CN108810800A - The localization method of smart machine, control device and smart machine in indoor environment - Google Patents
The localization method of smart machine, control device and smart machine in indoor environment Download PDFInfo
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- CN108810800A CN108810800A CN201810531560.8A CN201810531560A CN108810800A CN 108810800 A CN108810800 A CN 108810800A CN 201810531560 A CN201810531560 A CN 201810531560A CN 108810800 A CN108810800 A CN 108810800A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The present invention is supplied to localization method, control device and the smart machine of smart machine in a kind of indoor environment, the method, including：Obtain the relative distance information of three reference devices in the indoor environment；The relative distance information is for characterizing distance of each reference device relative to other at least one reference devices；According to the relative distance information of three reference devices, the position of a two-dimensional coordinate system and three reference devices in the two-dimensional coordinate system is determined；The target range information that smart machine is sent is received, the target range information is for characterizing distance of the smart machine relative to each reference device；According to the position of the target range information and three reference devices in the two-dimensional coordinate system, position of the smart machine in the two-dimensional coordinate system is determined.The present invention realizes triangulation location by three reference devices, can effectively reduce cost.
Description
Technical field
The present invention relates to the localization method of smart machine, controls in smart machine field more particularly to a kind of indoor environment
Equipment and smart machine.
Background technology
Smart machine, it can be understood as there is processor and memory, and then the equipment that can complete data processing function,
Part smart machine can also have communication module, and then communication can be interacted with other equipment.
It is existing in the related technology, in order to be positioned to smart machine in environment indoors, need to usually intelligence be utilized to set
It is moved in standby environment indoors, to build the map of indoor environment during exercise, when needing to realize the positioning of smart machine,
Judge position of the smart machine in map by sensor.
However, existing position fixing process needs to install sensor, cost is higher.
Invention content
The present invention provides localization method, control device and the smart machine of smart machine in a kind of indoor environment, to solve
Existing position fixing process needs to install sensor, the higher problem of cost.
According to the first aspect of the invention, a kind of localization method of smart machine in indoor environment is provided, including：
Obtain the relative distance information of three reference devices in the indoor environment；The relative distance information is used for table
Each distance of the reference device relative to other at least one reference devices of sign；
According to the relative distance information of three reference devices, a two-dimensional coordinate system and three described is determined
Position of the reference device in the two-dimensional coordinate system；
The target range information that smart machine is sent is received, the target range information is for characterizing the smart machine phase
For the distance of each reference device；
According to the position of the target range information and three reference devices in the two-dimensional coordinate system, really
Fixed position of the smart machine in the two-dimensional coordinate system.
Optionally, the target range information is that the ranging reference of the smart machine is sent to according to the reference device
Signal sends out what time, receiving time and receiving intensity determined.
Optionally, the relative distance information according to three reference devices, determines a two-dimensional coordinate system, with
And position of three reference devices in the two-dimensional coordinate system, including：
According to the relative distance information of three reference devices, determine three reference devices from each other
Relative position；
According to the relative position of three reference devices from each other, the two-dimensional coordinate system and described three are determined
Position of a reference device in the two-dimensional coordinate system.
Optionally, three reference devices include the first reference device, the second reference device and third reference device；Institute
State the first distance that relative distance information includes characterization first reference device and the first distance of second reference device
The second distance information of information, characterization second reference device and the second distance of the third reference device, and characterization
The third range information of first reference device and the third distance of the third reference device；
Before the relative distance information for obtaining three reference devices in the indoor environment, further include：
It controls first reference device and sends the first reference signal to second reference device, so that described second
Reference device sends out time, receiving time and receiving intensity according to first reference signal, determines the first distance letter
Breath, and send first range information to the control device；
It controls second reference device and sends the second reference signal to the third reference device, so that the third
Reference device sends out time, receiving time and receiving intensity according to second reference signal, determines the second distance letter
Breath, and send the second distance information to the control device；
It controls the third reference device and sends third reference signal to first reference device, so that described first
Reference device sends out time, receiving time and receiving intensity according to the third reference signal, determines the third distance letter
Breath, and send the third range information to the control device.
