CN108810800A - The localization method of smart machine, control device and smart machine in indoor environment - Google Patents

Abstract

The present invention provides a positioning method, a control device, and an intelligent device for an intelligent device in an indoor environment. The method includes: obtaining relative distance information of three reference devices in the indoor environment; To characterize the distance of each of the reference devices relative to at least one other reference device; according to the relative distance information of the three reference devices, a two-dimensional coordinate system is determined, and the three reference devices are in the two The position in the three-dimensional coordinate system; receiving the target distance information sent by the smart device, the target distance information is used to characterize the distance of the smart device relative to each of the reference devices; according to the target distance information, and the three The position of a reference device in the two-dimensional coordinate system is used to determine the position of the smart device in the two-dimensional coordinate system. The invention realizes triangular positioning through three reference devices, which can effectively reduce the cost.

Description

Positioning method of intelligent equipment in indoor environment, control equipment and intelligent equipment

technical field

The invention relates to the field of smart devices, in particular to a positioning method for smart devices in an indoor environment, a control device and the smart device.

Background technique

A smart device can be understood as a device that has a processor and a memory, and then can complete data processing functions. Some smart devices may also have a communication module, and then can interact with other devices.

In the existing related technologies, in order to locate the smart device in the indoor environment, it is usually necessary to use the smart device to move in the indoor environment, so as to build a map of the indoor environment during the movement. Determine the location of the smart device on the map.

However, the existing positioning process requires the installation of sensors, which is costly.

Contents of the invention

The invention provides a positioning method for intelligent equipment in an indoor environment, control equipment and intelligent equipment to solve the problem that sensors need to be installed in the existing positioning process and the cost is high.

According to the first aspect of the present invention, a positioning method for smart devices in an indoor environment is provided, including:

Acquiring relative distance information of three reference devices in the indoor environment; the relative distance information is used to characterize the distance of each of the reference devices relative to at least one other reference device;

determining a two-dimensional coordinate system and positions of the three reference devices in the two-dimensional coordinate system according to the relative distance information of the three reference devices;

receiving target distance information sent by the smart device, where the target distance information is used to characterize the distance of the smart device relative to each of the reference devices;

Determine the position of the smart device in the two-dimensional coordinate system according to the target distance information and the positions of the three reference devices in the two-dimensional coordinate system.

Optionally, the target distance information is determined according to the sending time, receiving time and receiving strength of the ranging reference signal sent from the reference device to the smart device.

Optionally, the determining a two-dimensional coordinate system according to the relative distance information of the three reference devices, and the positions of the three reference devices in the two-dimensional coordinate system include:

determining relative positions of the three reference devices to each other according to the relative distance information of the three reference devices;

The two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system are determined according to the relative positions of the three reference devices.

Optionally, the three reference devices include a first reference device, a second reference device, and a third reference device; the relative distance information includes a first distance representing the first reference device and the second reference device the first distance information representing the second distance between the second reference device and the third reference device, and the second distance information representing the third distance between the first reference device and the third reference device third distance information;

Before the acquiring the relative distance information of the three reference devices in the indoor environment, it also includes:

controlling the first reference device to send a first reference signal to the second reference device, so that the second reference device determines the first distance information, and send the first distance information to the control device;

controlling the second reference device to send a second reference signal to the third reference device, so that the third reference device determines the second distance information, and send the second distance information to the control device;

controlling the third reference device to send a third reference signal to the first reference device, so that the first reference device determines the third reference signal according to the sending time, receiving time and receiving strength of the third reference device distance information, and send the third distance information to the control device.

According to the second aspect of the present invention, a positioning method for smart devices in an indoor environment is provided, which is applied to smart devices, including:

sending a positioning request to three reference devices in the indoor environment, or sending a positioning request to a control device, so that the control device sends the positioning request to the three reference devices;

receiving ranging reference signals sent by the three reference devices; the ranging reference signals include information on the sending time of the ranging reference signals;

According to the sending time information, the receiving time of the ranging reference signal and the receiving strength of the ranging reference signal, determine the target distance information; the target distance information is used to characterize the relative distance of the smart device to each the distance from the reference device;

sending the target distance information to the control device, so that the control device determines the position of the smart device in the two-dimensional coordinate system according to the target distance information and the positions of the three reference devices in the two-dimensional coordinate system. position in the two-dimensional coordinate system; the two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system are determined by the control device according to the relative distance information of the three reference devices, and the relative The distance information is used to characterize the distance of each reference device relative to at least one other reference device.

