angle of the direction, the relative direction of the device is the connection direction between the midpoint of the line between the first positioning device and the second positioning device and the smart device;
  • a decision-making module configured to judge whether the line-of-sight deviation angle is smaller than a preset value; if yes, execute the operation corresponding to the device control instruction; if not, do not respond to the device control instruction.
  • the present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps performed by the above smart device control method are realized.
  • the present application also provides an electronic device, including a memory and a processor, the memory stores a computer program, and when the processor invokes the computer program in the memory, the steps performed by the above intelligent device control method are realized.
  • the present application provides a smart device control method, which is applied to a head-mounted device, and the head-mounted device includes a symmetrically arranged first positioning device and a second positioning device.
  • the smart device control method includes: receiving a device control instruction, and Acquiring device distance information between the first positioning device and the second positioning device and each smart device; calculating the distance between the wearer of the head-mounted device and each smart device according to the device distance information Line of sight deviation angle; wherein, the line of sight deviation angle is the angle between the wearer's frontal view direction and the relative direction of the device, and the relative direction of the device is the connecting line between the first positioning device and the second positioning device The direction of the line between the midpoint and the smart device; determining the smart device whose line-of-sight deviation angle is smaller than a preset value as the device to be controlled, and sending the device control instruction to the device to be controlled.
  • the head-mounted device is symmetrically provided with a first positioning device and a second positioning device, and the plane where the wearer of the head-mounted device looks at is perpendicular to the line connecting the first positioning device and the second positioning device.
  • the device distance information between the first positioning device and the second positioning device and each smart device determines the angle of sight deviation between the wearer and each smart device. According to people's natural behavior, people will naturally face the object receiving the voice when talking.
  • the angle of line of sight deviation is used to describe the degree of deviation between the smart device and the wearer's front-facing direction.
  • the present application can determine the smart devices that need to be controlled according to the behavior characteristics of human beings when they talk, and can realize precise control of the smart devices.
  • the present application also provides an intelligent device control system, a storage medium and an electronic device, which have the above-mentioned beneficial effects, and will not be repeated here.
  • FIG. 1 is a flow chart of a smart device control method provided in an embodiment of the present application
  • Fig. 2 is a schematic diagram of a method for determining the included angle of line-of-sight deviation provided by the embodiment of the present application;
  • Fig. 3 is a schematic diagram of a method for determining a wearer's line of sight plane provided by an embodiment of the present application
  • FIG. 4 is a schematic diagram of a pitch angle determination method provided by an embodiment of the present application.
  • Fig. 6 is a schematic diagram of the setting position of a UWB positioning tag provided by the embodiment of the present application.
  • Fig. 7 is a schematic diagram of the positional relationship between the wearer's line of sight direction and the smart device provided by the embodiment of the present application;
  • FIG. 8 is a schematic diagram of a judging principle of a front view speaker provided by an embodiment of the present application.
  • Fig. 9 is a schematic diagram of a wearer's line of sight rotation provided by the embodiment of the present application.
  • Fig. 10 is a schematic diagram of a wearer orientation detection principle provided by the embodiment of the present application.
  • Fig. 11 is a scene diagram of a wearer orientation detection provided by the embodiment of the present application.
  • FIG. 12 is a schematic diagram of a scenario where a user enters into a multi-smart device provided by an embodiment of the present application.
  • FIG. 1 is a flow chart of a method for controlling a smart device provided by an embodiment of the present application.
  • S101 Receive a device control instruction, and acquire device distance information between the first positioning device and the second positioning device and each smart device;
  • this embodiment can be applied to head-mounted devices such as AR (Augmented Reality, augmented reality) glasses, VR (Virtual Reality, virtual reality) helmets, headphones, etc.
  • the above-mentioned head-mounted devices include symmetrically arranged first positioning devices and second positioning devices. device.
  • the head-mounted device is symmetrical with respect to the central axis of the head, and the first positioning device and the second positioning device are symmetrically located on both sides of the wearer's head.
  • the positions of the first positioning device and the second positioning device in space also change.
  • the smart devices mentioned above may include devices such as smart speakers, smart cameras, and smart air conditioners.
  • the device control instructions mentioned in this embodiment can be instructions sent by other control terminals (such as smart phones, tablet computers, etc.), or instructions sent by the user to trigger the knob or button on the head-mounted device, or for the user's Gesture commands or voice commands.
  • the device control instruction may be a combination of the above-mentioned various types of instructions.
  • the above-mentioned first positioning device and the second positioning device can be UWB (Ultra Wide Band, ultra-wideband) positioning tags, Bluetooth positioning equipment, infrared signal transmitters, etc., and a base station corresponding to the positioning device can be set in the space where the wearer is located. Then the positions of the first positioning device and the second positioning device in space are determined.
  • UWB positioning technology has the characteristics of strong anti-multipath ability, high positioning accuracy, high time stamp accuracy, strong electromagnetic compatibility and high energy efficiency.
  • UWB ranging methods including TOF (measuring the time-of-flight of the signal between the base station and the tag), TDOA (the extremely narrow time difference between the arrival of the tag), and PDOA (measurement of the distance between the base station and the tag by the angle of arrival phase). location relationship).
  • TOF measuring the time-of-flight of the signal between the base station and the tag
  • TDOA the extremely narrow time difference between the arrival of the tag
  • PDOA measurement of the distance between the base station and the tag by the angle of arrival phase. location relationship
  • the position of each smart device in the space can be input in advance, and the positions of the first positioning device and the second positioning device in the space can be obtained on the basis of obtaining the positions of the first positioning device and the second positioning device in space.
  • Device distance information between smart devices may also be installed in each smart device, so as to determine the position of each smart device in space.
  • a positioning base station may also be installed on each smart device, so as to directly determine equipment distance information between the first positioning device and the second positioning device and each smart device. If the first positioning device, the second positioning device, and the positioning device on the smart device are positioning devices that do not rely on the base station, the first positioning device and the second positioning device can be directly determined according to the signal transmission time difference between the positioning devices. Device distance information between each smart device.
  • S102 Calculate the angle of sight deviation between the wearer of the head-mounted device and each of the smart devices according to the device distance information
  • the device distance information obtained in this embodiment includes the distance between the first positioning tag and each smart device, and the distance between the second positioning tag and each smart device. Based on the distance between them, the line-of-sight deviation angle can be determined.
  • Fig. 2 is a schematic diagram of a method for determining the angle of sight deviation provided by the embodiment of the present application.
  • A is the first positioning tag
  • B is the second positioning tag
  • C is the smart device
  • M is the first positioning
  • the line of sight deviation angle ⁇ is the angle between the wearer's front view direction and the relative direction of the device
  • the relative direction of the device is the first positioning device A and the second positioning device A.
  • the connection direction between the midpoint M of the positioning device B and the smart device C; the wearer's frontal view direction is the direction passing through the midpoint M and perpendicular to AB.
  • S103 Determine the smart device whose line-of-sight deviation angle is smaller than a preset value as a device to be controlled, and send the device control instruction to the device to be controlled.
  • the line-of-sight deviation angle is used to describe the degree of deviation between the smart device and the wearer's front-facing direction.
  • the smart device whose line-of-sight deviation angle is smaller than the preset value may be directly set as the device to be controlled.
  • the smart device with the smallest line-of-sight deviation angle can be set as the device to be controlled.
  • a certain pitch angle will be generated when the wearer's head turns to the smart device, and the device to be controlled can be determined according to the pitch angle.
  • the headset can send the received device control command to the device to be controlled, so that the device to be controlled can perform the operation corresponding to the device control command (such as playing music, shutting down, turning on the screen, etc.) . If after receiving the device control command, there is no smart device whose line of sight deviation angle is smaller than the preset value, it means that the device control command is an command to control the head-mounted device, and the head-mounted device can perform the operation corresponding to the device control command .
  • the head-mounted device is symmetrically provided with a first positioning device and a second positioning device, and the plane where the wearer of the head-mounted device looks at is perpendicular to the line connecting the first positioning device and the second positioning device, which can According to the device distance information between the first positioning device and the second positioning device and each smart device, the deviation angle between the line of sight of the wearer and each smart device is determined. According to people's natural behavior, people will naturally face the object receiving the voice when talking. The angle of line of sight deviation is used to describe the degree of deviation between the smart device and the wearer's front-facing direction.
  • the smart device When the angle of line of sight deviation is smaller than the preset value, it indicates that the wearer
  • the main observation object in the line of sight is the smart device, and then the smart device is controlled.