According to the second aspect of the invention, a kind of localization method of smart machine in indoor environment is provided, intelligence is applied to
Energy equipment, including：
Three reference devices into the indoor environment send Location Request, or send positioning to control device and ask
It asks, so that the Location Request is sent to three reference devices by the control device；
Receive the ranging reference signal that three reference devices are sent；The ranging reference signal includes the ranging ginseng
Examine the information for sending out the time of signal；
According to the information for sending out the time, the receiving time of the ranging reference signal and the ranging reference signal
Receiving intensity, determine target range information；The target range information is for characterizing the smart machine relative to each institute
State the distance of reference device；
The target range information is sent to control device, so that the control device is believed according to the target range
The position of breath and three reference devices in two-dimensional coordinate system, determines the smart machine in the two-dimensional coordinate system
In position；The position of the two-dimensional coordinate system and three reference devices in the two-dimensional coordinate system is the control
Equipment determines that the relative distance information is each described for characterizing according to the relative distance information of three reference devices
Distance of the reference device relative to other at least one reference devices.
According to the third aspect of the invention we, a kind of control device is provided, including：
Relative distance information acquisition module, the relative distance for obtaining three reference devices in the indoor environment are believed
Breath；The relative distance information is for characterizing distance of each reference device relative to other at least one reference devices；
Coordinate system determining module determines a two dimension for the relative distance information according to three reference devices
The position of coordinate system and three reference devices in the two-dimensional coordinate system；
Target range information receiving module, the target range information for receiving smart machine transmission, the target range
Information is for characterizing distance of the smart machine relative to each reference device；
Smart machine position determination module, for being existed according to the target range information and three reference devices
Position in the two-dimensional coordinate system determines position of the smart machine in the two-dimensional coordinate system.
Optionally, the target range information is that the ranging reference of the smart machine is sent to according to the reference device
Signal sends out what time, receiving time and receiving intensity determined.
Optionally, the coordinate system determining module, is specifically used for：
According to the relative distance information of three reference devices, determine three reference devices from each other
Relative position；
According to the relative position of three reference devices from each other, the two-dimensional coordinate system and described three are determined
Position of a reference device in the two-dimensional coordinate system.
Optionally, three reference devices include the first reference device, the second reference device and third reference device；Institute
State the first distance that relative distance information includes characterization first reference device and the first distance of second reference device
The second distance information of information, characterization second reference device and the second distance of the third reference device, and characterization
The third range information of first reference device and the third distance of the third reference device；
The control device further includes：
First control module sends first with reference to letter for controlling first reference device to second reference device
Number, so that second reference device sends out time, receiving time and receiving intensity according to first reference signal, really
Fixed first range information, and send first range information to the control device；
Second control module sends second with reference to letter for controlling second reference device to the third reference device
Number, so that the third reference device sends out time, receiving time and receiving intensity according to second reference signal, really
The fixed second distance information, and send the second distance information to the control device；
Third control module sends third with reference to letter for controlling the third reference device to first reference device
Number, so that first reference device sends out time, receiving time and receiving intensity according to the third reference signal, really
Fixed first range information, and send the third range information to the control device.
According to the fourth aspect of the invention, a kind of smart machine is provided, including：
Location Request sending module sends Location Request for three reference devices into the indoor environment, or
Location Request is sent to control device, is set so that the Location Request is sent to three references by the control device
It is standby；
Ranging reference signal receiving module, the ranging reference signal sent for receiving three reference devices；It is described
Ranging reference signal includes the information for sending out the time of the ranging reference signal；
Target range information determination module, the information for sending out the time according to, the ranging reference signal connect
Between time receiving and the receiving intensity of the ranging reference signal, target range information is determined；The target range information is used for table
Levy distance of the smart machine relative to each reference device；
Target range information sending module, for sending the target range information to control device, so that the control
Position of the control equipment according to the target range information and three reference devices in two-dimensional coordinate system, determine described in
Position of the smart machine in the two-dimensional coordinate system；The two-dimensional coordinate system and three reference devices are in the two dimension
Position in coordinate system is that the control device is determined according to the relative distance information of three reference devices, described opposite
Range information is for characterizing distance of each reference device relative to other at least one reference devices.