According to a third aspect of the present invention, a control device is provided, comprising:

A relative distance information acquisition module, configured to acquire relative distance information of three reference devices in the indoor environment; the relative distance information is used to characterize the distance of each of the reference devices relative to at least one other reference device;

A coordinate system determining module, configured to determine a two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system according to the relative distance information of the three reference devices;

A target distance information receiving module, configured to receive target distance information sent by the smart device, where the target distance information is used to represent the distance of the smart device relative to each of the reference devices;

The smart device position determination module is configured to determine the position of the smart device in the two-dimensional coordinate system according to the target distance information and the positions of the three reference devices in the two-dimensional coordinate system.

Optionally, the target distance information is determined according to the sending time, receiving time and receiving strength of the ranging reference signal sent by the reference device to the smart device.

Optionally, the coordinate system determining module is specifically used for:

determining relative positions of the three reference devices to each other according to the relative distance information of the three reference devices;

The two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system are determined according to the relative positions of the three reference devices.

Optionally, the three reference devices include a first reference device, a second reference device, and a third reference device; the relative distance information includes a first distance representing the first reference device and the second reference device the first distance information representing the second distance between the second reference device and the third reference device, and the second distance information representing the third distance between the first reference device and the third reference device third distance information;

The control device also includes:

A first control module, configured to control the first reference device to send a first reference signal to the second reference device, so that the second reference device transmits a first reference signal according to the sending time, receiving time and receiving time of the first reference signal Intensity, determining the first distance information, and sending the first distance information to the control device;

A second control module, configured to control the second reference device to send a second reference signal to the third reference device, so that the third reference device can transmit the second reference signal according to the sending time, receiving time and receiving time of the second reference signal Intensity, determining the second distance information, and sending the second distance information to the control device;

A third control module, configured to control the third reference device to send a third reference signal to the first reference device, so that the first reference device can transmit the third reference signal according to the sending time, receiving time and receiving time of the third reference device. intensity, determining the first distance information, and sending the third distance information to the control device.

According to a fourth aspect of the present invention, a smart device is provided, including:

A positioning request sending module, configured to send a positioning request to three reference devices in the indoor environment, or send a positioning request to a control device, so that the control device sends the positioning request to the three reference devices;

The ranging reference signal receiving module is configured to receive the ranging reference signal sent by the three reference devices; the ranging reference signal includes information on the sending time of the ranging reference signal;

A target distance information determining module, configured to determine target distance information according to the sending time information, the receiving time of the ranging reference signal and the receiving strength of the ranging reference signal; the target distance information is used to represent the the distance of the smart device relative to each of the reference devices;

a target distance information sending module, configured to send the target distance information to a control device, so that the control device determines the The position of the smart device in the two-dimensional coordinate system; the two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system are the relative positions of the control device according to the three reference devices Determined by the distance information, the relative distance information is used to characterize the distance of each of the reference devices relative to at least one other reference device.

The positioning method, control device and smart device in the indoor environment provided by the present invention obtain the relative distance information of three reference devices in the indoor environment; the relative distance information is used to characterize each of the reference devices The distance relative to at least one other reference device; according to the relative distance information of the three reference devices, a two-dimensional coordinate system is determined, and the positions of the three reference devices in the two-dimensional coordinate system are The positioning description of the smart device provides a basis; the present invention also receives the target distance information sent by the smart device, and the target distance information is used to characterize the distance of the smart device relative to each of the reference devices; and according to the target The distance information, and the positions of the three reference devices in the two-dimensional coordinate system determine the position of the smart device in the two-dimensional coordinate system, thereby realizing the positioning of the smart device in the two-dimensional coordinate system. The present invention utilizes the relationship between distance and position to realize triangular positioning through three reference devices, and the whole process does not require the participation of complex sensors, which can effectively reduce costs.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is a schematic flowchart of a positioning method for a smart device in an indoor environment based on a control device in an embodiment of the present invention;