  • the smart device to be controlled can be determined according to the behavior characteristics of human beings in conversation, and precise control of the smart device can be realized.
  • Fig. 3 is a schematic diagram of a method for determining a wearer's line of sight plane provided by the embodiment of the present application.
  • L represents the first positioning device
  • R represents the second positioning device
  • L2 represents the third positioning device
  • M is the midpoint of the line segment LR
  • the plane where L, R and L2 are located is the plane of the wearer's line of sight.
  • FIG. 4 which is a schematic diagram of a method for determining a pitch angle provided by an embodiment of the present application. The angle between the plane LRL2 and the horizontal plane is the pitch angle.
  • Both smart device T and smart device B can have their corresponding preset pitch angle intervals.
  • the wearer's pitch angle falls within the preset pitch angle interval corresponding to a certain smart device, it means that the wearer's control object is the smart device. .
  • the surface where the three positioning sensors of the glasses legs are located is the XY plane, and the wearer's frontal view direction is parallel to the XY plane.
  • the included angle of is used as the line-of-sight deviation angle. If the included angle of smart device B is less than 5°, it is determined that smart device B is the device to be controlled. If the included angle of smart device T is greater than 5°, it is determined that smart device T is not the device to be controlled.
  • the device to be controlled can be accurately determined in the following manner: setting the smart device whose line-of-sight deviation angle is smaller than a preset value as a candidate device; if the candidate device If the number is greater than 1, then obtain the wearer's pitch angle; determine the device to be controlled from the alternative devices according to the wearer's pitch angle; wherein, the wearer's pitch angle is at the Control the preset pitch angle range corresponding to the device.
  • Each candidate device may have its corresponding preset pitch angle range, which is used to describe the pitch angle state that often occurs when the user controls the device. For example, the user needs to look up to control the smart air conditioner.
  • the preset pitch angle range of the smart air conditioner is 60°-80° looking up.
  • the user needs to lower the head to control the sweeping robot.
  • the preset pitch angle range of the sweeping robot is 20°-30° looking down.
  • the above method screens based on the pitch angle of the user and the preset pitch angle range of the candidate device, and determines the device to be controlled that needs to execute the device control command.
  • the device to be controlled can be determined according to the user's pitch angle. If the preset pitch angle range corresponding to the smart air conditioner is looking up 60° ⁇ 80°, the pitch angle of the smart speaker is 50° ⁇ 70°, when the wearer’s pitch angle is 75°, it means that the device to be controlled is a smart air conditioner; when the wearer’s pitch angle is 55°, it means The device to be controlled is a smart speaker.
  • the candidate device with the smallest line-of-sight deviation angle among all the candidate devices that meet the preset conditions as For the device to be controlled, the above preset condition is that the preset pitch angle interval corresponding to the alternative device includes the pitch angle of the wearer.
  • the angle of sight deviation corresponding to the smart air conditioner and the smart speaker is less than the preset value of 5°.
  • the device to be controlled can be determined according to the pitch angle of the user. If the preset pitch angle range corresponding to the smart air conditioner is 60°-80° looking up, the pitch angle of the smart speaker is 50°-70° looking up. When the wearer's pitch angle When looking up at 65°, set the smart speaker with the smallest line-of-sight deviation angle as the device to be controlled.
  • the pitch angle of the wearer can be obtained in the following manner: obtain the positions of the first positioning device, the second positioning device and the third positioning device on the head-mounted device Spatial position coordinates; wherein, the connecting line of the first positioning device, the second positioning device and the third positioning device is not the same straight line; according to the first positioning device, the second positioning device and the The spatial position coordinates of the third positioning device determine the pitch angle of the wearer.
  • this embodiment can also obtain the wearer's pitch angle in the following manner: obtain motion data collected by the inertial sensor on the head-mounted device, and calculate the wearer's pitch angle according to the motion data. pitch angle.
  • the above inertial sensors may include accelerometers, gyroscopes and the like.
  • the specific process is as follows: obtain the The distance between the fourth positioning device and the device to be controlled; wherein, the connection line between the first positioning device, the second positioning device and the fourth positioning device is not the same straight line; according to the fourth The distance between the positioning device and the device to be controlled, and the distance between the first positioning device or the second positioning device and the device to be controlled determine whether the wearer's visual field is facing the device to be controlled. Control the device; if yes, execute the operation of sending the device control instruction to the device to be controlled; if not, execute the device control instruction on the head-mounted device.
  • the distances between the first positioning device, the second positioning device and the fourth positioning device and the equipment to be controlled can be Determine the pose of the head-mounted device in space, and then determine whether the wearer's field of view is facing the device to be controlled.
  • the control precision of the head-mounted device on the smart device can be further improved.
  • the fourth positioning device and the above third positioning device may be the same positioning device. That is, by setting the fourth positioning device, it can be judged whether the wearer is facing the smart device, and the pitch angle of the wearer can also be determined.
  • the head-mounted device can send device control instructions to all smart devices indiscriminately, and the smart device determines whether it is the control object of the device control instruction according to the distance between itself and the positioning device on the head-mounted device.
  • the specific process is as follows:
  • Step 1 Receive a device control instruction, and obtain device distance information between the first positioning device and the second positioning device on the head-mounted device and the smart device respectively;
  • this embodiment can be applied to smart devices such as smart speakers, smart cameras, and smart air conditioners.
  • the smart devices can be provided with a positioning device, and both sides of the head-mounted device can be symmetrically provided with a first positioning device and a second positioning device.
  • the positioning device, the first positioning device and the second positioning device of the smart device may all be UWB positioning tags.
  • Step 2 Calculate the angle of sight deviation between the wearer of the head-mounted device and the smart device according to the distance information of the device;
  • the line-of-sight deviation angle is the angle between the wearer's front view direction and the relative direction of the device, and the relative direction of the device is the midpoint of the connecting line between the first positioning device and the second positioning device and the The connection direction of the smart device;
  • Step 3 Determine whether the line-of-sight deviation angle is smaller than a preset value; if yes, execute the operation corresponding to the device control command; if not, do not respond to the device control command.
  • the head-mounted device is symmetrically provided with a first positioning device and a second positioning device, and the plane where the wearer of the head-mounted device looks at is perpendicular to the line connecting the first positioning device and the second positioning device, which can Determining the deviation angle between the line of sight of the wearer and the smart device according to the device distance information between the smart device and the first positioning device and the second positioning device respectively.
  • the angle of line of sight deviation is used to describe the degree of deviation between the smart device and the wearer's front-facing direction.
  • the smart device can judge whether it is an object to be controlled according to the behavior characteristics of human beings when talking, and can realize the precise response of the smart device to the device control instruction.
  • the pitch angle of the wearer may also be acquired; determine whether the wearer's pitch angle is in the preset pitch angle interval; if so, then Enter the step of executing the operation corresponding to the device control instruction; if not, do not respond to the device control instruction.
  • the distance between the fifth positioning device on the head-mounted device and the smart device may also be acquired; wherein, the first positioning device, the second positioning device and the fifth positioning device are not in the same straight line; according to the distance between the fifth positioning device and the equipment to be controlled, and the first positioning device or the The distance between the second positioning device and the device to be controlled determines whether the wearer's visual field is facing the smart device; if so, enter the step of executing the operation corresponding to the device control instruction; if not, then The device control command is not responded to.
  • the fifth positioning device may be the same positioning device as the fourth positioning device and the third positioning device above.
  • this embodiment provides a solution for identifying the smart device being interacted with by using smart glasses to measure the line of sight deviation value , the smart glasses in this solution can be replaced by wearable devices such as smart helmets, TWS earphones, and headphones.
  • wearable devices such as smart helmets, TWS earphones, and headphones.
  • Fig. 5 is a flow chart of a method for identifying the interacted device by using the line-of-sight deviation value provided by the embodiment of the present application.
  • Figure 6 is a schematic diagram of the location of a UWB positioning tag provided by the embodiment of the present application. If the embodiment shown in Figure 6 sets three UWB positioning tags on the temples of the smart glasses: UWB positioning label L and UWB positioning label L2, UWB positioning label R is set on the right temple. R and L are in a symmetrical state, L and L2 are separated by a certain distance, L is located near the lens frame side, and L2 is located at the far lens frame side. R and L are used to measure the degree of line-of-sight deviation from the target device. L2 is used to measure the forward or backward direction of the target device. In this embodiment, the arrangement of the three UWB positioning tags is not fixed. It can also be two on the right temple and one on the left temple, but the pair of positioning tags on the left and right temples needs to be in a symmetrical state. picture frame.