The localization method of smart machine, control device and smart machine in indoor environment provided by the invention, pass through acquisition
The relative distance information of three reference devices in the indoor environment；The relative distance information is for characterizing each ginseng
Examine distance of the equipment relative to other at least one reference devices；Believed according to the relative distance of three reference devices
Breath, determines the position of a two-dimensional coordinate system and three reference devices in the two-dimensional coordinate system, is smart machine
Positioning describing provides foundation；The target range information that the present invention is also sent by receiving smart machine, the target range letter
Breath is for characterizing distance of the smart machine relative to each reference device；And according to the target range information,
And position of three reference devices in the two-dimensional coordinate system, determine the smart machine in the two-dimensional coordinate system
In position, realize positioning of the smart machine in two-dimensional coordinate system.The present invention utilizes the relationship of distance and position, passes through three
A reference device realizes triangulation location, and participation of the whole process without complicated sensor can effectively reduce cost.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings.
Fig. 1 is the flow of the localization method of smart machine in the indoor environment based on control device in one embodiment of the invention
Schematic diagram；
Fig. 2 is the stream of the localization method of smart machine in the indoor environment based on control device in another embodiment of the present invention
Journey schematic diagram；
Fig. 3 is the flow diagram of step S25 in one embodiment of the invention；
Fig. 4 is the flow of the localization method of smart machine in the indoor environment based on smart machine in one embodiment of the invention
Schematic diagram；
Fig. 5 is the structural schematic diagram of control device in one embodiment of the invention；
Fig. 6 is the structural schematic diagram of control device in another embodiment of the present invention；
Fig. 7 is the structural schematic diagram of smart machine in one embodiment of the invention；
Fig. 8 is the structural schematic diagram of electronic equipment in one embodiment of the invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Term " first ", " second ", " third " " in description and claims of this specification and above-mentioned attached drawing
The (if present)s such as four " are for distinguishing similar object, without being used to describe specific sequence or precedence.It should manage
The data that solution uses in this way can be interchanged in the appropriate case, so as to the embodiment of the present invention described herein can in addition to
Here the sequence other than those of diagram or description is implemented.In addition, term " comprising " and " having " and their any deformation,
Be intended to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or setting
It is standby those of to be not necessarily limited to clearly to list step or unit, but may include not listing clearly or for these mistakes
The intrinsic other steps of journey, method, product or equipment or unit.
Technical scheme of the present invention is described in detail with specifically embodiment below.These specific implementations below
Example can be combined with each other, and same or analogous concept or process may be repeated no more in some embodiments.
Fig. 1 is the flow of the localization method of smart machine in the indoor environment based on control device in one embodiment of the invention
Schematic diagram.
Referring to FIG. 1, in the indoor environment based on control device smart machine localization method, including：
S11：Obtain the relative distance information of three reference devices in the indoor environment.
Relative distance information, it will be appreciated that be set relative to other at least one references for characterizing each reference device
Standby distance；As it can be seen that for three reference devices, can at least have that there are three relative distance informations, can arbitrarily characterize distance
Information, all without departing from above description.
Reference device, it will be appreciated that be arbitrary three equipment in indoor environment, can be smart machine by reference to equipment
Positioning provides foundation.
Control device and reference device, can networking formation Internet of Things.Specifically using Mesh networking technologys by control device
It links together with reference device.Further, the smart machine positioned is needed to be also connected in the net.
S12：According to the relative distance information of three reference devices, a two-dimensional coordinate system and described is determined
Position of three reference devices in the two-dimensional coordinate system.
Two-dimensional coordinate system, it can be understood as the arbitrary coordinate system for characterizing each device location.Specifically, being joined with three
Examine the position of equipment, or with the relatively-stationary any position in reference device position, can be used as the origin of two-dimensional coordinate system, really
A fixed coordinate system that can be used for that the two-dimensional position of the indoor environment is described.
S13：Receive the target range information that smart machine is sent.
Target range information, it will be appreciated that for for characterize the smart machine relative to each reference device away from
From.As it can be seen that for three reference devices, can at least have that there are three target range information, can arbitrarily characterize the information of distance,
Above description is not departed from.
S14：According to the position of the target range information and three reference devices in the two-dimensional coordinate system
It sets, determines position of the smart machine in the two-dimensional coordinate system.
Meanwhile the smart machine after positioning is completed, it also can be used as reference device and be used to position other smart machines,
And then by repeating above step S11 to step S14, three reference devices can be based on, the positioning of various equipment is finally completed.
