WO2024045604A1 - 智能设备的定位方法、存储介质及电子装置 - Google Patents

智能设备的定位方法、存储介质及电子装置 Download PDF

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Publication number
WO2024045604A1
WO2024045604A1 PCT/CN2023/085681 CN2023085681W WO2024045604A1 WO 2024045604 A1 WO2024045604 A1 WO 2024045604A1 CN 2023085681 W CN2023085681 W CN 2023085681W WO 2024045604 A1 WO2024045604 A1 WO 2024045604A1
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WO
WIPO (PCT)
Prior art keywords
target
audio
devices
positioning
location
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/085681
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English (en)
French (fr)
Inventor
魏玉琼
王凯
栾天祥
邓邱伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qingdao Haier Technology Co Ltd
Haier Smart Home Co Ltd
Original Assignee
Qingdao Haier Technology Co Ltd
Haier Smart Home Co Ltd
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Publication of WO2024045604A1 publication Critical patent/WO2024045604A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/2803—Home automation networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/2803—Home automation networks
    • H04L12/2816—Controlling appliance services of a home automation network by calling their functionalities
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/52—Network services specially adapted for the location of the user terminal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
    • H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72448—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72448—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions
    • H04M1/72454—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions according to context-related or environment-related conditions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72448—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions
    • H04M1/72457—User interfaces specially adapted for cordless or mobile telephones with means for adapting the functionality of the device according to specific conditions according to geographic location

Definitions

  • the present disclosure relates to the field of smart home/smart home technology, specifically, to a positioning method, storage medium and electronic device for smart devices.
  • portable smart devices such as mobile phones and headphones can be bound to smart speakers of the same brand. Through the bound smart speakers, the smart devices can play audio to realize the positioning of smart devices. Users can Identify device location through sound.
  • the above-mentioned positioning method of smart devices which helps users identify the location of smart devices by playing audio, requires users to have strong sound recognition capabilities, and the sound will be affected by obstacles (such as walls, large pieces of furniture) during the propagation process. , doors, etc.), reducing the audio intensity, the user may not be able to hear the played audio or identify the wrong direction, which will lead to a reduction in the efficiency of device positioning. It can be seen that the positioning method of smart devices in related technologies has the problem of low efficiency in device positioning due to inaccurate manual sound recognition.
  • Embodiments of the present disclosure provide a positioning method, a storage medium and an electronic device for an intelligent device.
  • a positioning method for a smart device including: in response to a device positioning request of a device to be positioned, controlling each associated device in a group of associated devices of the device to be positioned to broadcast in sequence Corresponding preset audio; determine a target associated device corresponding to the target receiving audio received by the device to be located from the group of associated devices, wherein the target receiving audio is consistent with the preset broadcast by the target associated device. Audio correspondence: positioning the device to be located according to the device position of the target associated device and the relative position of the device to be located and the target associated device, Wherein, the relative position of the target associated device and the device to be located is determined based on the target receiving audio.
  • a positioning device for an intelligent device including: a first control unit configured to control a set of associations of the device to be positioned in response to a device positioning request of the device to be positioned.
  • Each associated device in the device broadcasts the corresponding preset audio in turn;
  • the determining unit is configured to determine the target associated device corresponding to the target receiving audio received by the device to be located from the group of associated devices, wherein the The target received audio corresponds to the preset audio broadcast by the target associated device;
  • the positioning unit is configured to position the target associated device according to the device position of the target associated device and the relative position of the device to be located and the target associated device.
  • the device to be positioned performs positioning, wherein the relative position of the target-associated device and the device to be positioned is determined based on the audio received by the target.
  • a computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the above-mentioned smart device when running. Positioning method.
  • an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the above-mentioned steps through the computer program. Positioning methods for smart devices.
  • the device to be positioned is positioned based on the device location of the associated device and the relative position between the associated device and the device to be positioned, and in response to a device positioning request of the device to be positioned, the device to be positioned is controlled.
  • Each associated device in a group of associated devices broadcasts the corresponding preset audio in turn; the target associated device corresponding to the target receiving audio received by the device to be located is determined from the group of associated devices, wherein, the The target received audio corresponds to the preset audio broadcast by the target associated device; the device to be located is positioned according to the device position of the target associated device and the relative position of the device to be located and the target associated device. , wherein the relative position of the target-associated device and the device to be located is determined based on the target receiving audio.
  • Figure 1 is a schematic diagram of the hardware environment of a positioning method for smart devices according to an embodiment of the present disclosure
  • Figure 2 is a schematic flowchart of an optional smart device positioning method according to an embodiment of the present disclosure
  • Figure 3 is a schematic diagram of an optional smart device positioning method according to an embodiment of the present disclosure.
  • Figure 4 is a schematic diagram of another optional positioning method of a smart device according to an embodiment of the present disclosure.
  • Figure 5 is a schematic diagram of marking a device to be located according to an embodiment of the present disclosure
  • Figure 6 is a schematic flowchart of another optional smart device positioning method according to an embodiment of the present disclosure.
  • Figure 7 is a structural block diagram of an optional positioning device for smart devices according to an embodiment of the present disclosure.
  • FIG. 8 is a structural block diagram of an optional electronic device according to an embodiment of the present disclosure.
  • a positioning method for a smart device is provided.
  • the positioning method of this smart device is widely used in whole-house intelligent digital control application scenarios such as smart home, smart home, smart home device ecology, and smart residence (Intelligence House) ecology.
  • the above smart device positioning method can be applied to a hardware environment composed of a terminal device 102 and a server 104 as shown in FIG. 1 .
  • the server 104 is connected to the terminal device 102 through the network and can be used to provide services (such as application services, etc.) for the terminal or the client installed on the terminal.
  • a database can be set up on the server or independently from the server.
  • cloud computing and/or edge computing services can be configured on the server or independently of the server to provide data computing services for the server 104.
  • the above-mentioned network may include but is not limited to at least one of the following: wired network, wireless network.
  • the above-mentioned wired network may include but is not limited to at least one of the following: wide area network, metropolitan area network, and local area network.
  • the above-mentioned wireless network may include at least one of the following: WIFI (Wireless Fidelity, Wireless Fidelity), Bluetooth.
  • the terminal device 102 may be, but is not limited to, a PC, a mobile phone, a tablet, a smart air conditioner, a smart hood, a smart refrigerator, a smart oven, a smart stove, a smart washing machine, a smart water heater, a smart washing equipment, a smart dishwasher, or a smart projection device.
  • smart TV smart clothes drying rack, smart curtains, smart audio and video, smart sockets, smart audio, smart speakers, smart fresh air equipment, smart kitchen and bathroom equipment, smart bathroom equipment, smart sweeping robot, smart window cleaning robot, smart mopping robot, Smart air purification equipment, smart steamers, smart microwave ovens, smart kitchen appliances, smart purifiers, smart water dispensers, smart door locks, etc.
  • the positioning method of the smart device in the embodiment of the present disclosure may be executed by the server 104, may be executed by the terminal device 102, or may be executed jointly by the server 104 and the terminal device 102.
  • the terminal device 102 may also perform the smart device positioning method according to the embodiment of the present disclosure by a client installed on the terminal device 102 .
  • Figure 2 is a schematic flowchart of an optional positioning method of an intelligent device according to an embodiment of the present disclosure. As shown in Figure 2, this method The process can include the following steps:
  • Step S202 In response to a device positioning request for the device to be located, control each associated device in a group of associated devices of the device to be located to broadcast corresponding preset audio in sequence.
  • the positioning method of smart devices in this embodiment can be applied to portable smart devices (i.e., portable smart devices) for positioning.
  • portable smart devices i.e., portable smart devices
  • the portable smart devices here can be smart devices that are small in size and highly random in placement, such as mobile phones, headphones and other smart devices. In a home scene with a lot of items and a large space, users need to spend a lot of time looking for portable smart devices because the placement of portable devices is small and random.
  • the portable smart devices can be bound to the corresponding smart speakers.
  • users can use the smart speakers to let the portable smart devices play audio to help users identify them by sound.
  • Location of portable smart devices can be bound to the corresponding smart speakers.
  • the above-mentioned method of allowing the portable smart device to emit audio and for the user to identify the location of the device through the sound must require the portable smart device and the smart speaker to be of the same brand in order for linkage to occur.
  • the propagation distance of audio is limited. When the user is far away from the portable smart device, the user may not be able to hear the played audio, or the audio may not be heard due to the Weaker audio results in directional discrimination errors.
  • multiple smart devices can be bound to a specified object or an object group in which the specified object is located.
  • the multiple smart devices can be smart home devices (for example, smart home appliances), portable smart devices, or other types of smart devices.
  • their location information can be entered into the cloud.
  • the smart device that enters the location information can be large, heavy, and difficult to be Mobile smart devices can also be other smart devices specified according to user needs.
  • the location information of each smart device may include the name of the location area (for example, a room area) where it is located and the location coordinates in the location area, or it may be within a plan space layout (for example, a floor layout, multiple A layout plan in which floors are integrated into a plane.
  • the layout plan can be a kind of area map) location coordinates.
  • the location of each smart home appliance in the home scene can be saved in the cloud.
  • the smart range hood is in the kitchen
  • the smart refrigerator and smart speaker are in the living room
  • the smart washing machine is on the balcony
  • the smart water heater is in the bathroom.
  • the device location of the device to be located can be determined.
  • the device to be positioned may be a smart device that has not entered location information, a smart device that has entered location information, or other smart devices that allow device positioning.
  • the user can directly find the device to be located based on the obtained device location. There is no need for the user to identify the location of the device to be located through sound and then proceed. OK to search.
  • the server can receive a device positioning request sent by the target smart device.
  • the device positioning request here may be used to request device positioning of the device to be located, and may carry a device identification with the positioning device.
  • the device to be located can specify a portable smart device that the object is to be found.
  • the target smart device can be any smart device bound to the specified object. For example, it can be a smart device that has entered location information (for example, a smart device with a fixed location in a home scene). Home appliances), which may be portable smart devices or other smart devices that do not have location information entered. In this embodiment, there is no limit to the smart device that sends the device positioning request.
  • the device positioning request may be executed by the target smart device in response to a detected positioning triggering operation.
  • the above positioning triggering operation is used to trigger an operation of locating the device to be positioned, which may include one or a combination of multiple operations, wherein positioning
  • the triggering operation may include, but is not limited to, at least one of the following: a selection operation performed on the device identification of the device to be located displayed on the target smart device and/or a selection operation performed on the positioning button; used to indicate positioning of the device to be located. voice operation.
  • the target object is realized by clicking on the target smart device to trigger a button that searches for the function of the smart device (a function button that searches for the function of the smart device). For example, you can first perform a selection operation on the displayed device identification of the device to be located, and then perform a triggering operation on the function button to find the function of the smart device. For example, first trigger the function button to find the function of the smart device, and then trigger the function button to find the function of the smart device. Select the device ID of the device to be located from the device ID of the device.
  • a user walks up to a smart home appliance and clicks to trigger the Find Smart Device function.