  • Figure 7 is a schematic diagram of the relationship between the wearer's line of sight direction and the position of the smart device provided by the embodiment of the present application.
  • the Take the speaker as an example.
  • the distance between O and R is recorded as OR
  • the distance between O and L is recorded as OL
  • the distance between O and L2 is recorded as OL2.
  • the UWB ranging method can be realized through the above methods.
  • other high-precision ranging technologies can also be used to determine the distance between each positioning device on the smart glasses and the smart device.
  • FIG. 8 is a schematic diagram of a front-facing speaker judgment principle provided by an embodiment of the present application
  • FIG. 9 is a schematic diagram of a wearer's line of sight rotation provided by an embodiment of the present application.
  • the smart device take the speaker as an example
  • the positioning technology uses the positioning technology to detect the distance between the positioning tags.
  • OR corresponds to the distance between the right temple positioning label and the speaker positioning label
  • OL corresponds to the distance between the left temple positioning label and the speaker positioning label
  • RL is the distance between the left and right temple positioning labels
  • the distance between different positioning tags is obtained by ranging technology.
  • M is the midpoint of the RL line
  • the line of sight S is perpendicular to the RL line and passes through M.
  • the frontal sight line S0 is the OM connection.
  • the degree of ⁇ OMR is obtained by calculating the cosine value.
  • the floating range of the natural left and right head can be set to 10°.
  • ⁇ >10° it is judged that the user does not face the target object.
  • ⁇ 10° it is determined that the user is looking at the target object squarely.
  • FIG. 10 is a schematic diagram of a wearer orientation detection principle provided in an embodiment of the present application
  • FIG. 11 is a scene diagram of a wearer orientation detection provided in an embodiment of the present application.
  • the distance detection of OL2 is performed.
  • the speaker executes the voice command.
  • the smart glasses execute the voice command.
  • the speaker plays music; when the user does not input the Play music command toward the speaker, the speaker does not respond to the Play music command, and the smart glasses play music at this time.
  • FIG 12 is a schematic diagram of a scene where a user enters multiple smart devices provided by the embodiment of the present application.
  • S1 is a smart camera
  • S2 is a smart screen
  • S3 is a smart speaker
  • S4 is a smart air conditioner.
  • Each smart device has a positioning tag, which can obtain the distance from the positioning tag on the left and right temples of the glasses.
  • the user wants to open the S1 the user naturally raises his head, and the line of sight naturally points to the position of the S1.
  • the user sends out the "Open" voice command all smart devices and the left and right temples will detect the line of sight angle.
  • the judgment method is the same as the above solution.
  • the distance difference between the device and the left and right temples is used as the basis for whether it is the target device.
  • the line-of-sight deviation value corresponding to S1 meets the judgment standard of the target interactive device, and responds to the user's voice command, and the corresponding smart camera is turned on.
  • S2, S3, and S4 do not meet the judgment standard of the target interactive device, and do not respond to the user's voice command.
  • An embodiment of the present application also provides a smart device control system, the system is applied to a head-mounted device, the head-mounted device includes a symmetrically arranged first positioning device and a second positioning device, and the smart device control system includes:
  • a distance acquisition module configured to receive a device control instruction, and obtain device distance information between the first positioning device and the second positioning device and each smart device;
  • An included angle calculation module configured to calculate the angle of sight deviation between the wearer of the head-mounted device and each of the smart devices according to the device distance information; wherein, the angle of sight deviation is the direction of the wearer's front view
  • the angle between the relative direction of the device and the relative direction of the device is the direction of the connection between the midpoint of the line between the first positioning device and the second positioning device and the smart device;
  • An instruction sending module configured to determine the smart device whose line-of-sight deviation angle is smaller than a preset value as the device to be controlled, and send the device control instruction to the device to be controlled.
  • the head-mounted device is symmetrically provided with a first positioning device and a second positioning device, and the plane where the wearer of the head-mounted device looks at is perpendicular to the line connecting the first positioning device and the second positioning device, which can According to the device distance information between the first positioning device and the second positioning device and each smart device, the deviation angle between the line of sight of the wearer and each smart device is determined. According to people's natural behavior, people will naturally face the object receiving the voice when talking. The angle of line of sight deviation is used to describe the degree of deviation between the smart device and the wearer's front-facing direction.
  • the smart device When the angle of line of sight deviation is smaller than the preset value, it indicates that the wearer
  • the main observation object in the line of sight is the smart device, and then the smart device is controlled.
  • the smart device to be controlled can be determined according to the behavior characteristics of human beings in conversation, and precise control of the smart device can be realized.
  • the instruction sending module includes:
  • An alternative device determining unit configured to set the smart device whose line-of-sight deviation angle is smaller than a preset value as an alternative device
  • a pitch angle determination unit configured to obtain the wearer's pitch angle if the number of the alternative devices is greater than 1;
  • a device to be controlled determining unit configured to determine the device to be controlled from the alternative devices according to the pitch angle of the wearer; wherein, the pitch angle of the wearer is at a preset pitch corresponding to the device to be controlled corner interval.
  • the pitch angle determination unit is used to acquire the spatial position coordinates of the first positioning device, the second positioning device and the third positioning device on the head-mounted device; wherein, the first positioning device, the The connecting line between the second positioning device and the third positioning device is not the same straight line; it is also used to determine the space position coordinates of the first positioning device, the second positioning device and the third positioning device The pitch angle of the wearer.
  • the pitch angle determining unit is configured to acquire motion data collected by the inertial sensor on the head-mounted device, and calculate the pitch angle of the wearer according to the motion data.
  • An orientation judging module configured to obtain the distance between the fourth positioning device on the head-mounted device and the device to be controlled before sending the device control instruction to the device to be controlled; wherein, the first positioning device, the second positioning device and the fourth positioning device are not in the same straight line; it is also used to device or the distance between the second positioning device and the device to be controlled to determine whether the wearer's field of vision is facing the device to be controlled; if so, execute sending the device control command to the device to be controlled if not, the head-mounted device executes the device control instruction.
  • An embodiment of the present application also provides a smart device control system, which is applied to smart devices, and the smart device control system includes:
  • An information receiving module configured to receive a device control instruction, and obtain device distance information between the first positioning device and the second positioning device on the head-mounted device and the smart device respectively; wherein, the first positioning device and the second positioning device The positioning device is arranged symmetrically on both sides of the head-mounted device;
  • An angle determination module configured to calculate the angle of sight deviation between the wearer of the head-mounted device and the smart device according to the distance information of the device; wherein, the angle of sight deviation is that the wearer's frontal view direction is opposite to the device
  • the included angle of the direction, the relative direction of the device is the connection direction between the midpoint of the line between the first positioning device and the second positioning device and the smart device;
  • a decision-making module configured to judge whether the line-of-sight deviation angle is smaller than a preset value; if yes, execute the operation corresponding to the device control instruction; if not, do not respond to the device control instruction.
  • the head-mounted device is symmetrically provided with a first positioning device and a second positioning device, and the plane where the wearer of the head-mounted device looks at is perpendicular to the line connecting the first positioning device and the second positioning device, which can Determining the deviation angle between the line of sight of the wearer and the smart device according to the device distance information between the smart device and the first positioning device and the second positioning device respectively.
  • the angle of line of sight deviation is used to describe the degree of deviation between the smart device and the wearer's front-facing direction.
  • the smart device can judge whether it is a controlled object according to the behavior characteristics of human beings in conversation, and can realize the precise response of the smart device to the device control instruction.
  • the pitch angle judging module is used to obtain the wearer’s pitch angle before executing the operation corresponding to the device control command; judge whether the wearer’s pitch angle is in the preset pitch angle interval; if so, enter the execution If not, do not respond to the device control instruction.
  • a pitch angle decision module configured to obtain the distance between the fifth positioning device on the head-mounted device and the smart device before executing the operation corresponding to the device control instruction; wherein, the first positioning device, the The connecting line between the second positioning device and the fifth positioning device is not the same straight line; it is also used to determine the distance between the fifth positioning device and the equipment to be controlled, and the first positioning device or the The distance between the second positioning device and the device to be controlled determines whether the wearer's field of vision is facing the smart device; if so, enter the step of executing the operation corresponding to the device control instruction; if not, then The device control command is not responded to.
  • the present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps provided in the above-mentioned embodiments can be realized.
  • the storage medium may include: various media that can store program codes such as U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk.
  • the present application also provides an electronic device, which may include a memory and a processor, where a computer program is stored in the memory, and when the processor invokes the computer program in the memory, the steps provided in the above embodiments can be implemented.