The localization method of smart machine in indoor environment provided in this embodiment based on control device, described in acquisition
The relative distance information of three reference devices in indoor environment；The relative distance information is set for characterizing each reference
The standby distance relative to other at least one reference devices；According to the relative distance information of three reference devices, really
The fixed position of a two-dimensional coordinate system and three reference devices in the two-dimensional coordinate system is the positioning of smart machine
Description provides foundation；The target range information that the present invention is also sent by receiving smart machine, the target range information are used
In distance of the characterization smart machine relative to each reference device；And according to the target range information, and
Position of three reference devices in the two-dimensional coordinate system, determines the smart machine in the two-dimensional coordinate system
Position realizes positioning of the smart machine in two-dimensional coordinate system.The present invention utilizes the relationship of distance and position, is joined by three
Examining equipment realizes triangulation location, and participation of the whole process without complicated sensor can effectively reduce cost.
Fig. 2 is the stream of the localization method of smart machine in the indoor environment based on control device in another embodiment of the present invention
Journey schematic diagram.
Referring to FIG. 2, in the indoor environment based on control device smart machine localization method, including：
S24：Obtain the relative distance information of three reference devices in the indoor environment.
Relative distance information, it will be appreciated that be set relative to other at least one references for characterizing each reference device
Standby distance；As it can be seen that for three reference devices, can at least have that there are three relative distance informations, can arbitrarily characterize distance
Information, all without departing from above description.
Reference device, it will be appreciated that be arbitrary three equipment in indoor environment, can be smart machine by reference to equipment
Positioning provides foundation.
Control device and reference device, can networking formation Internet of Things.Specifically using Mesh networking technologys by control device
It links together with reference device.Further, the smart machine positioned is needed to be also connected in the net.
Three reference devices include the first reference device, the second reference device and third reference device；It is described opposite
Range information includes the first range information, the table of characterization first reference device and the first distance of second reference device
Levy the second distance information of second reference device and the second distance of the third reference device, and characterization described first
The third range information of reference device and the third distance of the third reference device.
Before step S24, may include：
S21：It controls first reference device and sends the first reference signal to second reference device, so that described
Second reference device sends out time, receiving time and receiving intensity according to first reference signal, determine described first away from
First range information is sent from information, and to the control device.
First reference signal, it will be appreciated that for the signal that the first reference device is sent to the second reference device, may include retouching
The information of the mark of the information for sending out the time and the first reference device that send out the first reference signal is stated, in turn, the second reference
Equipment can calculate distance according to send out time, receiving time and the receiving intensity of the first reference signal upon receipt, obtain
First range information, meanwhile, according to the mark of the first reference device, determine that first range information describes the first reference and sets
It is standby at a distance from the second reference device.
S22：It controls second reference device and sends the second reference signal to the third reference device, so that described
Third reference device sends out time, receiving time and receiving intensity according to second reference signal, determine described second away from
The second distance information is sent from information, and to the control device.
Second reference signal, effect can refer to the understanding of the first reference signal with content.
S23：It controls the third reference device and sends third reference signal to first reference device, so that described
First reference device sends out time, receiving time and receiving intensity according to the third reference signal, determine the third away from
The third range information is sent from information, and to the control device.
Third reference signal, effect can refer to the understanding of the first reference signal with content.
In addition, calculate the first range information, the process of second distance information and third range information be also not necessarily limited to it is above
Description, such as：To calculate the first range information, also signal, Jin Ergen can be sent from the second reference device to the first reference device
It is believed that number the first range information of calculating, logical AND above procedure are similar.
Meanwhile if characterization with two reference devices relative distance information there are two, such as the first reference device with
Second reference device, the first reference device determine one first range information, the second ginseng according to the signal that the second reference device is sent
Examine equipment and one first range information determined according to the signal that the first reference device is sent, then can also to two the first range informations into
Row statistics calculates, such as is averaged, and then using the average value as the first final range information.
S25：According to the relative distance information of three reference devices, a two-dimensional coordinate system and described is determined
Position of three reference devices in the two-dimensional coordinate system.
Two-dimensional coordinate system, it can be understood as the arbitrary coordinate system for characterizing each device location.Specifically, being joined with three
Examine the position of equipment, or with the relatively-stationary any position in reference device position, can be used as the origin of two-dimensional coordinate system, really
A fixed coordinate system that can be used for that the two-dimensional position of the indoor environment is described.