  • the target object can send a positioning request voice to the target smart device to request the positioning of the device to be positioned, and the sound pickup component (for example, a microphone array) of the target smart device can collect the input positioning.
  • Request the voice transmit the positioning request voice to the server, or perform voice recognition on the request voice data, determine that the positioning request voice is used to request the positioning of the device to be located, and send the recognition result to the server.
  • the target object may be an object corresponding to the requesting user who triggered the device positioning request, that is, the specific identity information of the requesting user is determined by performing image recognition, voice recognition or other methods of identification on the requesting user, or it may be The object corresponding to the target account bound to the target smart device, that is, no matter which user triggers the device positioning request, it can be considered to be issued by the specified object.
  • the server in response to a device positioning request for the device to be located, may determine a set of associated devices of the device to be located, and control each associated device in the set of associated devices to broadcast the corresponding preset audio in sequence.
  • Each associated device here may be a smart device that has entered location information.
  • each associated device may be a smart device capable of voice broadcasting.
  • the server can control each associated device to broadcast the corresponding preset audio.
  • the preset audio here may be a preset specific audio that can be received and recognized by the device to be located.
  • the server may first determine the audio broadcast order in which a group of associated devices broadcasts the corresponding preset audio, and then, according to the audio broadcast order, sequentially control each associated device to broadcast the corresponding preset audio.
  • the preset audio corresponding to different associated devices can be the same or different.
  • the preset audio may carry device information of the associated device that plays the audio, such as the device name, so that the associated device that plays the audio can be easily determined, or the associated device corresponding to the received audio can be verified.
  • Step S204 Determine the target associated device corresponding to the target received audio received by the device to be located from a group of associated devices, where the target received audio corresponds to the preset audio broadcast by the target associated device.
  • the device to be located may receive the corresponding audio, that is, receive the audio, or may not receive the corresponding audio.
  • Each received audio received by the device to be located corresponds to a preset audio sent by an associated device.
  • the number of devices contained in a set of associated devices is greater than or equal to the number of audios contained in a set of received audios.
  • the device to be located will send the current received audio to the server, or after receiving all the received audio (no valid audio is received within the preset time period), it will send all the received audio. to the server.
  • the preset audio corresponding to each associated device may include a preset audio segment.
  • the device to be located may enter the sound source positioning mode and send the received audio to The server, alternatively, waits to receive additional audio and sends it to the server after all received audio has been received.
  • the device to be located can also send audio-related information of each received audio to the server.
  • the audio-related information can be used to determine at least one of the following information: the associated device corresponding to the receiving audio, the relative position between the device to be located and the associated device corresponding to the receiving audio, which may include but is not limited to at least one of the following: the receiving audio. time of reception, audio characteristics of the received audio, The relative position (for example, the azimuth angle) between the device to be located and the associated device corresponding to the received audio, or the server determines the audio-related information of each received audio based on the uploaded received audio.
  • the device to be located can also report only the audio-related information of each received audio, and the server determines the associated device corresponding to the receiving audio based on the audio-related information corresponding to each received audio.
  • the relationship between the device to be located and the associated device corresponding to the receiving audio is relative position, etc.
  • the server may determine an associated device corresponding to the received audio, that is, the received audio corresponds to the preset audio broadcast by the associated device.
  • the server may determine the associated device corresponding to each received audio based on the reception time of the received audio and the time at which the associated device broadcasts the corresponding preset audio.
  • the server may also perform speech recognition on each received audio and determine the associated device corresponding to the received audio. Or, compare the associated device determined based on the reception time and the associated device determined based on speech recognition. If the two are consistent, use the associated device determined in either way as the associated device corresponding to the received audio. If the two are inconsistent, In this case, record the information of recognition failure.
  • the server may determine its corresponding target associated device from a group of associated devices.
  • the target received audio can be a group of received audios, or one or more received audios selected from a group of received audios.
  • the server can select from a group of received audios in order of audio intensity from strong to weak. A predetermined number of received audios are extracted to obtain the target received audio.
  • the received audio whose audio intensity is less than a preset intensity threshold can be removed from a group of received audios to obtain the target received audio.
  • the method of determining the target associated device is similar to the above and will not be described again here.
  • Step S206 Position the device to be located based on the device position of the target associated device and the relative position of the device to be located and the target associated device, where the relative position of the target associated device and the device to be located is determined based on the target receiving audio.
  • the server may determine the relative position of the device to be located and the device associated with the target.
  • the relative position of the device associated with the target and the device to be located is determined based on the audio received by the target.
  • the device that performs the determination of the relative position may be
  • the server may also be a device to be located, and the relative position may be represented by orientation information, that is, with the target associated device as the origin, the orientation of the device to be located relative to the target associated device.
  • the server can locate the device to be located and obtain the positioning result of the device to be located.
  • target associated device The location of the device can be pre-entered, and its location is a fixed location. Based on the relative position of the device to be located and the target associated device, the device location of the device to be located can be determined.
  • the device location here can be a fixed location, a location range, or other types of locations.
  • the device position of the device to be positioned is a ray starting from the device position of the target associated device.
  • the device location of the device to be located can be a fixed location point.
  • the device location of the device to be located can be one for every two devices. Multiple location points determined by a group, or a location area determined based on the device locations of more than two associated devices. In this embodiment, there is no limitation on the method of positioning the device to be positioned.
  • the above device positioning request may also be received by the smart gateway, or the target smart device may directly generate the device positioning request.
  • the above-mentioned steps of determining the target associated device and locating the device to be positioned can also be executed by the smart gateway or the target smart device, or other feasible execution methods, which can be used in this application without any contradiction.
  • each associated device in a group of associated devices of the device to be located is controlled to broadcast the corresponding preset audio in turn;
  • the target associated device corresponding to the target receiving audio received by the target device, wherein the target receiving audio corresponds to the preset audio broadcast by the target associated device; according to the device position of the target associated device and the relative position of the device to be located and the target associated device, Locating the device to be positioned, in which the relative position of the target-related device and the device to be positioned is determined based on the audio received by the target, which solves the problem of device positioning efficiency caused by inaccurate manual sound recognition in the positioning method of smart devices in related technologies. It reduces technical problems and improves the efficiency of equipment positioning.
  • determining a target associated device corresponding to the target received audio received by the device to be located from a plurality of associated devices includes:
  • S11 associate a group of associated devices with the broadcast time of the corresponding preset audio before the reception time of the target received audio, and the smallest time interval between the broadcast time of the corresponding preset audio and the reception time of the target received audio.
  • device determined to be the target associated device; or,
  • the associated device whose audio characteristics of the corresponding preset audio match the audio characteristics of the target received audio is determined as the target associated device.
  • the server can determine the target associated device corresponding to the target received audio based on the audio reference information of the target received audio and the audio reference information of the preset audio broadcast by each associated device.
  • the audio reference information here may include But not limited to at least one of the following: reception time/broadcast time, audio characteristics.
  • the server can, based on each associated device broadcasting the broadcast time of the corresponding preset audio and the reception time of the target received audio, position the broadcast time of the corresponding preset audio before the reception time of the target received audio. , and the associated device with the smallest time interval between the broadcast time of the corresponding preset audio and the receiving time of the target received audio is determined as the target associated device.
  • the reception time of the target receiving audio may be reported by the device to be located, and the broadcast time of the corresponding preset audio broadcast by each associated device may be reported by each associated device after broadcasting the corresponding preset audio, or , or it can be the time recorded by the server that instructs each associated device to broadcast the corresponding preset audio.
  • the server can match the audio characteristics of the corresponding preset audio with the audio characteristics of the target received audio based on the audio characteristics of the preset audio broadcast by each associated device and the audio characteristics of the target received audio.
  • the associated device is determined to be the target associated device.
  • the audio characteristics here may include one or more types, and may include but are not limited to at least one of the following: frequency, amplitude, beat, zero-crossing rate, short-term energy, etc., and may also be other audio characteristics.
  • the audio features may be extracted by the server, or may be extracted and reported by the associated device and the target smart device respectively, which is not limited in this embodiment.
  • the associated device that broadcasts the audio received by the device to be located is determined, which can improve Correlate the accuracy of device determination to improve device positioning accuracy.
  • positioning the device to be located based on the device location of the target associated device and the relative position of the device to be located and the target associated device includes:
  • the relative position of the device to be positioned and the target-associated device used for positioning may include: the azimuth angle between the device to be positioned and the target-associated device.
  • the azimuth angle here can be the azimuth angle of the device to be positioned relative to the target associated device, that is, the azimuth angle with the preset axis as a reference.
  • the preset axis here can be the starting point of the target associated device and parallel to
  • the axis and azimuth angle of the preset axis (for example, the y-axis) in the above-mentioned map coordinate system may be the angle between the preset axis and a ray starting from the target associated device and pointing to the device to be located.
  • the location information of the device to be located can be determined, thereby positioning the device to be located.
  • the obtained positioning result may be the aforementioned ray, a fixed position point, multiple position points, or a position area. In this embodiment, the positioning result is not limited.
  • the accuracy of device positioning can be improved by positioning the device to be positioned based on the azimuth angle between the target associated device and the device to be positioned and the position of the target associated device.
  • positioning the device to be located based on the device position of the target associated device and the azimuth angle between the device to be located and the target associated device includes:
  • S32 Position the device to be positioned based on the device position of each of the two target devices and the azimuth angle between the device to be positioned and each target device.
  • the device positions to be located and the azimuth angle between the device to be located and each associated device can be used to locate the device to be located.
  • the above device positioning method has a complicated positioning process and is easy to locate multiple locations. Considering that positioning of the device to be located does not require a precise location, as long as the user can know the approximate location of the device to be located, the user can automatically search for the device to be located near the located location.
  • the device can be located from at least two associated devices. Two target devices are selected, and the device to be positioned is positioned based on the device position of each of the two target devices and the azimuth angle between the device to be positioned and each target device.
  • the equipment has at least one of the following characteristics: the azimuth angle is different from that of the equipment to be located, it is in the same plane area (for example, on the same floor), it is in the same space area or adjacent space area (for example, the same room) or adjacent rooms).
  • the device to be positioned can be positioned, and the device position of each target device and the azimuth angle between the device to be positioned and each target device can be sandwiched.
  • the angle is input into the device positioning model, and the positioning result of the device to be positioned outputted by the device positioning model is obtained.
  • the positioning result can also be other device positioning methods, which is not limited in this embodiment.
  • using the device positions and azimuth angles of two smart devices to locate the device to be positioned can ensure the accuracy of device positioning while improving the convenience of device positioning.
  • positioning the device to be positioned based on the device position of each of the two target devices and the azimuth angle between the device to be positioned and each target device includes:
  • the device position of the device to be positioned by taking the ray intersection position of two rays with the device position of each target device as the origin and the azimuth angle between the device to be positioned and each target device as the angle.
  • the device position of each target device is the position of each target device in the two-dimensional area map, and the two rays are the rays in the two-dimensional area map.
  • the positioning of the device to be positioned can be simplified to the operation of solving two rays in a two-dimensional space, where the two-dimensional space can be the space area where the two target devices are located. It is represented in the form of a regional map, and the device location of each target device is the position coordinate in the map coordinate system of the regional map.