  • the electronic device may also include various network interfaces, power supplies and other components.
  • RAM random access memory
  • ROM read-only memory
  • EEPROM electrically programmable ROM
  • EEPROM electrically erasable programmable ROM
  • registers hard disk, removable disk, CD-ROM, or any other Any other known storage medium.

Abstract

一种智能设备控制方法、智能设备控制系统、存储介质及电子设备，其中智能设备控制方法包括：接收设备控制指令，并获取第一定位装置和第二定位装置分别与每一智能设备之间的设备距离信息（S101）；根据设备距离信息计算头戴设备的佩戴者与每一智能设备的视线偏离夹角（S102）；其中，视线偏离夹角为佩戴者正视方向与设备相对方向的夹角，设备相对方向为第一定位装置和第二定位装置的连线中点与智能设备的连线方向；将视线偏离夹角小于预设值的智能设备确定为待控制设备，向待控制设备发送设备控制指令，实现对智能设备的精准控制（S103）。

Description

一种智能设备控制方法、系统、电子设备及存储介质
本申请要求于2021年9月29日提交中国专利局、申请号为202111149462.6、发明名称为“一种智能设备控制方法、系统、电子设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及人机交互技术领域，特别涉及一种智能设备控制方法、系统、电子设备及存储介质。
背景技术
随着物联网的普及，越来越多的用户会同时拥有多个智能设备，同时也存在一个较小的空间比较密集的设置多个智能设备的可能性，这让精确的语音唤醒产生了较大的判断困难。例如，当用户简单的发出“play music”的指令时，如果多个智能设备都在用户周围，则存在控制混乱的情况。
相关技术中，主要通过物联网宽带技术，仅根据用户距离智能设备的远近作为判断依据。在实际应用中，可能出现用户距离某个智能设备比较近，但用户实际希望与远处的某个智能设备交互的情况。比如用户身边有一台智能台灯，但用户希望打开更远处的空调时，当用户发出“打开”的简单指令时，如果此时台灯亮起，则从交互上来说是不友好的。
因此，如何实现对智能设备的精准控制是本领域技术人员目前需要解决的技术问题。
发明内容
本申请的目的是提供一种智能设备控制方法、系统、一种电子设备及一种存储介质，能够实现对智能设备的精准控制。
为解决上述技术问题，本申请提供一种智能设备控制方法，应用于头戴设备，所述头戴设备包括对称设置的第一定位装置和第二定位装置，所述智能设备控制方法包括：
接收设备控制指令，并获取所述第一定位装置和所述第二定位装置分别与每一智能设备之间的设备距离信息；
根据所述设备距离信息计算所述头戴设备的佩戴者与每一所述智能设备的视线偏离夹角；其中，所述视线偏离夹角为所述佩戴者正视方向与设备相对方向的夹角，所述设备相对方向为所述第一定位装置和所述第二定位装置的连线中点与所述智能设备的连线方向；
将所述视线偏离夹角小于预设值的智能设备确定为待控制设备，向所述待控制设备发送所述设备控制指令。
可选的，将所述视线偏离夹角小于预设值的智能设备确定为待控制设备，包括：
将所述视线偏离夹角小于预设值的智能设备设置为备选设备；
若所述备选设备的数量大于1，则获取所述佩戴者的俯仰角度；
根据所述佩戴者的俯仰角度从所述备选设备中确定所述待控制设备；其中，所述佩戴者的俯仰角度处于所述待控制设备对应的预设俯仰角区间。
可选的，获取所述佩戴者的俯仰角度，包括：
获取所述头戴设备上所述第一定位装置、所述第二定位装置和第三定位装置的空间位置坐标；其中，所述第一定位装置、所述第二定位装置和所述第三定位装置的连线不为同一直线；
根据所述第一定位装置、所述第二定位装置和所述第三定位装置的空间位置坐标确定所述佩戴者的俯仰角度。
可选的，获取所述佩戴者的俯仰角度，包括：
获取所述头戴设备上惯性传感器采集的运动数据，并根据所述运动数据计算所述佩戴者的俯仰角度。
可选的，在向所述待控制设备发送所述设备控制指令之前，还包括：
获取所述头戴设备上第四定位装置与所述待控制设备之间的距离；其中，所述第一定位装置、所述第二定位装置和所述第四定位装置的连线不为同一直线；
根据所述第四定位装置与所述待控制设备之间的距离、以及所述第一定位装置或所述第二定位装置与所述待控制设备之间的距离判断所述佩戴者的视野方向是否朝向所述待控制设备；
若是，则执行向所述待控制设备发送所述设备控制指令的操作；
若否，则所述头戴设备执行所述设备控制指令。
本申请还提供一种智能设备控制方法，应用于智能设备，所述智能设备控制方法包括：
接收设备控制指令，并获取头戴设备上第一定位装置和第二定位装置分别与所述智能设备之间的设备距离信息；其中，所述第一定位装置和第二定位装置对称设置于所述头戴设备的两侧；
根据所述设备距离信息计算所述头戴设备的佩戴者与所述智能设备的视线偏离夹角；其中，所述视线偏离夹角为所述佩戴者正视方向与设备相对方向的夹角，所述设备相对方向为所述第一定位装置和所述第二定位装置的连线中点与所述智能设备的连线方向；
判断所述视线偏离夹角是否小于预设值；
若是，则执行所述设备控制指令对应的操作；
若否，则不对所述设备控制指令进行响应。
可选的，在执行所述设备控制指令对应的操作之前，还包括：
获取所述佩戴者的俯仰角度；
判断所述佩戴者的俯仰角度是否在预设俯仰角区间；
若是，则进入执行所述设备控制指令对应的操作的步骤；
若否，则不对所述设备控制指令进行响应。
可选的，在执行所述设备控制指令对应的操作之前，还包括：
获取所述头戴设备上第五定位装置与所述智能设备之间的距离；其中，所述第一定位装置、所述第二定位装置和所述第五定位装置的连线不为同一直线；
根据所述第五定位装置与所述待控制设备之间的距离、以及所述第一定位装置或所述第二定位装置与所述待控制设备之间的距离判断所述佩戴者的视野方向是否朝向所述智能设备；
若是，则进入执行所述设备控制指令对应的操作的步骤；
若否，则不对所述设备控制指令进行响应。
本申请还提供了一种智能设备控制系统，应用于头戴设备，所述头戴设备包括对称设置的第一定位装置和第二定位装置，所述智能设备控制系统包括：
距离获取模块，用于接收设备控制指令，并获取所述第一定位装置和所述第二定位装置分别与每一智能设备之间的设备距离信息；
夹角计算模块，用于根据所述设备距离信息计算所述头戴设备的佩戴者与每一所述智能设备的视线偏离夹角；其中，所述视线偏离夹角为所述佩戴者正视方向与设备相对方向的夹角，所述设备相对方向为所述第一定位装置和所述第二定位装置的连线中点与所述智能设备的连线方向；
指令发送模块，用于将所述视线偏离夹角小于预设值的智能设备确定为待控制设备，向所述待控制设备发送所述设备控制指令。
本申请还提供了一种智能设备控制系统，应用于智能设备，所述智能设备控制系统包括：
信息接收模块，用于接收设备控制指令，并获取头戴设备上第一定位装置和第二定位装置分别与所述智能设备之间的设备距离信息；其中，所述第一定位装置和第二定位装置对称设置于所述头戴设备的两侧；
角度确定模块，用于根据所述设备距离信息计算所述头戴设备的佩戴者与所述智能设备的视线偏离夹角；其中，所述视线偏离夹角为所述佩戴者正视方向与设备相对方向的夹角，所述设备相对方向为所述第一定位装置和所述第二定位装置的连线中点与所述智能设备的连线方向；
决策模块，用于判断所述视线偏离夹角是否小于预设值；若是，则执行所述设备控制指令对应的操作；若否，则不对所述设备控制指令进行响应。
本申请还提供了一种存储介质，其上存储有计算机程序，所述计算机程序执行时实现上述智能设备控制方法执行的步骤。
本申请还提供了一种电子设备，包括存储器和处理器，所述存储器中存储有计算机程序，所述处理器调用所述存储器中的计算机程序时实现上述智能设备控制方法执行的步骤。