Fig. 3 is the flow diagram of step S25 in one embodiment of the invention.
Referring to FIG. 3, step S25, may include：
S251：According to the relative distance information of three reference devices, determine that three reference devices are mutual
Between relative position.
Above procedure can be realized based on the natural law of two-dimensional geometry, be according in terms of carrying out by the relationship of distance with position
It calculates.
S252：According to the relative position of three reference devices from each other, the two-dimensional coordinate system, Yi Jisuo are determined
State position of three reference devices in the two-dimensional coordinate system.
S26：Receive the target range information that smart machine is sent.
Target range information, it will be appreciated that for for characterize the smart machine relative to each reference device away from
From.As it can be seen that for three reference devices, can at least have that there are three target range information, can arbitrarily characterize the information of distance,
Above description is not departed from.
In one of which embodiment, the target range information is to be sent to the intelligence according to the reference device to set
Standby ranging reference signal sends out what time, receiving time and receiving intensity determined.The calculating logic of target range information, can
Understand with reference to the calculating logic of relative distance information.
S27：According to the position of the target range information and three reference devices in the two-dimensional coordinate system
It sets, determines position of the smart machine in the two-dimensional coordinate system.
Meanwhile the smart machine after positioning is completed, it also can be used as reference device and be used to position other smart machines,
And then by repeating above step S11 to step S14, three reference devices can be based on, the positioning of various equipment is finally completed.
The localization method of smart machine in indoor environment provided in this embodiment based on control device, described in acquisition
The relative distance information of three reference devices in indoor environment；The relative distance information is set for characterizing each reference
The standby distance relative to other at least one reference devices；According to the relative distance information of three reference devices, really
The fixed position of a two-dimensional coordinate system and three reference devices in the two-dimensional coordinate system is the positioning of smart machine
Description provides foundation；The target range information that the present invention is also sent by receiving smart machine, the target range information are used
In distance of the characterization smart machine relative to each reference device；And according to the target range information, and
Position of three reference devices in the two-dimensional coordinate system, determines the smart machine in the two-dimensional coordinate system
Position realizes positioning of the smart machine in two-dimensional coordinate system.The present invention utilizes the relationship of distance and position, is joined by three
Examining equipment realizes triangulation location, and participation of the whole process without complicated sensor can effectively reduce cost.
Fig. 4 is the flow of the localization method of smart machine in the indoor environment based on smart machine in one embodiment of the invention
Schematic diagram.
Referring to FIG. 4, in the indoor environment based on smart machine smart machine localization method, including：
S31：Three reference devices into the indoor environment send Location Request, or send and position to control device
Request, so that the Location Request is sent to three reference devices by the control device.
Location Request, it will be appreciated that for for trigger reference device send ranging reference signal, and broadcast inform its need into
The information of row positioning.The specific identification information that may include smart machine, identification information can be such as title, address.Pass through mark
Information, reference device pointedly can send ranging reference signal to smart machine.
S32：Receive the ranging reference signal that three reference devices are sent.
Ranging reference signal, it will be appreciated that for the signal for realizing ranging between reference device and smart machine, specifically may be used
To include the information for sending out the time of the ranging reference signal.
S33：According to the information for sending out the time, the receiving time of the ranging reference signal and ranging reference
The receiving intensity of signal determines target range information.
The target range information, it will be appreciated that for for characterizing the smart machine relative to each reference device
Distance.Specifically it can refer to description of the previous embodiment to target range information.
S34：The target range information is sent to control device, so that the control device is according to the target range
The position of information and three reference devices in two-dimensional coordinate system, determines the smart machine in the two-dimensional coordinate
Position in system.
The position of the two-dimensional coordinate system and three reference devices in the two-dimensional coordinate system is the control
Equipment is determined according to the relative distance information of three reference devices.
The relative distance information is for characterizing each reference device relative to other at least one reference devices
Distance.