  • the two target devices should be in the same plane area, for example, on the same floor or in the same room.
  • Each ray takes the device position of each target device as the origin, the device to be located and each target device.
  • the azimuth angle is the ray of angle.
  • the azimuth angle between the device to be positioned and each target device is different (the same solution cannot be positioned, so it can be discarded.
  • the device to be positioned is positioned based on the ray with the device position of each target device as the origin and the angle between the device to be positioned and the azimuth of each target device, which can simplify the positioning process and improve the convenience of positioning. , at the same time, the positioning of the device to be positioned does not require a precise location, and the above method will not affect the effect of device positioning.
  • controlling each associated device in a group of associated devices of the device to be located to broadcast the corresponding preset audio in turn includes:
  • the audio playback order of each associated device can be determined according to the regional location where the associated device is located, where the audio playback orders of associated devices located in the same area are adjacent, for example, for The smart refrigerator and smart speaker that are also located in the living room play audio in adjacent order.
  • the associated device corresponding to the received audio can be determined through the associated device corresponding to the reception time of the received audio. There is no need to combine other information. Therefore, different associated devices can broadcast the corresponding preset audio.
  • the audio playback time is set to the same, and the preset audio corresponding to different associated devices can also be the same.
  • the audio playback time of the preset audio broadcast by different associated devices can be set to be different. The audio time of the audio and the audio characteristics of the received audio determine the associated device corresponding to the received audio.
  • each associated device After determining the audio playback order of the corresponding preset audio broadcast by each associated device and the audio playback time of the corresponding preset audio broadcast by each associated device, each associated device can be controlled in turn according to the audio playback order according to the audio playback time. Play the corresponding preset audio. For example, smart appliances on each floor of a home broadcast the audio of a specific sound in turn, with each device broadcasting for about 7 seconds.
  • the broadcast order and broadcast time of the preset audio can be flexibly set according to needs, thereby improving the flexibility of device positioning.
  • the above method further includes:
  • the device location of the device to be located can be announced in the form of a voice broadcast.
  • image display can improve the convenience of information acquisition.
  • the device location of the device to be located can be displayed on the display interface on the target display device.
  • the location of the device to be located is a spatial area
  • the relative position in the space can be identified in the form of a spatial layout diagram (which can be planar or three-dimensional), and the relative position in the spatial area can also be identified.
  • the device location of the device to be positioned can be marked in the space layout diagram.
  • the plane space layout diagram here can be the layout diagram of the space area where the device to be positioned is located.
  • the device location of each associated device can be Each associated device is tagged.
  • it is a local space layout diagram only the associated devices that are in the same control area (for example, room area) as the device to be located can be marked according to the device position of the associated device.
  • the plane space layout diagram can be displayed on the target display device, for example, on the display interface of the target display device, so that the user can conveniently view the device location of the device to be positioned.
  • the target display device may be a device that triggers positioning of the device to be positioned, or it may be a predetermined display device, the device currently closest to the target object (corresponding to the user), the device closest to the device to be positioned, etc. In this embodiment, for the target The display device is not limited.
  • a family floor plan can be displayed on the smart screen (as shown in Figure 5), and the specific location of the mobile phone can be marked on the floor plan.
  • controlling the marking of the device location of the device to be positioned within the plane space layout displayed on the target display device includes:
  • the display is displayed in the same way that device tags for devices other than the target display device and the target display device are displayed.
  • the location information of the device to be located can be displayed on the target display device.
  • the device to be located may be marked at its device position, that is, the device mark of the device to be located may be displayed.
  • the equipment to be positioned can be set to be marked and displayed in a different display mode from other equipment except the equipment to be positioned and the target display device.
  • the display mode of the device mark of the device to be located and the target display device (for example, corresponding display parameters, the display parameters may include but are not limited to at least one of the following: icon, color, brightness, etc.) may be the same or different. of.
  • the device tag of the device to be located and the device tag of the target display device may be corresponding to each other.
  • the device location of the device to be located can be prompted in the form of text or other prompt information, including but not limited to floors, areas, and nearest associated devices. (It can also be the nearest object), the relative position to the nearest associated device, etc.; the aforementioned prompt information can also be broadcast in the form of voice broadcast.
  • the route display, text display, and voice broadcast can be used, or all prompt methods can be used at the same time.
  • the device to be located is a mobile phone and the associated device is a smart home appliance.
  • This optional example provides a solution for positioning smart devices based on sound source positioning in a home scenario.
  • smart home appliances By using smart home appliances to broadcast specific audio, and the device to be located receiving the audio, the relative position of the home appliance and the portable device is determined, and smart devices are realized. positioning. It is suitable for various types of portable devices and does not need to be bound to smart home appliances in advance.
  • the location of the portable device is intuitively displayed on the smart screen in a dotted manner, which can help users quickly lock the location of the portable device. Avoid users searching repeatedly between multiple layers.
  • the process of the smart device positioning method in this optional example may include the following steps:
  • Step S602 The user triggers the function of searching for smart devices.
  • the user walks to the smart appliances around him and clicks to trigger the search for smart device function.
  • Step S604 The smart home appliance broadcasts the audio of the specific sound in sequence.
  • Smart appliances on each floor of the home broadcast the audio of a specific sound in turn, with each device broadcasting for approximately 7 seconds.
  • Step S606 The mobile phone enters the sound source positioning mode.
  • the mobile phone After the mobile phone recognizes the specific audio broadcast by the smart home appliance, it enters the sound source localization mode.
  • Step S608 Determine the position of the home appliance 1 corresponding to the first specific audio piece received by the mobile phone, the mobile phone and the home appliance 1.
  • the mobile phone After the mobile phone receives the first specific audio, it determines which home appliance just broadcast the audio based on the order of the audio broadcast by the cloud device, and then determines the position of the mobile phone and home appliance 1 based on the sound source positioning technology.
  • Step S610 Determine the orientation of the home appliance 2, the mobile phone, and the home appliance 2 corresponding to the second specific audio piece received by the mobile phone.
  • the mobile phone After the mobile phone receives the second specific audio, it determines which home appliance just broadcast the audio based on the order of the audio broadcast by the cloud device, and then determines the position of the mobile phone and the home appliance 2 based on the sound source positioning technology.
  • Step S612 Calculate the room and specific location of the mobile phone.
  • the room and specific location of the mobile phone are calculated.
  • Step S614 Display the family floor plan on the home smart screen, and mark the specific location of the mobile phone on the floor plan.
  • Step S616 The user searches for the mobile phone based on the location point marked on the smart screen.
  • the relative position of the home appliance and the portable device can be determined, and the positioning of the smart device can be achieved. Since this solution can be used for any model of smart portable devices and smart home appliances, there is no need for the device and the home appliance to be of the same brand, and it does not need to be bound to the smart home appliance in advance. At the same time, the room where the target device is located can be visually displayed on the screen in the form of a picture. , helping users lock their location faster and avoiding the need for users with multiple floors in their homes to run up and down to listen to music and find devices.
  • the computer software product is stored in a storage medium (such as ROM (Read-Only Memory)/RAM (Random Access) Memory (random access memory), magnetic disk, optical disk) includes several instructions to cause a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of various embodiments of the present disclosure.
  • a storage medium such as ROM (Read-Only Memory)/RAM (Random Access) Memory (random access memory), magnetic disk, optical disk
  • a terminal device which can be a mobile phone, computer, server, or network device, etc.
  • FIG. 7 is a structural block diagram of an optional positioning device for smart devices according to an embodiment of the present disclosure. As shown in Figure 7, the device may include:
  • the first control unit 702 is configured to perform object emotion recognition on the object data to be recognized, and obtain the current object emotion of the target object, where the object data to be recognized is the object data of the target object;
  • the determination unit 704 is connected to the first control unit 702 and is configured to determine the display parameters matching the current object's emotion among a set of preset display parameters to obtain the target display parameters;
  • the positioning unit 706 is connected to the determining unit 704 and is configured to control the target virtual character corresponding to the target object to be displayed in the target virtual scene according to the target display parameters.
  • the first control unit 702 in this embodiment can be configured to perform the above step S202
  • the determining unit 704 in this embodiment can be configured to perform the above step S204
  • the positioning unit 706 in this embodiment can be configured to Execute the above step S206.
  • each associated device in a group of associated devices of the device to be located is controlled to broadcast the corresponding preset audio in turn; the audio signal received by the device to be located is determined from a group of associated devices.
  • the determining unit includes:
  • the first determination module is configured to select, in a group of associated devices, the broadcast time of the corresponding preset audio before the reception time of the target received audio, and between the broadcast time of the corresponding preset audio and the reception time of the target received audio.
  • the associated device with the smallest time interval is determined as the target associated device; or,
  • the second determination module is configured to determine, among a group of associated devices, the associated device whose audio characteristics of the corresponding preset audio match the audio characteristics of the target received audio as the target associated device.
  • the positioning unit includes:
  • the positioning module is configured to position the device to be positioned based on the device position of the target associated device and the azimuth angle between the device to be positioned and the target associated device.
  • the positioning module includes:
  • the selection submodule is configured to select two target devices from at least two associated devices when the target associated device includes at least two associated devices;
  • the positioning submodule is configured to position the device to be positioned based on the device position of each of the two target devices and the azimuth angle between the device to be positioned and each target device.
  • the positioning sub-module includes:
  • the first control unit includes:
  • the third determination module is configured to determine the audio playback order in which each associated device in a group of associated devices broadcasts the corresponding preset audio, and each associated device broadcasts the corresponding preset audio in response to a device positioning request of the device to be located. audio playback time;
  • the first control module is configured to sequentially control each associated device to play the corresponding preset audio according to the audio playback time according to the audio playback sequence.
  • the above device further includes:
  • the second control unit is configured to, after positioning the device to be positioned according to the device position of the target associated device and the relative position of the device to be positioned and the target associated device, and when the device position of the device to be positioned is located, control the position of the device to be positioned.
  • the device position of the device to be positioned is marked in the plane space layout diagram displayed on the target display device, wherein each associated device is marked according to the device position of each associated device in the plane space layout diagram.
  • the second control unit includes:
  • the second control module is configured to control the display of the device mark of the device to be located according to the device position of the device to be located in the plan space layout displayed by the target display device, wherein the device mark of the device to be located is different from the device mark in the plan space. Display the device tags of devices other than the device to be positioned and the target display device in the layout diagram.
  • the above module as part of the device, can run in the hardware environment as shown in Figure 1, and can be implemented by software or hardware, where the hardware environment includes a network environment.
  • a storage medium is also provided.
  • the above storage medium can be used to execute the program code of any of the above smart device positioning methods in the embodiment of the present disclosure.
  • the above storage medium may be located on at least one network device among multiple network devices in the network shown in the above embodiment.
  • the storage medium is configured to store program codes for performing the following steps:
  • S2 Determine the target associated device corresponding to the target received audio received by the device to be located from a group of associated devices, where the target received audio corresponds to the preset audio broadcast by the target associated device;
  • S3 Position the device to be positioned based on the device position of the target associated device and the relative position of the device to be located and the target associated device, where the relative position of the target associated device and the device to be located is determined based on the audio received by the target.