FIG. 2 is a schematic flow diagram of a method for positioning a smart device in an indoor environment based on a control device in another embodiment of the present invention;

Fig. 3 is a schematic flow chart of step S25 in an embodiment of the present invention;

4 is a schematic flowchart of a positioning method for a smart device in an indoor environment based on the smart device in an embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a control device in an embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a control device in another embodiment of the present invention;

Fig. 7 is a schematic structural diagram of a smart device in an embodiment of the present invention;

Fig. 8 is a schematic structural diagram of an electronic device in an embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above drawings are used to distinguish similar objects and not necessarily Describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

The technical solution of the present invention will be described in detail below with specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

Fig. 1 is a schematic flowchart of a method for locating a smart device in an indoor environment based on a control device in an embodiment of the present invention.

Please refer to Figure 1, the positioning method of smart devices in an indoor environment based on control devices, including:

S11: Acquire relative distance information of three reference devices in the indoor environment.

The relative distance information can be understood as being used to characterize the distance of each of the reference devices relative to at least one other reference device; it can be seen that for three reference devices, there can be at least three relative distance information, any information that can characterize the distance, All without departing from the above description.

The reference device can be understood as any three devices in the indoor environment, and the reference device can provide a basis for the positioning of the smart device.

Control devices and reference devices can be networked to form the Internet of Things. Specifically, the Mesh networking technology can be used to connect the control device and the reference device together. Furthermore, smart devices that need positioning can also be connected to the network.

S12: Determine a two-dimensional coordinate system and positions of the three reference devices in the two-dimensional coordinate system according to the relative distance information of the three reference devices.

The two-dimensional coordinate system can be understood as any coordinate system used to characterize the position of each device. Specifically, the positions of the three reference devices, or any position relatively fixed to the position of the reference devices, can be used as the origin of the two-dimensional coordinate system to determine a coordinate that can be used to describe the two-dimensional position of the indoor environment Tie.

S13: Receive target distance information sent by the smart device.

The target distance information may be understood as being used to characterize the distance of the smart device relative to each of the reference devices. It can be seen that, for the three reference devices, there may be at least three target distance information, and any information that can represent the distance does not deviate from the above description.

S14: Determine the position of the smart device in the two-dimensional coordinate system according to the target distance information and the positions of the three reference devices in the two-dimensional coordinate system.

At the same time, the smart device after positioning can also be used as a reference device for positioning other smart devices, and by repeating the above steps S11 to S14, the positioning of various devices can be finally completed based on the three reference devices.

The positioning method for smart devices in an indoor environment based on control devices provided in this embodiment obtains the relative distance information of three reference devices in the indoor environment; the relative distance information is used to represent the relative distance between each of the reference devices. The distance from at least one other reference device; according to the relative distance information of the three reference devices, determine a two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system, which is intelligent The positioning description of the device provides a basis; the present invention also receives the target distance information sent by the smart device, and the target distance information is used to characterize the distance of the smart device relative to each of the reference devices; and according to the target distance information, and the positions of the three reference devices in the two-dimensional coordinate system, determine the position of the smart device in the two-dimensional coordinate system, and realize the positioning of the smart device in the two-dimensional coordinate system. The present invention utilizes the relationship between distance and position to realize triangular positioning through three reference devices, and the whole process does not require the participation of complex sensors, which can effectively reduce costs.

Fig. 2 is a schematic flowchart of a method for locating a smart device in an indoor environment based on a control device in another embodiment of the present invention.

Please refer to Figure 2, the positioning method of smart devices in an indoor environment based on control devices, including:

S24: Acquire relative distance information of the three reference devices in the indoor environment.

The relative distance information can be understood as being used to characterize the distance of each of the reference devices relative to at least one other reference device; it can be seen that for three reference devices, there can be at least three relative distance information, any information that can characterize the distance, All without departing from the above description.