The localization method of smart machine in indoor environment provided in this embodiment based on smart machine, described in acquisition
The relative distance information of three reference devices in indoor environment；The relative distance information is set for characterizing each reference
The standby distance relative to other at least one reference devices；According to the relative distance information of three reference devices, really
The fixed position of a two-dimensional coordinate system and three reference devices in the two-dimensional coordinate system is the positioning of smart machine
Description provides foundation；The target range information that the present invention is also sent by receiving smart machine, the target range information are used
In distance of the characterization smart machine relative to each reference device；And according to the target range information, and
Position of three reference devices in the two-dimensional coordinate system, determines the smart machine in the two-dimensional coordinate system
Position realizes positioning of the smart machine in two-dimensional coordinate system.The present invention utilizes the relationship of distance and position, is joined by three
Examining equipment realizes triangulation location, and participation of the whole process without complicated sensor can effectively reduce cost.
Fig. 5 is the structural schematic diagram of control device in one embodiment of the invention.
Referring to FIG. 5, control device 400, including：
Relative distance information acquisition module 401, for obtain three reference devices in the indoor environment it is opposite away from
From information；The relative distance information for characterize each reference device relative to other at least one reference devices away from
From.
Coordinate system determining module 402 determines one or two for the relative distance information according to three reference devices
The position of dimension coordinate system and three reference devices in the two-dimensional coordinate system.
Target range information receiving module 403, for receive smart machine transmission target range information, the target away from
From information for characterize the smart machine relative to each reference device with a distance from.
Smart machine position determination module 404, for according to the target range information and three reference devices
Position in the two-dimensional coordinate system determines position of the smart machine in the two-dimensional coordinate system.
Control device provided in this embodiment, by the relative distance for obtaining three reference devices in the indoor environment
Information；The relative distance information for characterize each reference device relative to other at least one reference devices away from
From；According to the relative distance information of three reference devices, determine that a two-dimensional coordinate system and three references are set
The standby position in the two-dimensional coordinate system provides foundation for the positioning describing of smart machine；The present invention is also by receiving intelligence
The target range information that energy equipment is sent, the target range information is for characterizing the smart machine relative to each ginseng
Examine the distance of equipment；And according to the target range information and three reference devices in the two-dimensional coordinate system
Position, determine position of the smart machine in the two-dimensional coordinate system, realize smart machine in two-dimensional coordinate system
Positioning.The present invention utilizes the relationship of distance and position, realizes triangulation location by three reference devices, whole process is not necessarily to
The participation of complicated sensor, can effectively reduce cost.
Fig. 6 is the structural schematic diagram of control device in another embodiment of the present invention.
Referring to FIG. 6, control device 500, including：
Relative distance information acquisition module 504, for obtain three reference devices in the indoor environment it is opposite away from
From information；The relative distance information for characterize each reference device relative to other at least one reference devices away from
From.
Coordinate system determining module 505 determines one or two for the relative distance information according to three reference devices
The position of dimension coordinate system and three reference devices in the two-dimensional coordinate system.
Target range information receiving module 506, for receive smart machine transmission target range information, the target away from
From information for characterize the smart machine relative to each reference device with a distance from.
Smart machine position determination module 507, for according to the target range information and three reference devices
Position in the two-dimensional coordinate system determines position of the smart machine in the two-dimensional coordinate system.
Optionally, the target range information is that the ranging reference of the smart machine is sent to according to the reference device
Signal sends out what time, receiving time and receiving intensity determined.
Optionally, the coordinate system determining module 505, is specifically used for：
According to the relative distance information of three reference devices, determine three reference devices from each other
Relative position；
According to the relative position of three reference devices from each other, the two-dimensional coordinate system and described three are determined
Position of a reference device in the two-dimensional coordinate system.
Optionally, three reference devices include the first reference device, the second reference device and third reference device；Institute
State the first distance that relative distance information includes characterization first reference device and the first distance of second reference device
The second distance information of information, characterization second reference device and the second distance of the third reference device, and characterization
The third range information of first reference device and the third distance of the third reference device.
The control device 500 further includes：
First control module 501 sends the first ginseng for controlling first reference device to second reference device
Signal is examined, so that second reference device sends out time, receiving time and reception by force according to first reference signal
Degree determines first range information, and sends first range information to the control device.
Second control module 502 sends the second ginseng for controlling second reference device to the third reference device
Signal is examined, so that the third reference device sends out time, receiving time and reception by force according to second reference signal
Degree determines the second distance information, and sends the second distance information to the control device.