  • the above-mentioned storage medium may include but is not limited to: U disk, ROM, RAM, mobile hard disk, magnetic disk or optical disk and other various media that can store program codes.
  • an electronic device for implementing the above positioning method of an intelligent device.
  • the electronic device may be a server, a terminal, or a combination thereof.
  • Figure 8 is a structural block diagram of an optional electronic device according to an embodiment of the present disclosure. As shown in Figure 8, it includes a processor 802, a communication interface 804, a memory 806 and a communication bus 808. The processor 802, the communication interface 804 and memory 806 complete communication with each other through communication bus 808, where,
  • the processor 802 is used to implement the following steps when executing the computer program stored in the memory 806:
  • S2 Determine the target associated device corresponding to the target received audio received by the device to be located from a group of associated devices, where the target received audio corresponds to the preset audio broadcast by the target associated device;
  • S3 Position the device to be positioned based on the device position of the target associated device and the relative position of the device to be located and the target associated device, where the relative position of the target associated device and the device to be located is determined based on the audio received by the target.
  • the communication bus may be a PCI (Peripheral Component Interconnect, Peripheral Component Interconnect Standard) bus, or an EISA (Extended Industry Standard Architecture, Extended Industry Standard Architecture) bus, or the like.
  • the communication bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one thick line is used in Figure 8, but it does not mean that there is only one bus or one type of bus.
  • the communication interface is used for communication between the above-mentioned electronic device and other equipment.
  • the memory may include RAM or non-volatile memory, such as at least one disk memory.
  • the memory may also be at least one storage device located remotely from the aforementioned processor.
  • the memory 806 may include, but is not limited to, the first control unit 702, the determination unit 704 and the positioning unit 706 in the positioning device of the smart device. In addition, it may also include but is not limited to other modular units in the positioning device of the above-mentioned smart device, which will not be described again in this example.
  • the above-mentioned processor can be a general-purpose processor, which can include but is not limited to: CPU (Central Processing Unit, central processing unit), NP (Network Processor, network processor), etc.; it can also be a DSP (Digital Signal Processing, digital signal processor) ), ASIC (Application Specific Integrated Circuit, application specific integrated circuit), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • CPU Central Processing Unit, central processing unit
  • NP Network Processor, network processor
  • DSP Digital Signal Processing, digital signal processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array, field programmable gate array
  • other programmable logic devices discrete gate or transistor logic devices, discrete hardware components.
  • the device that implements the above positioning method for smart devices can be a terminal device.
  • the terminal device can be a smart phone (such as an Android phone, iOS phone, etc.), a tablet Computers, handheld computers, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal equipment.
  • FIG. 8 does not limit the structure of the above-mentioned electronic device.
  • the electronic device may also include more or fewer components (such as network interfaces, display devices, etc.) than shown in FIG. 8 , or have a different configuration than that shown in FIG. 8 .
  • the program can be stored in a computer-readable storage medium, and the storage medium can Including: flash disk, ROM, RAM, magnetic disk or optical disk, etc.
  • the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium.
  • the technical solution of the present disclosure is essentially or the part that contributes to the existing technology or the technical solution All or part of it can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium and includes a number of instructions to cause one or more computer devices (which can be personal computers, servers or network devices, etc.) to execute the software. All or part of the steps of the methods described in various embodiments are disclosed.
  • the disclosed client can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division.
  • multiple units or components may be combined or may be Integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the units or modules may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.
  • each functional unit in various embodiments of the present disclosure may be integrated into one processing unit, each unit may physically exist independently, or at least two units may be integrated into one unit.
  • the above integrated units can be implemented in the form of hardware or software functional units.

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Abstract

本公开公开了一种智能设备的定位方法、存储介质及电子装置，涉及智能家居/智慧家庭技术领域，其中，上述方法包括：响应于对待定位设备的设备定位请求，控制待定位设备的一组关联设备中的每个关联设备依次播报对应的预设音频；从一组关联设备中确定与待定位设备接收到的目标接收音频对应的目标关联设备，其中，目标接收音频与目标关联设备播报的预设音频对应；根据目标关联设备的设备位置、以及待定位设备与目标关联设备的相对位置，对待定位设备进行定位，其中，目标关联设备与待定位设备的相对位置是根据目标接收音频确定的。