The reference device can be understood as any three devices in the indoor environment, and the reference device can provide a basis for the positioning of the smart device.

Control devices and reference devices can be networked to form the Internet of Things. Specifically, the Mesh networking technology can be used to connect the control device and the reference device together. Furthermore, smart devices that need positioning can also be connected to the network.

The three reference devices include a first reference device, a second reference device, and a third reference device; the relative distance information includes a first distance representing a first distance between the first reference device and the second reference device information, second distance information representing a second distance between the second reference device and the third reference device, and third distance information representing a third distance between the first reference device and the third reference device .

Before step S24, may include:

S21: Control the first reference device to send a first reference signal to the second reference device, so that the second reference device determines the first distance information, and send the first distance information to the control device.

The first reference signal can be understood as a signal sent by the first reference device to the second reference device, which may include information describing the sending time of the first reference signal and information about the identity of the first reference device, and further, the second After receiving it, the reference device can calculate the distance according to the sending time, receiving time and receiving intensity of the first reference signal to obtain the first distance information, and at the same time, according to the identification of the first reference device, determine that the first distance information describes the first The distance between a reference device and a second reference device.

S22: Control the second reference device to send a second reference signal to the third reference device, so that the third reference device determines the second distance information, and send the second distance information to the control device.

The function and content of the second reference signal can be understood with reference to the first reference signal.

S23: Control the third reference device to send a third reference signal to the first reference device, so that the first reference device determines the third distance information, and send the third distance information to the control device.

The function and content of the third reference signal can be understood with reference to the first reference signal.

In addition, the process of calculating the first distance information, the second distance information and the third distance information is not limited to the above description, for example: in order to calculate the first distance information, the second reference device may also send a signal to the first reference device, and then The logic of calculating the first distance information according to the signal is similar to the above process.

At the same time, if there are two relative distance information representing the same two reference devices, for example, for the first reference device and the second reference device, the first reference device determines a first distance information according to the signal sent by the second reference device, and the second The reference device determines the first distance information according to the signal sent by the first reference device, and may also perform statistical calculation on the two first distance information, for example, take an average value, and then use the average value as the final first distance information.

S25: Determine a two-dimensional coordinate system and positions of the three reference devices in the two-dimensional coordinate system according to the relative distance information of the three reference devices.

The two-dimensional coordinate system can be understood as any coordinate system used to characterize the position of each device. Specifically, the positions of the three reference devices, or any position relatively fixed to the position of the reference devices, can be used as the origin of the two-dimensional coordinate system to determine a coordinate that can be used to describe the two-dimensional position of the indoor environment Tie.

Fig. 3 is a schematic flowchart of step S25 in an embodiment of the present invention.

Please refer to FIG. 3, step S25 may include:

S251: Determine relative positions of the three reference devices according to the relative distance information of the three reference devices.

The above process can be realized based on the natural law of two-dimensional geometry, and the calculation is based on the relationship between distance and position.

S252: Determine the two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system according to the relative positions of the three reference devices.

S26: Receive target distance information sent by the smart device.

The target distance information may be understood as being used to characterize the distance of the smart device relative to each of the reference devices. It can be seen that, for the three reference devices, there may be at least three target distance information, and any information that can represent the distance does not deviate from the above description.

In one of the implementation manners, the target distance information is determined according to the sending time, receiving time and receiving strength of the ranging reference signal sent by the reference device to the smart device. The calculation logic of target distance information can be understood with reference to the calculation logic of relative distance information.

S27: Determine the position of the smart device in the two-dimensional coordinate system according to the target distance information and the positions of the three reference devices in the two-dimensional coordinate system.

At the same time, the smart device after positioning can also be used as a reference device for positioning other smart devices, and by repeating the above steps S11 to S14, the positioning of various devices can be finally completed based on the three reference devices.