Third control module 503 sends third ginseng for controlling the third reference device to first reference device
Signal is examined, so that first reference device sends out time, receiving time and reception by force according to the third reference signal
Degree determines first range information, and sends the third range information to the control device.
Control device provided in this embodiment, by the relative distance for obtaining three reference devices in the indoor environment
Information；The relative distance information for characterize each reference device relative to other at least one reference devices away from
From；According to the relative distance information of three reference devices, determine that a two-dimensional coordinate system and three references are set
The standby position in the two-dimensional coordinate system provides foundation for the positioning describing of smart machine；The present invention is also by receiving intelligence
The target range information that energy equipment is sent, the target range information is for characterizing the smart machine relative to each ginseng
Examine the distance of equipment；And according to the target range information and three reference devices in the two-dimensional coordinate system
Position, determine position of the smart machine in the two-dimensional coordinate system, realize smart machine in two-dimensional coordinate system
Positioning.The present invention utilizes the relationship of distance and position, realizes triangulation location by three reference devices, whole process is not necessarily to
The participation of complicated sensor, can effectively reduce cost.
Fig. 7 is the structural schematic diagram of smart machine in one embodiment of the invention.
Referring to FIG. 7, smart machine 600, including：
Location Request sending module 601 sends Location Request for three reference devices into the indoor environment, or
Person sends Location Request to control device, is set so that the Location Request is sent to three references by the control device
It is standby.
Ranging reference signal receiving module 602, the ranging reference signal sent for receiving three reference devices；Institute
State the information for sending out the time that ranging reference signal includes the ranging reference signal.
Target range information determination module 603, the information for sending out the time according to, the ranging reference signal
The receiving intensity of receiving time and the ranging reference signal, determines target range information；The target range information is used for
Characterize distance of the smart machine relative to each reference device.
Target range information sending module 604, for sending the target range information to control device, so that described
Position of the control device according to the target range information and three reference devices in two-dimensional coordinate system, determines institute
State position of the smart machine in the two-dimensional coordinate system；The two-dimensional coordinate system and three reference devices are described two
Position in dimension coordinate system is that the control device is determined according to the relative distance information of three reference devices, the phase
Information of adjusting the distance is for characterizing distance of each reference device relative to other at least one reference devices.
Smart machine provided in this embodiment, by the relative distance for obtaining three reference devices in the indoor environment
Information；The relative distance information for characterize each reference device relative to other at least one reference devices away from
From；According to the relative distance information of three reference devices, determine that a two-dimensional coordinate system and three references are set
The standby position in the two-dimensional coordinate system provides foundation for the positioning describing of smart machine；The present invention is also by receiving intelligence
The target range information that energy equipment is sent, the target range information is for characterizing the smart machine relative to each ginseng
Examine the distance of equipment；And according to the target range information and three reference devices in the two-dimensional coordinate system
Position, determine position of the smart machine in the two-dimensional coordinate system, realize smart machine in two-dimensional coordinate system
Positioning.The present invention utilizes the relationship of distance and position, realizes triangulation location by three reference devices, whole process is not necessarily to
The participation of complicated sensor, can effectively reduce cost.
Fig. 8 is the structural schematic diagram of electronic equipment in one embodiment of the invention.
Referring to FIG. 8, the present embodiment additionally provides a kind of electronic equipment 70 includes：Processor 71 and memory 72；Its
In：
Memory 72, for storing computer program, which can also be flash (flash memory).
Processor 71, for executing executing instruction for memory storage, to realize each step in the above method.Specifically
It may refer to the associated description in previous methods embodiment.
Optionally, memory 72 can also be integrated with processor 71 either independent.
When device except the memory 72 is independently of processor 71, the electronic equipment 70 can also include：
Bus 73, for connecting the memory 72 and processor 71.
The present embodiment also provides a kind of readable storage medium storing program for executing, is stored with computer program in readable storage medium storing program for executing, works as electronics
When at least one processor of equipment executes the computer program, electronics executes the side that above-mentioned various embodiments provide
Method.