本申请提供了一种智能设备控制方法，应用于头戴设备，所述头戴设备包括对称设置的第一定位装置和第二定位装置，所述智能设备控制方法包括： 接收设备控制指令，并获取所述第一定位装置和所述第二定位装置分别与每一智能设备之间的设备距离信息；根据所述设备距离信息计算所述头戴设备的佩戴者与每一所述智能设备的视线偏离夹角；其中，所述视线偏离夹角为所述佩戴者正视方向与设备相对方向的夹角，所述设备相对方向为所述第一定位装置和所述第二定位装置的连线中点与所述智能设备的连线方向；将所述视线偏离夹角小于预设值的智能设备确定为待控制设备，向所述待控制设备发送所述设备控制指令。
本申请提供的方案中头戴设备对称设置有第一定位装置和第二定位装置，头戴设备的佩戴者正视方向所在的平面与第一定位装置和第二定位装置的连线垂直，可以根据第一定位装置和第二定位装置分别与每一智能设备之间的设备距离信息确定佩戴者与每一智能设备的视线偏离夹角。根据人的自然行为，人在交谈时会自然的面向接受语音的对象，视线偏离夹角用于描述智能设备与佩戴者正视方向的偏离程度，当视线偏离夹角小于预设值时说明佩戴者视线中的主要观察对象为该智能设备，进而对该智能设备进行控制。本申请能够根据人类交谈时的行为特征确定需要被控制的智能设备，能够实现对智能设备的精准控制。本申请同时还提供了一种智能设备控制系统、一种存储介质和一种电子设备，具有上述有益效果，在此不再赘述。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一部分附图，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本申请实施例所提供的一种智能设备控制方法的流程图；
图2为本申请实施例所提供的一种视线偏离夹角的确定方式示意图；
图3为本申请实施例所提供的一种佩戴者视线平面确定方法示意图；
图4为本申请实施例所提供的一种俯仰角度确定方法示意图；
图6为本申请实施例所提供的一种UWB定位标签设置位置示意图；
图7为本申请实施例所提供的一种佩戴者视线方向与智能设备的位置关系示意图；
图8为本申请实施例所提供的一种正视音箱判断原理示意图；
图9为本申请实施例所提供的一种佩戴者视线转动示意图；
图10为本申请实施例所提供的一种佩戴者朝向检测原理示意图；
图11为本申请实施例所提供的一种佩戴者朝向检测场景图；
图12为本申请实施例所提供的一种用户进入多智能设备的场景示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
下面请参见图1，图1为本申请实施例所提供的一种智能设备控制方法的流程图。
具体步骤可以包括：
S101：接收设备控制指令，并获取所述第一定位装置和所述第二定位装置分别与每一智能设备之间的设备距离信息；
其中，本实施例可以应用于AR(Augmented Reality，增强现实)眼镜、VR(Virtual Reality，虚拟现实)头盔、耳机等头戴设备，上述头戴设备包括对称设置的第一定位装置和第二定位装置。具体的，当用户佩戴头戴设备时，头戴设备相对于头部的中轴线对称，第一定位装置和第二定位装置对称的位于佩戴者头部的两侧。当佩戴者头部运动时，第一定位装置和第二定位装置在空间中的位置也发生变化。上述智能设备可以包括智能音箱、智能摄像头、智能空调等设备。
本实施例中提到的设备控制指令可以为其他控制终端(如智能手机、平板电脑等)发送的指令，也可以为用户触发头戴设备上的旋钮或按键发送的指令，还可以为用户的手势指令或语音指令。设备控制指令可以为上述各种类指令的组合。
上述第一定位装置和第二定位装置可以为UWB(Ultra Wide Band，超宽带)定位标签、蓝牙定位设备、红外信号发射器等，在佩戴者所处的空间可以设置有定位装置对应的基站，进而确定第一定位装置和第二定位装置在空间中的位置。UWB定位技术具有抗多径能力强，定位精度高，时间戳精度高，电磁兼容性强和能效高的特点。常用的UWB测距方法有三种，包括TOF(测 量信号在基站和标签之间的飞行时间)、TDOA(标签到达不同极窄的时间差)、PDOA(通过到达角相位来测量基站与标签之间的方位关系)。本实施例可以预先输入每一智能设备在空间中的位置，在得到第一定位装置和第二定位装置在空间中的位置的基础上可以得到第一定位装置和第二定位装置分别与每一智能设备之间的设备距离信息。本实施例还可以在每一智能设备中也可以安装定位装置，进而确定每一智能设备在空间中的位置。进一步的，本实施例还可以在每一智能设备上安装定位基站，以便直接确定第一定位装置和第二定位装置分别与每一智能设备之间的设备距离信息。若第一定位装置、第二定位装置和智能设备上的定位装置为可以不依赖基站的定位装置时，可以直接根据定位装置之间的信号传输时间差确定第一定位装置和第二定位装置分别与每一智能设备之间的设备距离信息。
S102：根据所述设备距离信息计算所述头戴设备的佩戴者与每一所述智能设备的视线偏离夹角；
其中，本实施例中得到的设备距离信息包括第一定位标签与每一智能设备的距离，以及第二定位标签与每一智能设备的距离，在已知第一定位标签和第二定位标签之间的距离的基础上，可以确定视线偏离夹角。请参见图2，图2为本申请实施例所提供的一种视线偏离夹角的确定方式示意图，A为第一定位标签，B为第二定位标签，C为智能设备，M为第一定位装置和第二定位装置的连线中点，视线偏离夹角θ为所述佩戴者正视方向与设备相对方向的夹角，所述设备相对方向为所述第一定位装置A和所述第二定位装置B的连线中点M与所述智能设备C的连线方向；佩戴者正视方向为经过中点M垂直于AB的方向。
S103：将所述视线偏离夹角小于预设值的智能设备确定为待控制设备，向所述待控制设备发送所述设备控制指令。
其中，视线偏离夹角用于描述智能设备与佩戴者正视方向的偏离程度，视线偏离夹角越小，佩戴者正视该智能设备的概率越大。由于人在交谈时会自然的面向接受语音的对象，因此可以将所述视线偏离夹角小于预设值的智能设备确定为待控制设备，向所述待控制设备发送所述设备控制指令。
具体的，当视线偏离夹角小于预设值的智能设备的数量为1时，可以直接将视线偏离夹角小于预设值的智能设备设置为待控制设备。当视线偏离夹 角小于预设值的智能设备的数量大于1时，可以将视线偏离夹角最小的智能设备设置为待控制设备。进一步的，由于各个智能设备在空间内的设置高度不同，因此佩戴者头部转向智能设备时会产生一定的俯仰角，可以根据俯仰角确定待控制设备。
在确定了待控制设备的基础上，头戴设备可以将接收到的设备控制指令发送至待控制设备，以便待控制设备执行设备控制指令对应的操作(如播放音乐、关机、点亮屏幕等)。若在接收到设备控制指令后，不存在视线偏离夹角小于预设值的智能设备，则说明该设备控制指令为控制头戴设备的指令，此时头戴设备可以执行设备控制指令对应的操作。
本实施例提供的方案中头戴设备对称设置有第一定位装置和第二定位装置，头戴设备的佩戴者正视方向所在的平面与第一定位装置和第二定位装置的连线垂直，可以根据第一定位装置和第二定位装置分别与每一智能设备之间的设备距离信息确定佩戴者与每一智能设备的视线偏离夹角。根据人的自然行为，人在交谈时会自然的面向接受语音的对象，视线偏离夹角用于描述智能设备与佩戴者正视方向的偏离程度，当视线偏离夹角小于预设值时说明佩戴者视线中的主要观察对象为该智能设备，进而对该智能设备进行控制。本实施例能够根据人类交谈时的行为特征确定需要被控制的智能设备，能够实现对智能设备的精准控制。
请参见图3，图3为本申请实施例所提供的一种佩戴者视线平面确定方法示意图，图3中L表示第一定位装置，R表示第二定位装置，L2表示第三定位装置，M为线段LR的中点，L、R和L2所在平面为佩戴者视线平面。请参见图4，图4为本申请实施例所提供的一种俯仰角度确定方法示意图。平面LRL2与水平面之间的夹角即俯仰角度。智能设备T和智能设备B均可以有其对应的预设俯仰角区间，当佩戴者的俯仰角度落在某一智能设备对应的预设俯仰角区间时，说明佩戴者的控制对象为该智能设备。如图4所示，眼镜腿的三个定位传感器所在的面为XY平面，佩戴者正视方向平行于XY平面，不同智能产品的定位传感器所在点与平面M点(R和L的中点)形成的夹角作为视线偏离夹角，智能设备B的夹角小于5°，则判定智能设备B 是待控制设备，智能设备T的夹角大于5°，则判定智能设备T不是待控制设备。