The positioning method for smart devices in an indoor environment based on control devices provided in this embodiment obtains the relative distance information of three reference devices in the indoor environment; the relative distance information is used to represent the relative distance between each of the reference devices. The distance from at least one other reference device; according to the relative distance information of the three reference devices, determine a two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system, which is intelligent The positioning description of the device provides a basis; the present invention also receives the target distance information sent by the smart device, and the target distance information is used to characterize the distance of the smart device relative to each of the reference devices; and according to the target distance information, and the positions of the three reference devices in the two-dimensional coordinate system, determine the position of the smart device in the two-dimensional coordinate system, and realize the positioning of the smart device in the two-dimensional coordinate system. The present invention utilizes the relationship between distance and position to realize triangular positioning through three reference devices, and the whole process does not require the participation of complex sensors, which can effectively reduce costs.

Fig. 4 is a schematic flowchart of a method for locating a smart device in an indoor environment based on the smart device according to an embodiment of the present invention.

Please refer to Figure 4, the positioning method of smart devices in an indoor environment based on smart devices, including:

S31: Send a positioning request to three reference devices in the indoor environment, or send a positioning request to a control device, so that the control device sends the positioning request to the three reference devices.

The positioning request can be understood as being used to trigger the reference device to send a ranging reference signal, and broadcast information to inform it that it needs to perform positioning. Specifically, it may include identification information of the smart device, and the identification information may be, for example, a name, an address, and the like. Through the identification information, the reference device can send a ranging reference signal to the smart device in a targeted manner.

S32: Receive ranging reference signals sent by the three reference devices.

The ranging reference signal may be understood as a signal used to implement ranging between the reference device and the smart device, and may specifically include information about the sending time of the ranging reference signal.

S33: Determine target distance information according to the sending time information, the receiving time of the ranging reference signal, and the receiving strength of the ranging reference signal.

The target distance information may be understood as being used to characterize the distance of the smart device relative to each of the reference devices. For details, reference may be made to the description of the target distance information in the foregoing embodiments.

S34: Send the target distance information to the control device, so that the control device determines the position of the smart device in the two-dimensional coordinate system according to the target distance information and the positions of the three reference devices in the two-dimensional coordinate system. position in the dimensional coordinate system.

The two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system are determined by the control device according to relative distance information of the three reference devices.

The relative distance information is used to characterize the distance of each of the reference devices relative to at least one other reference device.

The positioning method for smart devices in an indoor environment based on smart devices provided in this embodiment obtains the relative distance information of three reference devices in the indoor environment; the relative distance information is used to represent the relative distance between each of the reference devices. The distance from at least one other reference device; according to the relative distance information of the three reference devices, determine a two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system, which is intelligent The positioning description of the device provides a basis; the present invention also receives the target distance information sent by the smart device, and the target distance information is used to characterize the distance of the smart device relative to each of the reference devices; and according to the target distance information, and the positions of the three reference devices in the two-dimensional coordinate system, determine the position of the smart device in the two-dimensional coordinate system, and realize the positioning of the smart device in the two-dimensional coordinate system. The present invention utilizes the relationship between distance and position to realize triangular positioning through three reference devices, and the whole process does not require the participation of complex sensors, which can effectively reduce costs.

Fig. 5 is a schematic structural diagram of a control device in an embodiment of the present invention.

Please refer to FIG. 5, the control device 400 includes:

The relative distance information obtaining module 401 is configured to obtain relative distance information of three reference devices in the indoor environment; the relative distance information is used to characterize the distance of each reference device relative to at least one other reference device.

The coordinate system determining module 402 is configured to determine a two-dimensional coordinate system and positions of the three reference devices in the two-dimensional coordinate system according to the relative distance information of the three reference devices.

The target distance information receiving module 403 is configured to receive target distance information sent by the smart device, and the target distance information is used to represent the distance of the smart device relative to each of the reference devices.

The smart device position determination module 404 is configured to determine the position of the smart device in the two-dimensional coordinate system according to the target distance information and the positions of the three reference devices in the two-dimensional coordinate system.