Description

智能设备的定位方法、存储介质及电子装置
本公开要求于2022年8月31日提交中国专利局、申请号为202211064741.7、发明名称“智能设备的定位方法、存储介质及电子装置”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及智能家居/智慧家庭技术领域，具体而言，涉及一种智能设备的定位方法、存储介质及电子装置。
背景技术
目前，为了提高设备定位的效率，可以将手机、耳机等便携的智能设备与同品牌的智能音箱进行绑定，通过绑定的智能音箱让智能设备播放音频，实现对智能设备的定位，用户可以通过声音来辨别设备方位。然而，上述智能设备的定位方式，通过播放音频帮助用户辨别智能设备的方位，需要用户具有较强的声音辨别能力，并且，声音在传播的过程中会受到障碍物(例如，墙壁、大件家具、门等)影响，降低音频强度，会出现用户听不到播放的音频或辨错方位的情况，进而导致设备定位的效率降低。由此可见，相关技术中的智能设备的定位方式，存在由于人工辨音不准确导致的设备定位的效率低的问题。
发明内容
本公开实施例提供了一种智能设备的定位方法、存储介质及电子装置。
根据本公开实施例的一个方面，提供了一种智能设备的定位方法，包括：响应于对待定位设备的设备定位请求，控制所述待定位设备的一组关联设备中的每个关联设备依次播报对应的预设音频；从所述一组关联设备中确定与所述待定位设备接收到的目标接收音频对应的目标关联设备，其中，所述目标接收音频与所述目标关联设备播报的预设音频对应；根据所述目标关联设备的设备位置、以及所述待定位设备与所述目标关联设备的相对位置，对所述待定位设备进行定位， 其中，所述目标关联设备与所述待定位设备的相对位置是根据所述目标接收音频确定的。
根据本公开实施例的另一个方面，还提供了一种智能设备的定位装置，包括：第一控制单元，设置为响应于对待定位设备的设备定位请求，控制所述待定位设备的一组关联设备中的每个关联设备依次播报对应的预设音频；确定单元，设置为从所述一组关联设备中确定与所述待定位设备接收到的目标接收音频对应的目标关联设备，其中，所述目标接收音频与所述目标关联设备播报的预设音频对应；定位单元，设置为根据所述目标关联设备的设备位置、以及所述待定位设备与所述目标关联设备的相对位置，对所述待定位设备进行定位，其中，所述目标关联设备与所述待定位设备的相对位置是根据所述目标接收音频确定的。
根据本公开实施例的又一方面，还提供了一种计算机可读的存储介质，该计算机可读的存储介质中存储有计算机程序，其中，该计算机程序被设置为运行时执行上述智能设备的定位方法。
根据本公开实施例的又一方面，还提供了一种电子装置，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，其中，上述处理器通过计算机程序执行上述的智能设备的定位方法。
在本公开实施例中，采用基于关联设备的设备位置和关联设备与待定位设备之间的相对位置对待定位设备进行定位的方式，响应于对待定位设备的设备定位请求，控制所述待定位设备的一组关联设备中的每个关联设备依次播报对应的预设音频；从所述一组关联设备中确定与所述待定位设备接收到的目标接收音频对应的目标关联设备，其中，所述目标接收音频与所述目标关联设备播报的预设音频对应；根据所述目标关联设备的设备位置、以及所述待定位设备与所述目标关联设备的相对位置，对所述待定位设备进行定位，其中，所述目标关联设备与所述待定位设备的相对位置是根据所述目标接收音频确定的。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
为了更清楚地说明本公开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，对于本领域普通技术人员而言，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是根据本公开实施例的一种智能设备的定位方法的硬件环境示意图；
图2是根据本公开实施例的一种可选的智能设备的定位方法的流程示意图；
图3是根据本公开实施例的一种可选的智能设备的定位方法的示意图；
图4是根据本公开实施例的另一种可选的智能设备的定位方法的示意图；
图5是根据本公开实施例的标记待定位设备的示意图；
图6是根据本公开实施例的另一种可选的智能设备的定位方法的流程示意图；
图7是根据本公开实施例的一种可选的智能设备的定位装置的结构框图；
图8是根据本公开实施例的一种可选的电子装置的结构框图。
具体实施方式
为了使本技术领域的人员更好地理解本公开方案，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分的实施例，而不是全部的实施例。基于本公开中的实施例，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，都应当属于本公开保护的范围。
需要说明的是，本公开的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本公开的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
根据本公开实施例的一个方面，提供了一种智能设备的定位方法。该智能设备的定位方法广泛应用于智慧家庭(Smart Home)、智能家居、智能家用设备生态、智慧住宅(Intelligence House)生态等全屋智能数字化控制应用场景。可选地，在本实施例中，上述智能设备的定位方法可以应用于如图1所示的由终端设备102和服务器104所构成的硬件环境中。如图1所示，服务器104通过网络与终端设备102进行连接，可用于为终端或终端上安装的客户端提供服务(如应用服务等)，可在服务器上或独立于服务器设置数据库，用于为服务器104提供数据存储服务，可在服务器上或独立于服务器配置云计算和/或边缘计算服务，用于为服务器104提供数据运算服务。
上述网络可以包括但不限于以下至少之一：有线网络，无线网络。上述有线网络可以包括但不限于以下至少之一：广域网，城域网，局域网，上述无线网络可以包括但不限于以下至少之一：WIFI(Wireless Fidelity，无线保真)，蓝牙。终端设备102可以并不限定于为PC、手机、平板电脑、智能空调、智能烟机、智能冰箱、智能烤箱、智能炉灶、智能洗衣机、智能热水器、智能洗涤设备、智能洗碗机、智能投影设备、智能电视、智能晾衣架、智能窗帘、智能影音、智能插座、智能音响、智能音箱、智能新风设备、智能厨卫设备、智能卫浴设备、智能扫地机器人、智能擦窗机器人、智能拖地机器人、智能空气净化设备、智能蒸箱、智能微波炉、智能厨宝、智能净化器、智能饮水机、智能门锁等。
本公开实施例的智能设备的定位方法可以由服务器104来执行，也可以由终端设备102来执行，还可以是由服务器104和终端设备102共同执行。其中，终端设备102执行本公开实施例的智能设备的定位方法也可以是由安装在其上的客户端来执行。
以由服务器104来执行本实施例中的智能设备的定位方法为例，图2是根据本公开实施例的一种可选的智能设备的定位方法的流程示意图，如图2所示，该方法的流程可以包括以下步骤：
步骤S202，响应于对待定位设备的设备定位请求，控制待定位设备的一组关联设备中的每个关联设备依次播报对应的预设音频。
本实施例中的智能设备的定位方法可以应用到对便携智能设备(即，便携式 的智能设备)进行定位的场景中。这里的便携智能设备可以是体积较小、放置位置随机性较强的智能设备，例如，手机、耳机等智能设备。在摆放物品较多、空间较大的家庭场景中，由于便携设备的放置位置具有体积较小、随机性强的特点，为了寻找便携智能设备时，用户需要花费较多时间。
为了帮助用户快速寻找到便携智能设备，可以将便携智能设备与对应的智能音箱进行绑定，在需要寻找便携智能设备时，用户可以通过智能音箱让便携智能设备播放音频，以帮助用户通过声音辨别便携智能设备的位置。
然而，上述让便携智能设备发出音频由用户通过声音辨别设备位置的方式，必须要求便携智能设备与智能音箱为同一品牌，才能产生联动。此外，对于空间较大的多层家庭场景(比如复式格局、别墅格局)，音频的传播距离有限，当用户与便携智能设备较远时，用户可能听不到播放的音频、或者由于听到的音频较弱导致方向辨别错误。
在本实施例中，可以将多个智能设备绑定到指定对象或者指定对象所在的对象组下，多个智能设备可以智能家居设备(例如，智能家电)、便携智能设备或者其他类型的智能设备，对于其中的部分设备，可以将其位置信息(设备位置，例如，在区域地图的地图坐标系下的坐标位置)录入至云端，录入位置信息的智能设备可以是体积大、重量重、不易被移动的智能设备，也可以是其他根据用户需要指定的智能设备。每个智能设备的位置信息可以包括其所在的位置区域(例如，房间区域)的名称以及在位置区域的位置坐标，或者，是在平面空间布局图内(比如，一个楼层的布局图、多个楼层整合到一个平面内的布局图，布局图可以是一种区域地图)的位置坐标。
例如，如图3所示，在云端中可以保存家庭场景中的各个智能家电的位置，其中，智能油烟机在厨房，智能冰箱和智能音箱子在客厅，智能洗衣机在阳台，智能热水器在卫生间，智能空调在卧室1。
根据已录入的智能设备的设备位置，可以确定待定位设备的设备位置。待定位设备可以是未录入位置信息的智能设备，也可以是已录入位置信息的智能设备，还可以是其他允许进行设备定位的智能设备。用户可以根据获得的待定位设备的设备位置直接找到待定位设备，无需用户通过声音辨别待定位设备的方位然后进 行寻找。
在需要对待定位设备进行定位时，服务器可以接收目标智能设备发送的的设备定位请求。这里的设备定位请求可以用于请求对待定位设备进行设备定位，其中可以携带有带定位设备的设备标识。待定位设备可以指定对象待寻找的便携智能设备，目标智能设备可以是与指定对象绑定的任意智能设备，例如，可以是已录入位置信息的智能设备(例如，家庭场景中放置位置固定的智能家电设备)，可以是未录入位置信息的便携智能设备或者其他的智能设备，本实施例中对于发送设备定位请求的智能设备不做限定。
设备定位请求可以是目标智能设备响应于检测到的定位触发操作执行的，上述定位触发操作是用于触发对待定位设备进行定位的操作，其可以包括一种或者多种操作的组合，其中，定位触发操作可以包括包括但不限于为以下至少之一：对目标智能设备上显示的待定位设备的设备标识执行的选取操作和/或对定位按键执行的选取操作；用于指示对待定位设备进行定位的语音操作。
作为一种可选的实施方式，目标对象通过在目标智能设备上点击触发寻找智能设备功能的按键(寻找智能设备功能的功能按键)来实现的。例如，可以先对显示的待定位设备的设备标识执行选取操作，再对寻找智能设备功能的功能按键执行触发操作，又例如，先触发寻找智能设备功能的功能按键，再在显示的一组候选设备的设备标识中选取待定位设备的设备标识。
例如，用户走到身边的智能家电并点击触发寻找智能设备功能。
作为另一种可选的实施方式，目标对象可以对目标智能设备发出用于请求对待定位设备进行定位的定位请求语音，目标智能设备的拾音部件(例如，麦克风阵列)可以采集到输入的定位请求语音，将定位请求语音传输给服务器，或者，对请求语音数据进行语音识别，确定该定位请求语音用于请求对待定位设备进行定位，并将识别结果发送给服务器。
这里，目标对象可以是与触发设备定位请求的请求用户对应的对象，即，通过对该请求用户进行图像识别、语音识别或者其他方式的识别，确定出该请求用户的具体身份信息，也可以是与目标智能设备所绑定的目标账号对应的对象，即，无论是哪个用户触发了设备定位请求，均可以认为是该指定对象发出的。
在本实施例中，响应于对待定位设备的设备定位请求，服务器可以确定待定位设备的一组关联设备，并控制一组关联设备中的每个关联设备依次播报对应的预设音频。这里的每个关联设备可以均为已录入位置信息的智能设备，此外，每个关联设备均是能够进行语音播报的智能设备。根据设备定位请求，服务器可以控制每个关联设备播报对应的预设音频。这里的预设音频可以是预先设定的、能被待定位设备接收和识别的特定音频。
可选地，服务器可以首先确定一组关联设备播报对应的预设音频的音频播报顺序，然后，按照音频播报顺序，依次控制每个关联设备播报对应的预设音频。不同关联设备所对应的预设音频可以是相同的，也可以是不同的。预设音频中可以携带有播放本音频的关联设备的设备信息，例如，设备名称，从而可以方便确定播放本音频的关联设备、或者对下述的接收音频所对应的关联设备进行校验。
步骤S204，从一组关联设备中确定与待定位设备接收到的目标接收音频对应的目标关联设备，其中，目标接收音频与目标关联设备播报的预设音频对应。
在本实施例中，在每个关联设备播放完对应的预设音频之后，待定位设备可能接收到对应的音频，即，接收音频，也可能接收不到对应的音频。待定位设备接收到的每个接收音频分别对应于一个关联设备发送的预设音频。一组关联设备包含的设备数量大于或者等于一组接收音频中包含的音频数量。待定位设备在接收到每个接收音频之后，将当前的接收音频发送给服务器，或者接收完所有的接收音频(在预设时长内未再接收到任何有效音频)之后，将所有的接收音频发送给服务器。