作为对于图1对应实施例的进一步介绍，本实施例可以通过以下方式精准确定待控制设备：将所述视线偏离夹角小于预设值的智能设备设置为备选设备；若所述备选设备的数量大于1，则获取所述佩戴者的俯仰角度；根据所述佩戴者的俯仰角度从所述备选设备中确定所述待控制设备；其中，所述佩戴者的俯仰角度处于所述待控制设备对应的预设俯仰角区间。每一备选设备都可以有其对应的预设俯仰角区间，用于描述用户控制该设备时经常出现的俯仰角状态。例如用户需要抬头控制智能空调，智能空调的预设俯仰角区间为仰视60°～80°，用户需要低头控制扫地机器人，扫地机器人的预设俯仰角区间为俯视20°～30°。上述方式基于用户的俯仰角度和备选设备的预设俯仰角区间进行筛选，确定需要执行设备控制指令的待控制设备。
例如，若佩戴者分别与智能空调、智能音箱的视线偏离夹角均小于预设值5°，此时可以根据用户的俯仰角确定待控制设备，若智能空调对应的预设俯仰角区间为仰视60°～80°，智能音箱的俯仰角度为仰视50°～70°，当佩戴者的俯仰角度为仰视75°时说明待控制设备为智能空调，当佩戴者的俯仰角度为俯视55°时说明待控制设备为智能音箱。
进一步的，若存在至少两个备选设备对应的预设俯仰角区间均包含有佩戴者的俯仰角度，则将所有符合预设条件的备选设备中视线偏离夹角最小的备选设备设置为待控制设备，上述预设条件为备选设备对应的预设俯仰角区间包含佩戴者的俯仰角度。
例如，若佩戴者与智能空调的视线偏离夹角为3°、佩戴者与智能音箱的视线偏离夹角为2°，智能空调和智能音箱对应的视线偏离夹角均小于预设值5°。此时可以根据用户的俯仰角确定待控制设备，若智能空调对应的预设俯仰角区间为仰视60°～80°，智能音箱的俯仰角度为仰视50°～70°，当佩戴者的俯仰角度为仰视65°时，则将视线偏离夹角最小的智能音箱设置为待控制设备。
作为一种可行的实施方式，本实施例可以通过以下方式获取所述佩戴者的俯仰角度：获取所述头戴设备上所述第一定位装置、所述第二定位装置和第三定位装置的空间位置坐标；其中，所述第一定位装置、所述第二定位装 置和所述第三定位装置的连线不为同一直线；根据所述第一定位装置、所述第二定位装置和所述第三定位装置的空间位置坐标确定所述佩戴者的俯仰角度。
作为另一种可行的实施方式，本实施例还可以通过以下方式获取佩戴者的俯仰角度：获取所述头戴设备上惯性传感器采集的运动数据，并根据所述运动数据计算所述佩戴者的俯仰角度。上述惯性传感器可以包括加速度计、陀螺仪等。
作为一种可行的实施方式，在向所述待控制设备发送所述设备控制指令之前，还可以存在判断佩戴者是否正向面对待控制设备的操作，具体过程如下：获取所述头戴设备上第四定位装置与所述待控制设备之间的距离；其中，所述第一定位装置、所述第二定位装置和所述第四定位装置的连线不为同一直线；根据所述第四定位装置与所述待控制设备之间的距离、以及所述第一定位装置或所述第二定位装置与所述待控制设备之间的距离判断所述佩戴者的视野方向是否朝向所述待控制设备；若是，则执行向所述待控制设备发送所述设备控制指令的操作；若否，则所述头戴设备执行所述设备控制指令。
由于第一定位装置、第二定位装置和第四定位装置不再同一条直线上，因此根据第一定位装置、第二定位装置和第四定位装置分别与所述待控制设备之间的距离可以确定头戴设备在空间中的位姿，进而判断佩戴者的视野方向是否朝向所述待控制设备。通过上述方式能够进一步提高头戴设备对于智能设备的控制精度。作为一种可行的实施方式，第四定位装置与上文的第三定位装置可以为同一定位装置。即通过设置第四定位装置既可以判断佩戴者是否朝向智能设备，还可以确定佩戴者的俯仰角。
以上实施例介绍了通过头戴设备确定控制对象，并向选中的智能设备发送设备控制指令的过程。作为一种可行的实施方式，头戴设备可以无差别地向所有智能设备发送设备控制指令，智能设备根据自身与头戴设备上定位装置之间的距离确定自身是否为设备控制指令的控制对象，具体过程如下：
步骤1：接收设备控制指令，并获取头戴设备上第一定位装置和第二定位装置分别与所述智能设备之间的设备距离信息；
其中，本实施例可以应用于智能音箱、智能摄像头、智能空调等智能设备，智能设备上可以设置有定位装置，头戴设备的两侧可以对称设置有第一定位装置和第二定位装置。智能设备的定位装置、第一定位装置和第二定位装置可以均为UWB定位标签。
步骤2：根据所述设备距离信息计算所述头戴设备的佩戴者与所述智能设备的视线偏离夹角；
其中，所述视线偏离夹角为所述佩戴者正视方向与设备相对方向的夹角，所述设备相对方向为所述第一定位装置和所述第二定位装置的连线中点与所述智能设备的连线方向；
步骤3：判断所述视线偏离夹角是否小于预设值；若是，则执行所述设备控制指令对应的操作；若否，则不对所述设备控制指令进行响应。
本实施例提供的方案中头戴设备对称设置有第一定位装置和第二定位装置，头戴设备的佩戴者正视方向所在的平面与第一定位装置和第二定位装置的连线垂直，可以根据智能设备分别与第一定位装置和第二定位装置的设备距离信息确定佩戴者与智能设备的视线偏离夹角。根据人的自然行为，人在交谈时会自然的面向接受语音的对象，视线偏离夹角用于描述智能设备与佩戴者正视方向的偏离程度，当视线偏离夹角小于预设值时说明佩戴者视线中的主要观察对象为该智能设备，进而对该智能设备进行控制。本实施例中智能设备能够根据人类交谈时的行为特征判断自身是否为被控制的对象，能够实现智能设备对设备控制指令的精准响应。
作为一种可行的实施方式，在执行所述设备控制指令对应的操作之前，还可以获取所述佩戴者的俯仰角度；判断所述佩戴者的俯仰角度是否在预设俯仰角区间；若是，则进入执行所述设备控制指令对应的操作的步骤；若否，则不对所述设备控制指令进行响应。
作为一种可行的实施方式，在执行所述设备控制指令对应的操作之前，还可以获取所述头戴设备上第五定位装置与所述智能设备之间的距离；其中，所述第一定位装置、所述第二定位装置和所述第五定位装置的连线不为同一直线；根据所述第五定位装置与所述待控制设备之间的距离、以及所述第一定位装置或所述第二定位装置与所述待控制设备之间的距离判断所述佩戴者的视野方向是否朝向所述智能设备；若是，则进入执行所述设备控制指令对 应的操作的步骤；若否，则不对所述设备控制指令进行响应。作为一种可行的实施方式，第五定位装置与上文的第四定位装置、第三定位装置可以均为同一定位装置。
下面通过在实际应用中的实施例说明上述实施例描述的流程。
根据人的自然行为，在交谈时说话人会自然的面向接收语音的对象，根据头部的自然运动，本实施例提供了一种利用智能眼镜测量视线偏差值实现识别被交互的智能设备的方案，本方案中的智能眼镜可以替换为智能头盔、TWS耳机、头戴耳机等头部可穿戴设备。请参见图5，图5为本申请实施例所提供的一种利用视线偏差值识别被交互设备的方法的流程图，在接收到语音指令后，利用定位标签进行距离检测，判断实现偏差角度是否超过10度；若超过10度，则控制眼镜执行语音指令；若不超过10度，则判断用户是否面向音箱；若面向音箱，则控制音箱执行语音指令；若背向音箱，则控制眼镜执行语音指令。
本方案利用UWB高精度测距的特点，通过智能眼镜(或其他具备左右对称属性的设备)测量跟随头部运动的视线与目标设备之间的偏离角度，通过用户的自然反应作为实现判断被交互的目标设备的可靠依据。本方案的内容如下：
请参见图6，图6为本申请实施例所提供的一种UWB定位标签设置位置示意图，若图6所示本实施例在智能眼镜的镜腿上设置三个UWB定位标签：左镜腿设置UWB定位标签L和UWB定位标签L2，右镜腿设置UWB定位标签R。R和L处于对称状态，L和L2有一定距离间隔，L位于近镜框侧，L2位于远镜框侧。R和L用于测量与目标设备之间的视线偏移度数。L2用于测量正向或背向目标设备。本实施例中三个UWB定位标签的排布方式不固定，也可以是右镜腿两个，左镜腿一个，但左右镜腿的一对定位标签需要处于对称状态，当然L2标签也可位于镜框。