The control device provided in this embodiment obtains relative distance information of three reference devices in the indoor environment; the relative distance information is used to characterize the distance of each reference device relative to at least one other reference device; according to The relative distance information of the three reference devices determines a two-dimensional coordinate system, and the positions of the three reference devices in the two-dimensional coordinate system provide a basis for the positioning description of the smart device; the present invention Also by receiving the target distance information sent by the smart device, the target distance information is used to characterize the distance of the smart device relative to each of the reference devices; and according to the target distance information, and the three reference devices at The position in the two-dimensional coordinate system determines the position of the smart device in the two-dimensional coordinate system, realizing the positioning of the smart device in the two-dimensional coordinate system. The present invention utilizes the relationship between distance and position to realize triangular positioning through three reference devices, and the whole process does not require the participation of complex sensors, which can effectively reduce costs.

Fig. 6 is a schematic structural diagram of a control device in another embodiment of the present invention.

Please refer to FIG. 6, the control device 500 includes:

The relative distance information obtaining module 504 is configured to obtain relative distance information of three reference devices in the indoor environment; the relative distance information is used to characterize the distance of each reference device relative to at least one other reference device.

The coordinate system determining module 505 is configured to determine a two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system according to the relative distance information of the three reference devices.

The target distance information receiving module 506 is configured to receive target distance information sent by the smart device, and the target distance information is used to characterize the distance of the smart device relative to each of the reference devices.

The smart device position determination module 507 is configured to determine the position of the smart device in the two-dimensional coordinate system according to the target distance information and the positions of the three reference devices in the two-dimensional coordinate system.

Optionally, the target distance information is determined according to the sending time, receiving time and receiving strength of the ranging reference signal sent by the reference device to the smart device.

Optionally, the coordinate system determining module 505 is specifically used for:

determining relative positions of the three reference devices to each other according to the relative distance information of the three reference devices;

The two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system are determined according to the relative positions of the three reference devices.

Optionally, the three reference devices include a first reference device, a second reference device, and a third reference device; the relative distance information includes a first distance representing the first reference device and the second reference device the first distance information representing the second distance between the second reference device and the third reference device, and the second distance information representing the third distance between the first reference device and the third reference device Third distance information.

The control device 500 also includes:

The first control module 501 is configured to control the first reference device to send a first reference signal to the second reference device, so that the second reference device transmits the first reference signal according to the sending time, receiving time and receiving strength, determining the first distance information, and sending the first distance information to the control device.

The second control module 502 is configured to control the second reference device to send a second reference signal to the third reference device, so that the third reference device transmits the second reference signal according to the sending time, receiving time and receiving strength, determining the second distance information, and sending the second distance information to the control device.

The third control module 503 is configured to control the third reference device to send a third reference signal to the first reference device, so that the first reference device transmits a third reference signal according to the sending time, receiving time and receiving strength, determining the first distance information, and sending the third distance information to the control device.

The control device provided in this embodiment obtains relative distance information of three reference devices in the indoor environment; the relative distance information is used to characterize the distance of each reference device relative to at least one other reference device; according to The relative distance information of the three reference devices determines a two-dimensional coordinate system, and the positions of the three reference devices in the two-dimensional coordinate system provide a basis for the positioning description of the smart device; the present invention Also by receiving the target distance information sent by the smart device, the target distance information is used to characterize the distance of the smart device relative to each of the reference devices; and according to the target distance information, and the three reference devices at The position in the two-dimensional coordinate system determines the position of the smart device in the two-dimensional coordinate system, realizing the positioning of the smart device in the two-dimensional coordinate system. The present invention utilizes the relationship between distance and position to realize triangular positioning through three reference devices, and the whole process does not require the participation of complex sensors, which can effectively reduce costs.

Fig. 7 is a schematic structural diagram of a smart device in an embodiment of the present invention.

Please refer to FIG. 7, the smart device 600 includes:

A positioning request sending module 601, configured to send a positioning request to three reference devices in the indoor environment, or send a positioning request to a control device, so that the control device sends the positioning request to the three reference devices .

The ranging reference signal receiving module 602 is configured to receive the ranging reference signal sent by the three reference devices; the ranging reference signal includes information about the sending time of the ranging reference signal.

The target distance information determining module 603 is configured to determine target distance information according to the sending time information, the receiving time of the ranging reference signal and the receiving strength of the ranging reference signal; the target distance information is used to represent The distance of the smart device relative to each of the reference devices.