可选地，在每个关联设备对应的预设音频可以包含预设音频段，在识别到接收音频中包含预设音频段时，待定位设备可以进入到声源定位模式，将接收音频发送给服务器，或者，等待接收其他的音频，并在接收完所有的接收音频之后发送给服务器。
需要说明的是，除了接收音频以外，待定位设备还可以将每个接收音频的音频相关信息发送给服务器。音频相关信息可以用于确定以下至少之一的信息：接收音频对应的关联设备，待定位设备与接收音频对应的关联设备之间的相对位置，可以包括但不限于以下至少之一：接收音频的接收时间，接收音频的音频特征， 待定位设备与接收音频对应的关联设备之间的相对位置(例如，方位夹角)，或者，由服务器基于上传的接收音频，确定每个接收音频的音频相关信息。此外，待定位设备也可以仅上报每个接收音频的音频相关信息，由服务器基于每个接收音频对应的音频相关信息确定接收音频对应的关联设备，待定位设备与接收音频对应的关联设备之间的相对位置等。
对于每个接收音频，服务器可以确定与该接收音频对应的关联设备，即，接收音频与该关联设备播报的预设音频对应。服务器可以根据接收音频的接收时间以及关联设备播报对应的预设音频的时间，确定与每个接收音频对应的关联设备。服务器也可以对每个接收音频进行语音识别，确定与该接收音频对应的关联设备。或者，比对基于接收时间确定的关联设备和基于语音识别确定的关联设备，在两者一致的情况下，将任一方式确定的关联设备作为该接收音频对应的关联设备，在两者不一致的情况下，记录识别失败的信息。
对于目标接收音频，服务器可以从一组关联设备中确定与其对应的目标关联设备。目标接收音频可以是一组接收音频，也可以是从一组接收音频中选取出的一个或多个接收音频，例如，服务器可以从一组接收音频中按照音频强度由强到弱的顺序依次选取出预定数量的接收音频，得到目标接收音频，又例如，可以从一组接收音频中移除音频强度小于预设强度阈值的接收音频，得到目标接收音频。确定目标关联设备的方式与前述类似，在此不做赘述。
步骤S206，根据目标关联设备的设备位置、以及待定位设备与目标关联设备的相对位置，对待定位设备进行定位，其中，目标关联设备与待定位设备的相对位置是根据目标接收音频确定的。
在确定目标关联设备之后，服务器可以确定待定位设备与目标关联设备的相对位置，这里，目标关联设备与待定位设备的相对位置是根据目标接收音频确定的，执行确定上述相对位置的设备可以是服务器，也可以是待定位设备，上述相对位置可以是通过方位信息进行表示的，即，以目标关联设备为原点，待定位设备相对于目标关联设备的方位。
根据目标关联设备的设备位置、以及待定位设备与目标关联设备的相对位置，服务器可以对待定位设备进行定位，得到待定位设备的定位结果。目标关联设备 的设备位置可以是预先录入的，其位置是一个固定位置，基于待定位设备与目标关联设备的相对位置，可以确定出待定位设备的设备位置。
这里的设备位置可以是一个固定的位置，也可以是一个位置范围，还可以是其他类型的位置。例如，在目标关联设备仅为一个关联设备，且相对位置为方向夹角时，待定位设备的设备位置是以目标关联设备的设备位置为起点的一条射线，又例如，在目标关联设备包含两个关联设备时，待定位设备的设备位置可以为一个固定的位置点，再例如，在目标关联设备包含多于两个关联设备时，待定位设备的设备位置可以为由每两个设备为一组所确定的多个位置点，或者，基于多于两个关联设备的设备位置所确定出了一个位置区域。本实施例中对于对待定位设备进行定位的方式不做限定。
可选地，对于关联设备之间允许进行直接交互或者通过网关等设备进行交互的场景，也可以由智能网关接收到上述设备定位请求，或者，目标智能设备直接生成设备定位请求。对应地，上述确定目标关联设备、以及对待定位设备进行定位的步骤也可以是由智能网关或者目标智能设备执行的，还可以是其他可行的执行方式，在不矛盾的情况下，均可用于本实施例。
通过上述步骤S202至步骤S206，响应于对待定位设备的设备定位请求，控制待定位设备的一组关联设备中的每个关联设备依次播报对应的预设音频；从一组关联设备中确定与待定位设备接收到的目标接收音频对应的目标关联设备，其中，目标接收音频与目标关联设备播报的预设音频对应；根据目标关联设备的设备位置、以及待定位设备与目标关联设备的相对位置，对待定位设备进行定位，其中，目标关联设备与待定位设备的相对位置是根据目标接收音频确定的，解决了相关技术中的智能设备的定位方式存在由于人工辨音不准确导致的设备定位的效率低的技术问题，提高了设备定位的效率。
在一个示例性实施例中，从多个关联设备中确定与待定位设备接收到的目标接收音频对应的目标关联设备，包括：
S11，将一组关联设备中，对应的预设音频的播报时间位于目标接收音频的接收时间之前、且对应的预设音频的播报时间与目标接收音频的接收时间之间的时间间隔最小的关联设备，确定为目标关联设备；或者，
S12，将一组关联设备中，对应的预设音频的音频特征与目标接收音频的音频特征匹配的关联设备，确定为目标关联设备。
在本实施例中，服务器可以基于目标接收音频的音频参考信息和每个关联设备播报的预设音频的音频参考信息，确定出与目标接收音频对应的目标关联设备，这里的音频参考信息可以包括但不限于以下至少之一：接收时间/播报时间，音频特征。
作为一种可选的实施方式，服务器可以基于每个关联设备播报对应的预设音频的播报时间以及目标接收音频的接收时间，将对应的预设音频的播报时间位于目标接收音频的接收时间之前、且对应的预设音频的播报时间与目标接收音频的接收时间之间的时间间隔最小的关联设备，确定为目标关联设备。
目标接收音频的接收时间可以是由待定位设备上报的，而每个关联设备播报对对应的预设音频的播报时间可以是由每个关联设备在在播报对应的预设音频之后上报的，或者，也可以是服务器记录的、指示每个关联设备播报对应的预设音频的时间。
作为一种可选的实施方式，服务器可以基于每个关联设备播报的预设音频的音频特征以及目标接收音频的音频特征，将对应的预设音频的音频特征与目标接收音频的音频特征匹配的关联设备，确定为目标关联设备。这里的音频特征可以包括一种或多种，可以包括但不限于以下至少之一：频率，振幅，节拍，过零率，短时能量等，还可以是其他的音频特征。音频特征可以是由服务器提取的，也可以是由关联设备和目标智能设备分别进行提取并上报的，本实施例中对此不作限定。
通过本实施例，基于预设音频的播报时间和接收音频的接收时间、或者预设音频的音频特征和接收音频的音频特征，确定出播报待定位设备所接收到的音频的关联设备，可以提高关联设备确定的准确度，从而提升设备定位的准确性。
在一个示例性实施例中，根据目标关联设备的设备位置、以及待定位设备与目标关联设备的相对位置，对待定位设备进行定位，包括：
S21，根据目标关联设备的设备位置、以及待定位设备与目标关联设备的方 位夹角，对待定位设备进行定位。
在本实施例中，待定位设备进行定位所使用的待定位设备与目标关联设备的相对位置可以包括：待定位设备与目标关联设备的方位夹角。这里的方位夹角可以是待定位设备相对于目标关联设备的方位夹角，即，以预设轴为参考的方位夹角，这里的预设轴可以是以目标关联设备为起点、且平行于上述地图坐标系中的预设轴(例如，y轴)的轴，方位夹角可以是预设轴与以目标关联设备为起点、且指向待定位设备的射线之间的夹角。
根据目标关联设备的设备位置、以及待定位设备与目标关联设备的方位夹角，可以确定待定位设备的位置信息，从而对待定位设备进行定位。得到的定位结果可以是前述的一条射线、一个固定的位置点、多个位置点、或者一个位置区域，本实施例中对于定位结果不做限定。
通过本实施例，通过目标关联设备与待定位设备的方位夹角以及目标关联设备的位置，对待定位设备进行定位，可以提升设备定位的准确性。
在一个示例性实施例中，根据目标关联设备的设备位置、以及待定位设备与目标关联设备的方位夹角，对待定位设备进行定位，包括：
S31，在目标关联设备包含至少两个关联设备的情况下，从至少两个关联设备中选取出两个目标设备；
S32，根据两个目标设备中的每个目标设备的设备位置和待定位设备与每个目标设备的方位夹角，对待定位设备进行定位。
如果目标关联设备包含至少两个关联设备，可以使用至少两个关联设备的设备位置以及待定位设备与每个关联设备的方位夹角对待定位设备进行定位。然而，上述设备定位方式，定位过程复杂，且容易定位到多个位置。考虑到待定位设备定位无需一个精准位置，只要能够让用户知晓待定位设备的大致位置，用户可以自动在定位到的位置附近寻找待定位设备，在本实施例中，可以从至少两个关联设备中选取出两个目标设备，并基于两个目标设备中的每个目标设备的设备位置和待定位设备与每个目标设备的方位夹角，对待定位设备进行定位。
在进行目标设备筛选时，可以首先对至少两个关联设备执行筛选操作，移除 至少两个关联设备中，对应的接收音频的音频强度低于预设强度阈值的关联设备，得到更新后的至少两个关联设备。如果执行筛选操作之后，更新后的至少两个关联设备包含的设备数量大于两个，则可以从更新后的至少两个关联设备选取出两个关联设备作为两个目标设备，选取的两个目标设备具备以下至少之一的特征：与待定位设备的方位夹角不同，处于相同的平面区域内(例如，处于相同的楼层)，处于相同的空间区域或者相邻的空间区域(例如，相同房间或者相邻房间)。
根据每个目标设备的设备位置和待定位设备与每个目标设备的方位夹角，可以对待定位设备进行定位，可以将每个目标设备的设备位置和待定位设备与每个目标设备的方位夹角输入到设备定位模型中，并获取设备定位模型输出的待定位设备的定位结果。或者，也可以根据每个目标设备的设备位置和待定位设备与每个目标设备的方位夹角调用目标API(Application Programming Interface，应用程序接口)，从而得到通过该目标API返回的待定位设备的定位结果，还可以是其他的设备定位方式，本实施例中对此不做限定。
通过本实施例，在使用两个智能设备的设备位置和方位夹角对待定位设备进行定位，可以在保证设备定位的准确性的同时，提高设备定位的便捷性。
在一个示例性实施例中，根据两个目标设备中的每个目标设备的设备位置和待定位设备与每个目标设备的方位夹角，对待定位设备进行定位，包括：
S41，将以每个目标设备的设备位置为原点、以待定位设备与每个目标设备的方位夹角为角度的两条射线的射线交点位置，确定为待定位设备的设备位置，其中，每个目标设备的设备位置是每个目标设备在二维区域地图内的位置，两条射线为二维区域地图内的射线。
可选地，在对待定位设备进行定位时，可以将待定位设备的定位简化为二维空间内求解两条射线的操作，其中，二维空间可以是两个目标设备所在的空间区域，可以通过区域地图的形式进行表示，每个目标设备的设备位置是在区域地图的地图坐标系中的位置坐标。这里，两个目标设备应当是处于同一平面区域的，例如，处于同一楼层或者同一房间内的，每条射线分别是以每个目标设备的设备位置为原点、以待定位设备与每个目标设备的方位夹角为角度的射线。由于待定位设备与每个目标设备的方位夹角不相同(相同的方案由于无法定位，可以舍弃， 重新选择目标设备，或者，在选择目标设备时，选择两个方位夹角不同的目标设备)，因此，两条射线相交于一点，两条射线的射线交点位置，即为待定位设备的设备位置。
例如，如图4所示，可以以家电1为起点，向手机与家电1方位夹角做一条射线。再以家电2为起点，向手机与家电2方位夹角做一条射线。根据家电1、家电2的坐标，以及两个夹角，可以计算手机的坐标，并根据手机坐标，识别手机所在的房间。
通过本实施例，基于以每个目标设备的设备位置为原点、以待定位设备与每个目标设备的方位夹角为角度的射线对待定位设备进行定位，可以简化定位过程，提高定位的便捷性，同时，待定位设备定位也无需一个精准位置，通过上述方式并不会影响设备定位的效果。
在一个示例性实施例中，响应于对待定位设备的设备定位请求，控制待定位设备的一组关联设备中的每个关联设备依次播报对应的预设音频，包括：
S51，响应于对待定位设备的设备定位请求，确定一组关联设备中的每个关联设备播报对应的预设音频的音频播放顺序、以及每个关联设备播报对应的预设音频的音频播放时间；
S52，按照音频播放顺序依次控制每个关联设备按照音频播放时间播放对应的预设音频。
为了避免不同关联设备在同时发送对应的预设音频时，由于音频混合导致无法准确确定待定位设备与关联设备的相对位置，以及无法准确区分接收音频所对应的关联设备，在本实施例中，可以设定一组关联设备中的每个关联设备播报对应的预设音频的音频播放顺序、以及每个关联设备播报对应的预设音频的音频播放时间，不同关联设备播报对应的音频数据的音频播放时间没有重叠。
可选地，为了方便进行设备定位，可以按照关联设备所在的区域位置，确定所述每个关联设备的音频播放顺序，其中，位于相同区域内的关联设备的音频播放顺序相邻，例如，对于同样位于客厅中的智能冰箱和智能音箱，两者播放音频的顺序是相邻的。
基于音频播放顺序，可以通过接收音频的接收时间所对应的关联设备，确定出接收音频所对应的关联设备，可以不需要在结合其他的信息，因此，可以将不同关联设备播报对应的预设音频的音频播放时间设置为相同，不同关联设备播报对应的预设音频也可以是相同的。为了进一步提高设备定位的准确性，可以将不同关联设备播报对应的预设音频的音频播放时间设置为均不相同，可以将不同关联设备播报的预设音频设置为均不相同，从而可以基于接收音频的音频时间和接收音频的音频特征确定出接收音频所对应的关联设备。