请参见图7，图7为本申请实施例所提供的一种佩戴者视线方向与智能设备的位置关系示意图，如图7所示当用户佩戴智能眼镜走进有其他智能设备的环境中，以音箱为例，音箱上具有UWB定位标签O。O与R的距离记为OR，O与L的距离记为OL，O与L2的距离记为OL2。UWB的测距方法 可通过以上方法来实现，除UWB的测距方法外，也可使用其他的高精度测距技术确定智能眼镜上各个定位装置与智能设备之间的距离。
请参见图8和图9，图8为本申请实施例所提供的一种正视音箱判断原理示意图，图9为本申请实施例所提供的一种佩戴者视线转动示意图。如图8和图9所示，当用户发出语音指令时，智能设备(以音箱为例)接收到语音，利用定位技术进行各定位标签之间距离的检测。根据镜腿定位标签与音箱定位标签距离关系示意图，OR对应右镜腿定位标签与音箱定位标签的距离，OL对应左镜腿定位标签与音箱定位标签的距离，RL为左右镜腿定位标签的距离，不同的定位标签之间的距离通过测距技术获取。M为RL连线中点，视线S与RL连线呈垂直关系并穿过M。
根据标准正视视线示意图，以佩戴眼镜的用户位置不同自然转头为例，当用户与音箱呈现标准正视关系时，则正视视线S0为OM连线。
根据标准正视视线和用户实际视线进行视线偏离夹角α的计算。
根据三角函数，通过余弦值的计算得到∠OMR的度数。
Cos∠OMR＝(OM2+RM2-OR2)/(2*OM*MR)
视线偏离夹角α＝转头角度β＝90°-∠OMR
根据人自然运动规律，视线正视目标物体时存在一定的偏差，可以设定自然左右转头的浮动范围为10°，当α>10°时，判断为用户没有正视目标物体，当α≤10°时，判定为用户正视目标物体。通过上述方式，可以把头部微微旋转产生的非标准正视目标物体时的偏差包容在判断的容差范围内。
请参见图10和图11，图10为本申请实施例所提供的一种佩戴者朝向检测原理示意图，图11为本申请实施例提供的一种佩戴者朝向检测场景图。如图10所示，在判断用户正视目标物体的情况下，进行OL2的距离检测。当用户正向面向音箱时，OL<OL2，此时，音箱执行语音指令。当用户正向背向音箱时，OL>OL2，此时，智能眼镜执行语音指令。如图11所示，当用户朝向音箱输入Play music的指令时，音箱播放音乐；当用户不朝向音箱输入Play music的指令时，音箱不响应Play music的指令，此时智能眼镜播放音乐。
请参见图12，图12为本申请实施例所提供的一种用户进入多智能设备的场景示意图，图12中S1为智能摄像头，S2为智能屏幕，S3为智能音箱，S4为智能空调，每个智能设备都具有定位标签，可以获取与眼镜左右镜腿定 位标签之间的距离。当用户希望打开S1时，用户自然抬起头，视线自然指向S1所在的位置，当用户发出“Open”的语音指令，所有的智能设备与左右镜腿进行视线角度检测，判断方式与上述方案相同，以设备与左右镜腿的距离差作为是否为目标设备的依据。S1对应的视线偏差值符合目标交互设备的判断标准，响应用户的语音指令，对应的智能摄像头打开，S2、S3、S4不符合目标交互设备的判断标准，不响应用户的语音指令。
本申请实施例还提供的一种智能设备控制系统，该系统应用于头戴设备，所述头戴设备包括对称设置的第一定位装置和第二定位装置，所述智能设备控制系统包括：
距离获取模块，用于接收设备控制指令，并获取所述第一定位装置和所述第二定位装置分别与每一智能设备之间的设备距离信息；
夹角计算模块，用于根据所述设备距离信息计算所述头戴设备的佩戴者与每一所述智能设备的视线偏离夹角；其中，所述视线偏离夹角为所述佩戴者正视方向与设备相对方向的夹角，所述设备相对方向为所述第一定位装置和所述第二定位装置的连线中点与所述智能设备的连线方向；
指令发送模块，用于将所述视线偏离夹角小于预设值的智能设备确定为待控制设备，向所述待控制设备发送所述设备控制指令。
本实施例提供的方案中头戴设备对称设置有第一定位装置和第二定位装置，头戴设备的佩戴者正视方向所在的平面与第一定位装置和第二定位装置的连线垂直，可以根据第一定位装置和第二定位装置分别与每一智能设备之间的设备距离信息确定佩戴者与每一智能设备的视线偏离夹角。根据人的自然行为，人在交谈时会自然的面向接受语音的对象，视线偏离夹角用于描述智能设备与佩戴者正视方向的偏离程度，当视线偏离夹角小于预设值时说明佩戴者视线中的主要观察对象为该智能设备，进而对该智能设备进行控制。本实施例能够根据人类交谈时的行为特征确定需要被控制的智能设备，能够实现对智能设备的精准控制。
进一步的，指令发送模块包括：
备选设备确定单元，用于将所述视线偏离夹角小于预设值的智能设备设置为备选设备；
俯仰角确定单元，用于若所述备选设备的数量大于1，则获取所述佩戴者的俯仰角度；
待控制设备确定单元，用于根据所述佩戴者的俯仰角度从所述备选设备中确定所述待控制设备；其中，所述佩戴者的俯仰角度处于所述待控制设备对应的预设俯仰角区间。
进一步的，俯仰角确定单元用于获取所述头戴设备上所述第一定位装置、所述第二定位装置和第三定位装置的空间位置坐标；其中，所述第一定位装置、所述第二定位装置和所述第三定位装置的连线不为同一直线；还用于根据所述第一定位装置、所述第二定位装置和所述第三定位装置的空间位置坐标确定所述佩戴者的俯仰角度。
进一步的，俯仰角确定单元用于获取所述头戴设备上惯性传感器采集的运动数据，并根据所述运动数据计算所述佩戴者的俯仰角度。
进一步的，还包括：
朝向判断模块，用于在向所述待控制设备发送所述设备控制指令之前，获取所述头戴设备上第四定位装置与所述待控制设备之间的距离；其中，所述第一定位装置、所述第二定位装置和所述第四定位装置的连线不为同一直线；还用于根据所述第四定位装置与所述待控制设备之间的距离、以及所述第一定位装置或所述第二定位装置与所述待控制设备之间的距离判断所述佩戴者的视野方向是否朝向所述待控制设备；若是，则执行向所述待控制设备发送所述设备控制指令的操作；若否，则所述头戴设备执行所述设备控制指令。
本申请实施例还提供的一种智能设备控制系统，应用于智能设备，所述智能设备控制系统包括：
信息接收模块，用于接收设备控制指令，并获取头戴设备上第一定位装置和第二定位装置分别与所述智能设备之间的设备距离信息；其中，所述第一定位装置和第二定位装置对称设置于所述头戴设备的两侧；
角度确定模块，用于根据所述设备距离信息计算所述头戴设备的佩戴者与所述智能设备的视线偏离夹角；其中，所述视线偏离夹角为所述佩戴者正 视方向与设备相对方向的夹角，所述设备相对方向为所述第一定位装置和所述第二定位装置的连线中点与所述智能设备的连线方向；
决策模块，用于判断所述视线偏离夹角是否小于预设值；若是，则执行所述设备控制指令对应的操作；若否，则不对所述设备控制指令进行响应。
本实施例提供的方案中头戴设备对称设置有第一定位装置和第二定位装置，头戴设备的佩戴者正视方向所在的平面与第一定位装置和第二定位装置的连线垂直，可以根据智能设备分别与第一定位装置和第二定位装置的设备距离信息确定佩戴者与智能设备的视线偏离夹角。根据人的自然行为，人在交谈时会自然的面向接受语音的对象，视线偏离夹角用于描述智能设备与佩戴者正视方向的偏离程度，当视线偏离夹角小于预设值时说明佩戴者视线中的主要观察对象为该智能设备，进而对该智能设备进行控制。本实施例中智能设备能够根据人类交谈时的行为特征判断自身是否为被控制的对象，能够实现智能设备对设备控制指令的精准响应。
进一步的，还包括：
俯仰角判断模块，用于在执行所述设备控制指令对应的操作之前，获取所述佩戴者的俯仰角度；判断所述佩戴者的俯仰角度是否在预设俯仰角区间；若是，则进入执行所述设备控制指令对应的操作的步骤；若否，则不对所述设备控制指令进行响应。
进一步的，还包括：
俯仰角决策模块，用于在执行所述设备控制指令对应的操作之前，获取所述头戴设备上第五定位装置与所述智能设备之间的距离；其中，所述第一定位装置、所述第二定位装置和所述第五定位装置的连线不为同一直线；还用于根据所述第五定位装置与所述待控制设备之间的距离、以及所述第一定位装置或所述第二定位装置与所述待控制设备之间的距离判断所述佩戴者的视野方向是否朝向所述智能设备；若是，则进入执行所述设备控制指令对应的操作的步骤；若否，则不对所述设备控制指令进行响应。