A target distance information sending module 604, configured to send the target distance information to the control device, so that the control device determines the target distance information according to the target distance information and the positions of the three reference devices in the two-dimensional coordinate system. The position of the smart device in the two-dimensional coordinate system; the two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system are the positions of the control device according to the three reference devices Determined by relative distance information, where the relative distance information is used to characterize the distance of each of the reference devices relative to at least one other reference device.

The smart device provided in this embodiment obtains relative distance information of three reference devices in the indoor environment; the relative distance information is used to characterize the distance of each reference device relative to at least one other reference device; according to The relative distance information of the three reference devices determines a two-dimensional coordinate system, and the positions of the three reference devices in the two-dimensional coordinate system provide a basis for the positioning description of the smart device; the present invention Also by receiving the target distance information sent by the smart device, the target distance information is used to characterize the distance of the smart device relative to each of the reference devices; and according to the target distance information, and the three reference devices at The position in the two-dimensional coordinate system determines the position of the smart device in the two-dimensional coordinate system, realizing the positioning of the smart device in the two-dimensional coordinate system. The present invention utilizes the relationship between distance and position to realize triangular positioning through three reference devices, and the whole process does not require the participation of complex sensors, which can effectively reduce costs.

Fig. 8 is a schematic structural diagram of an electronic device in an embodiment of the present invention.

Please refer to FIG. 8 , this embodiment also provides an electronic device 70 including: a processor 71 and a memory 72; wherein:

The memory 72 is used to store computer programs, and the memory can also be flash (flash memory).

The processor 71 is configured to execute the execution instructions stored in the memory, so as to implement each step in the above method. For details, refer to the related descriptions in the foregoing method embodiments.

Optionally, the memory 72 can be independent or integrated with the processor 71 .

When the memory 72 is a device independent of the processor 71, the electronic device 70 may also include:

The bus 73 is used to connect the memory 72 and the processor 71 .

This embodiment also provides a readable storage medium, and a computer program is stored in the readable storage medium. When at least one processor of the electronic device executes the computer program, electronically executes the methods provided in the above various implementation manners.

This embodiment also provides a program product, where the program product includes a computer program, and the computer program is stored in a readable storage medium. At least one processor of the electronic device may read the computer program from a readable storage medium, and the at least one processor executes the computer program so that the electronic device implements the methods provided in the foregoing various implementations.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by program instructions and related hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by program instructions and related hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (10)