在确定出每个关联设备播报对应的预设音频的音频播放顺序、以及每个关联设备播报对应的预设音频的音频播放时间之后，可以按照音频播放顺序依次控制每个关联设备按照音频播放时间播放对应的预设音频。比如，家庭中每层的智能家电依次播报特定声音的音频，每个设备播报大约7秒。
通过本实施例，通过确定关联设备播报对应的预设音频的播报顺序及播报时间，可以根据需要对预设音频的播报顺序及播报时间进行灵活设置，提高设备定位的灵活性。
在一个示例性实施例中，在根据目标关联设备的设备位置、以及待定位设备与目标关联设备的相对位置，对待定位设备进行定位之后，上述方法还包括：
S61，在定位到待定位设备的设备位置的情况下，控制在目标显示设备上显示的平面空间布局图内标记出待定位设备的设备位置，其中，在平面空间布局图内按照每个关联设备的设备位置标记有每个关联设备。
在对待定位设备进行定位之后，如果可以定位到待定位设备的设备位置，可以将待定位设备的设备位置通过语音播报的形式进行播报。考虑到设备位置是一个空间的概念，通过图像显示可以提高信息获取的便捷性，在本实施例中，可以在目标显示设备上的显示界面上显示出待定位设备的设备位置。
可选地，待定位设备本身所处的位置是一个空间区域，可以通过空间布局图(可以是平面的，也可以是三维的)的形式标识空间内的相对位置，还可以标识空间区域内的物体位置、物体类型等。例如，可以在空间布局图内标记出待定位设备的设备位置，这里的平面空间布局图可以是待定位设备所在的空间区域的布局图，在该布局图内可以按照每个关联设备的设备位置标记有每个关联设备。可 选地，如果是一个局部空间布局图，也可以仅按照关联设备的设备位置标记出与待定位设备处于相同控件区域(例如，房间区域)的关联设备。该平面空间布局图可以显示在目标显示设备上，例如，目标显示设备的显示界面上，从而可以方便用户查看待定位设备的设备位置。
目标显示设备可以是触发对待定位设备进行定位的设备，也可以是预定的显示设备，当前距离目标对象(对应于用户)最近的设备，距离待定位设备最近的设备等，本实施例中对于目标显示设备不做限定。
例如，在确定出手机的位置坐标之后，可以在智能屏上展示家庭户型图(如图5所示)，并在户型图上标记出手机所在的具体位置。
通过本实施例，通过在显示设备上显示的空间布局图内标记出待定位设备的设备位置，可以方便用户查看待定位设备的设备位置，提高信息获取的便捷性和准确性。
在一个示例性实施例中，控制在目标显示设备上显示的平面空间布局图内标记出待定位设备的设备位置，包括：
S71，控制在目标显示设备所显示的平面空间布局图内，按照待定位设备的设备位置显示待定位设备的设备标记，其中，待定位设备的设备标记以有别于平面空间布局图中除了待定位设备和目标显示设备以外的其他设备的设备标记的显示方式进行显示。
为了方便用户更加快速地确定待定位设备的设备位置，可以在目标显示设备上显示待定位设备的位置信息。可选地，可以在目标显示设备所显示的平面空间布局图内，在待定位设备的设备位置对待定位设备进行标记，即，显示待定位设备的设备标记。为了区别于平面空间布局图内的其他设备标记，可以设置待定位设备进行标记以与除了待定位设备和目标显示设备以外的其他设备不同的显示方式进行显示。而待定位设备与目标显示设备的设备标记的显示方式(比如，对应的显示参数，显示参数可以包括但不限于以下至少之一：图标，颜色，亮度等)可以是相同的，也可以是不同的。
可选地，可以根据待定位设备的设备标记和目标显示设备的设备标记中的相 对位置，以及平面空间布局图内的区域信息(包括区域内的物品信息、楼层信息等)，从耗时最少或行动最方便等角度规划出从目标显示设备的设备标记至待定位设备的设备标记的至少一条移动路线，并将规划的至少一条移动路线显示在平面空间布局图内。
可选地，在目标显示设备所显示的平面空间布局图内，可以以文字的形式或者其他提示信息的形式，提示待定位设备的设备位置，包括但不限于楼层、区域、最邻近的关联设备(也可以是最邻近的物体)、与最邻近的关联设备的相对位置等；也可以以语音播报的方式对前述提示信息进行播报。可选地，路线显示、文字展示、语音播报可以仅采用其中一个或两个，也可以同时采用所有的提示方式。
通过本实施例，通过在显示设备上显示的空间布局图内以与其他设备不同的设备标记，标记出待定位设备的设备位置，可以方便用户快速定位出待定位设备的设备位置，提高信息获取的便捷性和准确性。
下面结合可选示例对本公开实施例中的智能设备的定位方法进行解释说明。在本可选示例中，待定位设备为手机，关联设备为智能家电。
本可选示例中提供了一种家庭场景下基于声源定位的智能设备定位的方案，通过智能家电播报特定音频，待定位设备接收音频的方式，确定家电与便携设备的相对位置，实现智能设备的定位。适用于各种类型的便携设备，且不需要与智能家电提前绑定，同时，将便携设备的位置以打点的方式直观的展现在智慧屏幕上，可帮助用户快速锁定便携设备的位置的同时，避免用户在多层之间反复寻找。
如图6所示，本可选示例中的智能设备的定位方法的流程可以包括以下步骤：
步骤S602，用户触发寻找智能设备功能。
用户走到身边的智能家电并点击触发寻找智能设备功能。
步骤S604，智能家电依次播报特定声音的音频。
家庭中每层的智能家电依次播报特定声音的音频，每个设备播报大约7秒。
步骤S606，手机进入声源定位模式。
手机识别出智能家电播报的特定音频后，进入声源定位模式。
步骤S608，确定与手机接收到的第一条特定音频对应的家电1、手机与家电1的方位。
手机接收到第一条特定音频后，根据云端设备播报音频的顺序，判断刚刚是哪个家电播报的音频，然后根据声源定位技术，判别手机与家电1的方位。
步骤S610，确定与手机接收到的第二条特定音频对应的家电2、手机与家电2的方位。
手机接收到第二条特定音频后，根据云端设备播报音频的顺序，判断刚刚是哪个家电播报的音频，然后根据声源定位技术，判别手机与该家电2的方位。
步骤S612，计算手机所在的房间及具体位置。
根据手机接收到的两条音频的定位结果，计算手机所在的房间及具体位置。
步骤S614，在家庭智能屏上展示家庭户型图，并在户型图上标记出手机所在的具体位置。
步骤S616，用户根据智能屏上标记出的位置点去寻找手机。
通过本可选示例，根据待定位设备接收智能家电播报的特定音频，可以确定家电与便携设备的相对位置，实现智能设备的定位。由于该方案可用于任意型号的智能便携设备和智能家电，无需设备与家电是相同品牌，且不需要与智能家电提前绑定，同时，可以用图的方式在屏幕上直观展示出目标设备所在房间，帮助用户更快锁定位置，避免家里有多层的用户需要跑上跑下自己来听音找设备。
需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本公开并不受所描述的动作顺序的限制，因为依据本公开，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于可选实施例，所涉及的动作和模块并不一定是本公开所必须的。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到根据上述实施例的方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本公开的技术方 案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM(Read-Only Memory，只读存储器)/RAM(Random Access Memory，随机存取存储器)、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本公开各个实施例的方法。
根据本公开实施例的另一个方面，还提供了一种用于实施上述智能设备的定位方法的智能设备的定位装置。图7是根据本公开实施例的一种可选的智能设备的定位装置的结构框图，如图7所示，该装置可以包括：
第一控制单元702，设置为对待识别对象数据进行对象情绪识别，得到目标对象的当前对象情绪，其中，待识别对象数据为目标对象的对象数据；
确定单元704，与第一控制单元702相连，设置为确定一组预设显示参数中与当前对象情绪匹配的显示参数，得到目标显示参数；
定位单元706，与确定单元704相连，设置为按照目标显示参数控制与目标对象对应的目标虚拟角色在目标虚拟场景中显示。
需要说明的是，该实施例中的第一控制单元702可以设置为执行上述步骤S202，该实施例中的确定单元704可以设置为执行上述步骤S204，该实施例中的定位单元706可以设置为执行上述步骤S206。
通过上述模块，响应于对待定位设备的设备定位请求，控制待定位设备的一组关联设备中的每个关联设备依次播报对应的预设音频；从一组关联设备中确定与待定位设备接收到的目标接收音频对应的目标关联设备，其中，目标接收音频与目标关联设备播报的预设音频对应；根据目标关联设备的设备位置、以及待定位设备与目标关联设备的相对位置，对待定位设备进行定位，其中，目标关联设备与待定位设备的相对位置是根据目标接收音频确定的，解决了相关技术中的智能设备的定位方式存在由于人工辨音不准确导致的设备定位的效率低的问题，提高了设备定位的效率。
在一个示例性实施例中，确定单元包括：
第一确定模块，设置为将一组关联设备中，对应的预设音频的播报时间位于目标接收音频的接收时间之前、且对应的预设音频的播报时间与目标接收音频的接收时间之间的时间间隔最小的关联设备，确定为目标关联设备；或者，
第二确定模块，设置为将一组关联设备中，对应的预设音频的音频特征与目标接收音频的音频特征匹配的关联设备，确定为目标关联设备。
在一个示例性实施例中，定位单元包括：
定位模块，设置为根据目标关联设备的设备位置、以及待定位设备与目标关联设备的方位夹角，对待定位设备进行定位。
在一个示例性实施例中，定位模块包括：
选取子模块，设置为在目标关联设备包含至少两个关联设备的情况下，从至少两个关联设备中选取出两个目标设备；
定位子模块，设置为根据两个目标设备中的每个目标设备的设备位置和待定位设备与每个目标设备的方位夹角，对待定位设备进行定位。
在一个示例性实施例中，定位子模块包括：
确定子单元，设置为将以每个目标设备的设备位置为原点、以待定位设备与每个目标设备的方位夹角为角度的两条射线的射线交点位置，确定为待定位设备的设备位置，其中，每个目标设备的设备位置是每个目标设备在二维区域地图内的位置，两条射线为二维区域地图内的射线。
在一个示例性实施例中，第一控制单元包括：
第三确定模块，设置为响应于对待定位设备的设备定位请求，确定一组关联设备中的每个关联设备播报对应的预设音频的音频播放顺序、以及每个关联设备播报对应的预设音频的音频播放时间；
第一控制模块，设置为按照音频播放顺序依次控制每个关联设备按照音频播放时间播放对应的预设音频。
在一个示例性实施例中，上述装置还包括：
第二控制单元，设置为在根据目标关联设备的设备位置、以及待定位设备与目标关联设备的相对位置，对待定位设备进行定位之后，在定位到待定位设备的设备位置的情况下，控制在目标显示设备上显示的平面空间布局图内标记出待定位设备的设备位置，其中，在平面空间布局图内按照每个关联设备的设备位置标记有每个关联设备。
在一个示例性实施例中，第二控制单元包括：
第二控制模块，设置为控制在目标显示设备所显示的平面空间布局图内，按照待定位设备的设备位置显示待定位设备的设备标记，其中，待定位设备的设备标记以有别于平面空间布局图中除了待定位设备和目标显示设备以外的其他设备的设备标记的显示方式进行显示。
此处需要说明的是，上述模块与对应的步骤所实现的示例和应用场景相同，但不限于上述实施例所公开的内容。需要说明的是，上述模块作为装置的一部分可以运行在如图1所示的硬件环境中，可以通过软件实现，也可以通过硬件实现，其中，硬件环境包括网络环境。
根据本公开实施例的又一个方面，还提供了一种存储介质。可选地，在本实施例中，上述存储介质可以用于执行本公开实施例中上述任一项智能设备的定位方法的程序代码。
可选地，在本实施例中，上述存储介质可以位于上述实施例所示的网络中的多个网络设备中的至少一个网络设备上。
可选地，在本实施例中，存储介质被设置为存储用于执行以下步骤的程序代码：
S1，响应于对待定位设备的设备定位请求，控制待定位设备的一组关联设备中的每个关联设备依次播报对应的预设音频；
S2，从一组关联设备中确定与待定位设备接收到的目标接收音频对应的目标关联设备，其中，目标接收音频与目标关联设备播报的预设音频对应；
S3，根据目标关联设备的设备位置、以及待定位设备与目标关联设备的相对位置，对待定位设备进行定位，其中，目标关联设备与待定位设备的相对位置是根据目标接收音频确定的。
可选地，本实施例中的具体示例可以参考上述实施例中所描述的示例，本实施例中对此不再赘述。
可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、ROM、RAM、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