由于系统部分的实施例与方法部分的实施例相互对应，因此系统部分的实施例请参见方法部分的实施例的描述，这里暂不赘述。
本申请还提供了一种存储介质，其上存有计算机程序，该计算机程序被执行时可以实现上述实施例所提供的步骤。该存储介质可以包括：U盘、移 动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本申请还提供了一种电子设备，可以包括存储器和处理器，所述存储器中存有计算机程序，所述处理器调用所述存储器中的计算机程序时，可以实现上述实施例所提供的步骤。当然所述电子设备还可以包括各种网络接口，电源等组件。
本说明书中各个实施例采用并列或者递进的方式描述，每个实施例重点说明的都是与其它实施例的不同之处，各个实施例之间相同或相似部分互相参见即可。对于实施例公开的装置而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处可参见方法部分说明。
本领域普通技术人员还可以理解，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
结合本文中所公开的实施例描述的方法或算法的步骤可以直接用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机存储器(RAM)、内存、只读存储器(ROM)、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM、或技术领域内所公知的任意其它形式的存储介质中。
还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外 的相同要素。

Claims (12)

  1. 一种智能设备控制方法，其特征在于，应用于头戴设备，所述头戴设备包括对称设置的第一定位装置和第二定位装置，所述智能设备控制方法包括：
    接收设备控制指令，并获取所述第一定位装置和所述第二定位装置分别与每一智能设备之间的设备距离信息；
    根据所述设备距离信息计算所述头戴设备的佩戴者与每一所述智能设备的视线偏离夹角；其中，所述视线偏离夹角为所述佩戴者正视方向与设备相对方向的夹角，所述设备相对方向为所述第一定位装置和所述第二定位装置的连线中点与所述智能设备的连线方向；
    将所述视线偏离夹角小于预设值的智能设备确定为待控制设备，向所述待控制设备发送所述设备控制指令。
  2. 根据权利要求1所述智能设备控制方法，其特征在于，将所述视线偏离夹角小于预设值的智能设备确定为待控制设备，包括：
    将所述视线偏离夹角小于预设值的智能设备设置为备选设备；
    若所述备选设备的数量大于1，则获取所述佩戴者的俯仰角度；
    根据所述佩戴者的俯仰角度从所述备选设备中确定所述待控制设备；其中，所述佩戴者的俯仰角度处于所述待控制设备对应的预设俯仰角区间。
  3. 根据权利要求2所述智能设备控制方法，其特征在于，获取所述佩戴者的俯仰角度，包括：
    获取所述头戴设备上所述第一定位装置、所述第二定位装置和第三定位装置的空间位置坐标；其中，所述第一定位装置、所述第二定位装置和所述第三定位装置的连线不为同一直线；
    根据所述第一定位装置、所述第二定位装置和所述第三定位装置的空间位置坐标确定所述佩戴者的俯仰角度。
  4. 根据权利要求2所述智能设备控制方法，其特征在于，获取所述佩戴者的俯仰角度，包括：
    获取所述头戴设备上惯性传感器采集的运动数据，并根据所述运动数据计算所述佩戴者的俯仰角度。
  5. 根据权利要求1所述智能设备控制方法，其特征在于，在向所述待控制设备发送所述设备控制指令之前，还包括：
    获取所述头戴设备上第四定位装置与所述待控制设备之间的距离；其中，所述第一定位装置、所述第二定位装置和所述第四定位装置的连线不为同一直线；
    根据所述第四定位装置与所述待控制设备之间的距离、以及所述第一定位装置或所述第二定位装置与所述待控制设备之间的距离判断所述佩戴者的视野方向是否朝向所述待控制设备；
    若是，则执行向所述待控制设备发送所述设备控制指令的操作；
    若否，则所述头戴设备执行所述设备控制指令。
  6. 一种智能设备控制方法，其特征在于，应用于智能设备，所述智能设备控制方法包括：
    接收设备控制指令，并获取头戴设备上第一定位装置和第二定位装置分别与所述智能设备之间的设备距离信息；其中，所述第一定位装置和第二定位装置对称设置于所述头戴设备的两侧；
    根据所述设备距离信息计算所述头戴设备的佩戴者与所述智能设备的视线偏离夹角；其中，所述视线偏离夹角为所述佩戴者正视方向与设备相对方向的夹角，所述设备相对方向为所述第一定位装置和所述第二定位装置的连线中点与所述智能设备的连线方向；
    判断所述视线偏离夹角是否小于预设值；
    若是，则执行所述设备控制指令对应的操作；
    若否，则不对所述设备控制指令进行响应。
  7. 根据权利要求6所述智能设备控制方法，其特征在于，在执行所述设备控制指令对应的操作之前，还包括：
    获取所述佩戴者的俯仰角度；
    判断所述佩戴者的俯仰角度是否在预设俯仰角区间；
    若是，则进入执行所述设备控制指令对应的操作的步骤；
    若否，则不对所述设备控制指令进行响应。
  8. 根据权利要求6所述智能设备控制方法，其特征在于，在执行所述设备控制指令对应的操作之前，还包括：
    获取所述头戴设备上第五定位装置与所述智能设备之间的距离；其中，所述第一定位装置、所述第二定位装置和所述第五定位装置的连线不为同一直线；
    根据所述第五定位装置与所述待控制设备之间的距离、以及所述第一定位装置或所述第二定位装置与所述待控制设备之间的距离判断所述佩戴者的视野方向是否朝向所述智能设备；
    若是，则进入执行所述设备控制指令对应的操作的步骤；
    若否，则不对所述设备控制指令进行响应。
  9. 一种智能设备控制系统，其特征在于，应用于头戴设备，所述头戴设备包括对称设置的第一定位装置和第二定位装置，所述智能设备控制系统包括：
    距离获取模块，用于接收设备控制指令，并获取所述第一定位装置和所述第二定位装置分别与每一智能设备之间的设备距离信息；
    夹角计算模块，用于根据所述设备距离信息计算所述头戴设备的佩戴者与每一所述智能设备的视线偏离夹角；其中，所述视线偏离夹角为所述佩戴者正视方向与设备相对方向的夹角，所述设备相对方向为所述第一定位装置和所述第二定位装置的连线中点与所述智能设备的连线方向；
    指令发送模块，用于将所述视线偏离夹角小于预设值的智能设备确定为待控制设备，向所述待控制设备发送所述设备控制指令。
  10. 一种智能设备控制系统，其特征在于，应用于智能设备，所述智能设备控制系统包括：
    信息接收模块，用于接收设备控制指令，并获取头戴设备上第一定位装置和第二定位装置分别与所述智能设备之间的设备距离信息；其中，所述第一定位装置和第二定位装置对称设置于所述头戴设备的两侧；
    角度确定模块，用于根据所述设备距离信息计算所述头戴设备的佩戴者与所述智能设备的视线偏离夹角；其中，所述视线偏离夹角为所述佩戴者正视方向与设备相对方向的夹角，所述设备相对方向为所述第一定位装置和所述第二定位装置的连线中点与所述智能设备的连线方向；
    决策模块，用于判断所述视线偏离夹角是否小于预设值；若是，则执行所述设备控制指令对应的操作；若否，则不对所述设备控制指令进行响应。
  11. 一种电子设备，其特征在于，包括存储器和处理器，所述存储器中存储有计算机程序，所述处理器调用所述存储器中的计算机程序时实现如权利要求1至8任一项所述智能设备控制方法的步骤。
  12. 一种存储介质，其特征在于，所述存储介质中存储有计算机可执行指令，所述计算机可执行指令被处理器加载并执行时，实现如上权利要求1至8任一项所述智能设备控制方法的步骤。
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