1. A positioning method for an intelligent device in an indoor environment, applied to a control device, characterized in that it comprises: Acquiring relative distance information of three reference devices in the indoor environment; the relative distance information is used to characterize the distance of each of the reference devices relative to at least one other reference device; determining a two-dimensional coordinate system and positions of the three reference devices in the two-dimensional coordinate system according to the relative distance information of the three reference devices; receiving target distance information sent by the smart device, where the target distance information is used to characterize the distance of the smart device relative to each of the reference devices; Determine the position of the smart device in the two-dimensional coordinate system according to the target distance information and the positions of the three reference devices in the two-dimensional coordinate system. 2. The method according to claim 1, wherein the target distance information is determined according to the sending time, receiving time and receiving strength of the ranging reference signal sent by the reference device to the smart device. 3. The method according to claim 1, wherein a two-dimensional coordinate system is determined according to the relative distance information of the three reference devices, and the three reference devices are in the two-dimensional A position in a coordinate system, including: determining relative positions of the three reference devices to each other according to the relative distance information of the three reference devices; The two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system are determined according to the relative positions of the three reference devices. 4. The method according to any one of claims 1 to 3, wherein the three reference devices include a first reference device, a second reference device and a third reference device; the relative distance information includes First distance information representing a first distance between the first reference device and the second reference device, second distance information representing a second distance between the second reference device and the third reference device, and representing the third distance information of a third distance between the first reference device and the third reference device; Before the acquiring the relative distance information of the three reference devices in the indoor environment, it also includes: controlling the first reference device to send a first reference signal to the second reference device, so that the second reference device determines the first distance information, and send the first distance information to the control device; controlling the second reference device to send a second reference signal to the third reference device, so that the third reference device determines the second distance information, and send the second distance information to the control device; controlling the third reference device to send a third reference signal to the first reference device, so that the first reference device determines the first distance information, and send the third distance information to the control device. 5. A positioning method for smart devices in an indoor environment, applied to smart devices, characterized in that it comprises: sending a positioning request to three reference devices in the indoor environment, or sending a positioning request to a control device, so that the control device sends the positioning request to the three reference devices; receiving ranging reference signals sent by the three reference devices; the ranging reference signals include information on the sending time of the ranging reference signals; According to the sending time information, the receiving time of the ranging reference signal and the receiving strength of the ranging reference signal, determine the target distance information; the target distance information is used to characterize the relative distance of the smart device to each the distance from the reference device; sending the target distance information to the control device, so that the control device determines the position of the smart device in the two-dimensional coordinate system according to the target distance information and the positions of the three reference devices in the two-dimensional coordinate system. position in the two-dimensional coordinate system; the two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system are determined by the control device according to the relative distance information of the three reference devices, and the relative The distance information is used to characterize the distance of each reference device relative to at least one other reference device. 6. A control device, characterized in that it comprises: The relative distance information acquisition module includes: acquiring relative distance information of three reference devices in the indoor environment; the relative distance information is used to characterize the distance of each of the reference devices relative to at least one other reference device; A coordinate system determining module, configured to determine a two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system according to the relative distance information of the three reference devices; A target distance information receiving module, configured to receive target distance information sent by the smart device, where the target distance information is used to represent the distance of the smart device relative to each of the reference devices; The smart device position determination module is configured to determine the position of the smart device in the two-dimensional coordinate system according to the target distance information and the positions of the three reference devices in the two-dimensional coordinate system. 7. The control device according to claim 6, wherein the target distance information is determined according to the sending time, receiving time and receiving strength of the ranging reference signal sent by the reference device to the smart device. 8. The control device according to claim 6, wherein the coordinate system determination module is specifically used for: determining relative positions of the three reference devices to each other according to the relative distance information of the three reference devices; The two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system are determined according to the relative positions of the three reference devices. 9. The control device according to any one of claims 6-8, wherein the three reference devices include a first reference device, a second reference device and a third reference device; the relative distance information includes first distance information representing a first distance between the first reference device and the second reference device, second distance information representing a second distance between the second reference device and the third reference device, and representing the second distance between the second reference device and the third reference device. third distance information of a third distance between the first reference device and the third reference device; The control device also includes: A first control module, configured to control the first reference device to send a first reference signal to the second reference device, so that the second reference device transmits a first reference signal according to the sending time, receiving time and receiving time of the first reference signal Intensity, determining the first distance information, and sending the first distance information to the control device; A second control module, configured to control the second reference device to send a second reference signal to the third reference device, so that the third reference device can transmit the second reference signal according to the sending time, receiving time and receiving time of the second reference signal Intensity, determining the second distance information, and sending the second distance information to the control device; A third control module, configured to control the third reference device to send a third reference signal to the first reference device, so that the first reference device can transmit the third reference signal according to the sending time, receiving time and receiving time of the third reference device. intensity, determining the first distance information, and sending the third distance information to the control device. 10. A smart device, characterized in that, comprising: A positioning request sending module, configured to send a positioning request to three reference devices in the indoor environment, or send a positioning request to a control device, so that the control device sends the positioning request to the three reference devices; The ranging reference signal receiving module is configured to receive the ranging reference signal sent by the three reference devices; the ranging reference signal includes information on the sending time of the ranging reference signal; A target distance information determining module, configured to determine target distance information according to the sending time information, the receiving time of the ranging reference signal and the receiving strength of the ranging reference signal; the target distance information is used to represent the the distance of the smart device relative to each of the reference devices; a target distance information sending module, configured to send the target distance information to a control device, so that the control device determines the The position of the smart device in the two-dimensional coordinate system; the two-dimensional coordinate system and the positions of the three reference devices in the two-dimensional coordinate system are the relative positions of the control device according to the three reference devices Determined by the distance information, the relative distance information is used to characterize the distance of each of the reference devices relative to at least one other reference device.