根据本公开实施例的又一个方面，还提供了一种用于实施上述智能设备的定位方法的电子装置，该电子装置可以是服务器、终端、或者其组合。
图8是根据本公开实施例的一种可选的电子装置的结构框图，如图8所示，包括处理器802、通信接口804、存储器806和通信总线808，其中，处理器802、通信接口804和存储器806通过通信总线808完成相互间的通信，其中，
存储器806，用于存储计算机程序；
处理器802，用于执行存储器806上所存放的计算机程序时，实现如下步骤：
S1，响应于对待定位设备的设备定位请求，控制待定位设备的一组关联设备中的每个关联设备依次播报对应的预设音频；
S2，从一组关联设备中确定与待定位设备接收到的目标接收音频对应的目标关联设备，其中，目标接收音频与目标关联设备播报的预设音频对应；
S3，根据目标关联设备的设备位置、以及待定位设备与目标关联设备的相对位置，对待定位设备进行定位，其中，目标关联设备与待定位设备的相对位置是根据目标接收音频确定的。
可选地，通信总线可以是PCI(Peripheral Component Interconnect，外设部件互连标准)总线、或EISA(Extended Industry Standard Architecture，扩展工业标准结构)总线等。该通信总线可以分为地址总线、数据总线、控制总线等。为便于表示，图8中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。 通信接口用于上述电子装置与其他设备之间的通信。
存储器可以包括RAM，也可以包括非易失性存储器(non-volatile memory)，例如，至少一个磁盘存储器。可选地，存储器还可以是至少一个位于远离前述处理器的存储装置。
作为一种示例，上述存储器806中可以但不限于包括上述智能设备的定位装置中的第一控制单元702、确定单元704和定位单元706。此外，还可以包括但不限于上述智能设备的定位装置中的其他模块单元，本示例中不再赘述。
上述处理器可以是通用处理器，可以包含但不限于：CPU(Central Processing Unit，中央处理器)、NP(Network Processor，网络处理器)等；还可以是DSP(Digital Signal Processing，数字信号处理器)、ASIC(Application Specific Integrated Circuit，专用集成电路)、FPGA(Field-Programmable Gate Array，现场可编程门阵列)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。
可选地，本实施例中的具体示例可以参考上述实施例中所描述的示例，本实施例在此不再赘述。
本领域普通技术人员可以理解，图8所示的结构仅为示意，实施上述智能设备的定位方法的设备可以是终端设备，该终端设备可以是智能手机(如Android手机、iOS手机等)、平板电脑、掌上电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。图8其并不对上述电子装置的结构造成限定。例如，电子装置还可包括比图8中所示更多或者更少的组件(如网络接口、显示装置等)，或者具有与图8所示的不同的配置。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令终端设备相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、ROM、RAM、磁盘或光盘等。
上述本公开实施例序号仅仅为了描述，不代表实施例的优劣。
上述实施例中的集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在上述计算机可读取的存储介质中。基于这样的理解，本公开的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案 的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在存储介质中，包括若干指令用以使得一台或多台计算机设备(可为个人计算机、服务器或者网络设备等)执行本公开各个实施例所述方法的全部或部分步骤。
在本公开的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本公开所提供的几个实施例中，应该理解到，所揭露的客户端，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例中所提供的方案的目的。
另外，在本公开各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以至少两个单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
以上所述仅是本公开的可选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本公开的保护范围。

Claims (18)

  1. 一种智能设备的定位方法，包括：
    响应于对待定位设备的设备定位请求，控制所述待定位设备的一组关联设备中的每个关联设备依次播报对应的预设音频；
    从所述一组关联设备中确定与所述待定位设备接收到的目标接收音频对应的目标关联设备，其中，所述目标接收音频与所述目标关联设备播报的预设音频对应；
    根据所述目标关联设备的设备位置、以及所述待定位设备与所述目标关联设备的相对位置，对所述待定位设备进行定位，其中，所述目标关联设备与所述待定位设备的相对位置是根据所述目标接收音频确定的。
  2. 根据权利要求1所述的方法，其中，所述从所述多个关联设备中确定与所述待定位设备接收到的目标接收音频对应的目标关联设备，包括：
    将所述一组关联设备中，对应的预设音频的播报时间位于所述目标接收音频的接收时间之前、且对应的预设音频的播报时间与所述目标接收音频的接收时间之间的时间间隔最小的关联设备，确定为所述目标关联设备；或者，
    将所述一组关联设备中，对应的预设音频的音频特征与所述目标接收音频的音频特征匹配的关联设备，确定为所述目标关联设备。
  3. 根据权利要求1所述的方法，其中，所述根据所述目标关联设备的设备位置、以及所述待定位设备与所述目标关联设备的相对位置，对所述待定位设备进行定位，包括：
    根据所述目标关联设备的设备位置、以及所述待定位设备与所述目标关联设备的方位夹角，对所述待定位设备进行定位。
  4. 根据权利要求3所述的方法，其中，所述根据所述目标关联设备的设备位置、以及所述待定位设备与所述目标关联设备的方位夹角，对所述待定位设备进行定位，包括：
    在所述目标关联设备包含至少两个关联设备的情况下，从所述至少两个关联设备中选取出两个目标设备；
    根据所述两个目标设备中的每个目标设备的设备位置和所述待定位设备与所述每个目标设备的方位夹角，对所述待定位设备进行定位。
  5. 根据权利要求4所述的方法，其中，所述根据所述两个目标设备中的每个目标设备的设备位置和所述待定位设备与所述每个目标设备的方位夹角，对所述待定位设备进行定位，包括：
    将以所述每个目标设备的设备位置为原点、以所述待定位设备与所述每个目标设备的方位夹角为角度的两条射线的射线交点位置，确定为所述待定位设备的设备位置，其中，所述每个目标设备的设备位置是所述每个目标设备在二维区域地图内的位置，所述两条射线为所述二维区域地图内的射线。
  6. 根据权利要求1所述的方法，其中，所述响应于对待定位设备的设备定位请求，控制所述待定位设备的一组关联设备中的每个关联设备依次播报对应的预设音频，包括：
    响应于对所述待定位设备的所述设备定位请求，确定所述一组关联设备中的所述每个关联设备播报对应的预设音频的音频播放顺序、以及所述每个关联设备播报对应的预设音频的音频播放时间；
    按照所述音频播放顺序依次控制所述每个关联设备按照所述音频播放时间播放对应的预设音频。
  7. 根据权利要求1至6中任一项所述的方法，其中，在所述根据所述目标关联设备的设备位置、以及所述待定位设备与所述目标关联设备的相对位置，对所述待定位设备进行定位之后，所述方法还包括：
    在定位到所述待定位设备的设备位置的情况下，控制在目标显示设备上显示的平面空间布局图内标记出所述待定位设备的设备位置，其中，在所述平面空间布局图内按照所述每个关联设备的设备位置标记有所述每个关联设备。
  8. 根据权利要求7所述的方法，其中，所述控制在目标显示设备上显示的平面空间布局图内标记出所述待定位设备的设备位置，包括：
    控制在所述目标显示设备所显示的所述平面空间布局图内，按照所述待定位设备的设备位置显示所述待定位设备的设备标记，其中，所述待定位设备的设备标记以有别于所述平面空间布局图中除了所述待定位设备和所述目标显 示设备以外的其他设备的设备标记的显示方式进行显示。
  9. 一种智能设备的定位装置，包括：
    第一控制单元，设置为响应于对待定位设备的设备定位请求，控制所述待定位设备的一组关联设备中的每个关联设备依次播报对应的预设音频；
    确定单元，设置为从所述一组关联设备中确定与所述待定位设备接收到的目标接收音频对应的目标关联设备，其中，所述目标接收音频与所述目标关联设备播报的预设音频对应；
    定位单元，设置为根据所述目标关联设备的设备位置、以及所述待定位设备与所述目标关联设备的相对位置，对所述待定位设备进行定位，其中，所述目标关联设备与所述待定位设备的相对位置是根据所述目标接收音频确定的。
  10. 根据权利要求9所述的装置，其中，所述确定单元包括：
    第一确定模块，设置为将所述一组关联设备中，对应的预设音频的播报时间位于所述目标接收音频的接收时间之前、且对应的预设音频的播报时间与所述目标接收音频的接收时间之间的时间间隔最小的关联设备，确定为所述目标关联设备；或者，
    第二确定模块，设置为将所述一组关联设备中，对应的预设音频的音频特征与所述目标接收音频的音频特征匹配的关联设备，确定为所述目标关联设备。
  11. 根据权利要求9所述的装置，其中，所述定位单元包括：
    定位模块，设置为根据所述目标关联设备的设备位置、以及所述待定位设备与所述目标关联设备的方位夹角，对所述待定位设备进行定位。
  12. 根据权利要求11所述的装置，其中，所述定位模块包括：
    选取子模块，设置为在所述目标关联设备包含至少两个关联设备的情况下，从所述至少两个关联设备中选取出两个目标设备；
    定位子模块，设置为根据所述两个目标设备中的每个目标设备的设备位置和所述待定位设备与所述每个目标设备的方位夹角，对所述待定位设备进行定位。
  13. 根据权利要求12所述的装置，其中，所述定位子模块包括：
    确定子单元，设置为将以所述每个目标设备的设备位置为原点、以所述待定位设备与所述每个目标设备的方位夹角为角度的两条射线的射线交点位置，确定为所述待定位设备的设备位置，其中，所述每个目标设备的设备位置是所述每个目标设备在二维区域地图内的位置，所述两条射线为所述二维区域地图内的射线。
  14. 根据权利要求9所述的装置，其中，所述第一控制单元包括：
    第三确定模块，设置为响应于对所述待定位设备的所述设备定位请求，确定所述一组关联设备中的所述每个关联设备播报对应的预设音频的音频播放顺序、以及所述每个关联设备播报对应的预设音频的音频播放时间；
    第一控制模块，设置为按照所述音频播放顺序依次控制所述每个关联设备按照所述音频播放时间播放对应的预设音频。
  15. 根据权利要求9至14中任一项所述的装置，其中，所述装置还包括：
    第二控制单元，设置为在所述根据所述目标关联设备的设备位置、以及所述待定位设备与所述目标关联设备的相对位置，对所述待定位设备进行定位之后，在定位到所述待定位设备的设备位置的情况下，控制在目标显示设备上显示的平面空间布局图内标记出所述待定位设备的设备位置，其中，在所述平面空间布局图内按照所述每个关联设备的设备位置标记有所述每个关联设备。
  16. 根据权利要求15所述的装置，其中，所述第二控制单元包括：
    第二控制模块，设置为控制在所述目标显示设备所显示的所述平面空间布局图内，按照所述待定位设备的设备位置显示所述待定位设备的设备标记，其中，所述待定位设备的设备标记以有别于所述平面空间布局图中除了所述待定位设备和所述目标显示设备以外的其他设备的设备标记的显示方式进行显示。
  17. 一种计算机可读的存储介质，所述计算机可读的存储介质包括存储的程序，其中，所述程序运行时执行权利要求1至8中任一项所述的方法。
  18. 一种电子装置，包括存储器和处理器，所述存储器中存储有计算机程序，所述处理器被设置为通过所述计算机程序执行权利要求1至8中任一项所述的方法。
PCT/CN2023/085681 2022-08-31 2023-03-31 智能设备的定位方法、存储介质及电子装置 Ceased WO2024045604A1 (zh)

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