The present embodiment also provides a kind of program product, which includes computer program, computer program storage
In readable storage medium storing program for executing.At least one processor of electronic equipment can read the computer program from readable storage medium storing program for executing,
At least one processor executes the computer program and electronic equipment is made to implement the method that above-mentioned various embodiments provide.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer read/write memory medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or
The various media that can store program code such as person's CD.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer read/write memory medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or
The various media that can store program code such as person's CD.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. the localization method of smart machine in a kind of indoor environment is applied to control device, which is characterized in that including：
Obtain the relative distance information of three reference devices in the indoor environment；The relative distance information is every for characterizing
Distance of a reference device relative to other at least one reference devices；
According to the relative distance information of three reference devices, a two-dimensional coordinate system and three references are determined
Position of the equipment in the two-dimensional coordinate system；
Receive smart machine send target range information, the target range information for characterize the smart machine relative to
The distance of each reference device；
According to the position of the target range information and three reference devices in the two-dimensional coordinate system, institute is determined
State position of the smart machine in the two-dimensional coordinate system.
2. according to the method described in claim 1, it is characterized in that, the target range information is sent out according to the reference device
It send to the ranging reference signal of the smart machine and sends out what time, receiving time and receiving intensity determined.
3. according to the method described in claim 1, it is characterized in that, it is described according to three reference devices it is described it is opposite away from
From information, the position of a two-dimensional coordinate system and three reference devices in the two-dimensional coordinate system is determined, including：
According to the relative distance information of three reference devices, three reference devices from each other opposite is determined
Position；
According to the relative position of three reference devices from each other, the two-dimensional coordinate system and three ginsengs are determined
Examine position of the equipment in the two-dimensional coordinate system.
4. method according to any one of claims 1 to 3, which is characterized in that three reference devices include the first ginseng
Examine equipment, the second reference device and third reference device；The relative distance information include characterize first reference device with
The first range information, characterization second reference device of first distance of second reference device are set with third reference
The second distance information of standby second distance, and characterization first reference device and the third reference device third away from
From third range information；
Before the relative distance information for obtaining three reference devices in the indoor environment, further include：
It controls first reference device and sends the first reference signal to second reference device, so that second reference
Equipment sends out time, receiving time and receiving intensity according to first reference signal, determines first range information, and
First range information is sent to the control device；
It controls second reference device and sends the second reference signal to the third reference device, so that the third refers to
Equipment sends out time, receiving time and receiving intensity according to second reference signal, determines the second distance information, and
The second distance information is sent to the control device；
It controls the third reference device and sends third reference signal to first reference device, so that first reference
Equipment sends out time, receiving time and receiving intensity according to the third reference signal, determines first range information, and
The third range information is sent to the control device.
5. the localization method of smart machine in a kind of indoor environment is applied to smart machine, which is characterized in that including：
Three reference devices into the indoor environment send Location Request, or send Location Request to control device, with
So that the Location Request is sent to three reference devices by the control device；
Receive the ranging reference signal that three reference devices are sent；The ranging reference signal includes the ranging with reference to letter
Number the information for sending out the time；
According to the information for sending out the time, the receiving time of the ranging reference signal and connecing for the ranging reference signal
Intensity is received, determines target range information；The target range information is for characterizing the smart machine relative to each ginseng
Examine the distance of equipment；
The target range information is sent to control device, so that the control device is according to the target range information, with
And position of three reference devices in two-dimensional coordinate system, determine position of the smart machine in the two-dimensional coordinate system
It sets；The position of the two-dimensional coordinate system and three reference devices in the two-dimensional coordinate system is the control device root
It is determined according to the relative distance information of three reference devices, the relative distance information is set for characterizing each reference
The standby distance relative to other at least one reference devices.
6. a kind of control device, which is characterized in that including：
Relative distance information acquisition module, including：Obtain the relative distance information of three reference devices in the indoor environment；
The relative distance information is for characterizing distance of each reference device relative to other at least one reference devices；
Coordinate system determining module determines a two-dimensional coordinate for the relative distance information according to three reference devices
The position of system and three reference devices in the two-dimensional coordinate system；
Target range information receiving module, the target range information for receiving smart machine transmission, the target range information
For characterizing distance of the smart machine relative to each reference device；
Smart machine position determination module is used for according to the target range information and three reference devices described
Position in two-dimensional coordinate system determines position of the smart machine in the two-dimensional coordinate system.
7. control device according to claim 6, which is characterized in that the target range information is set according to the reference
The standby ranging reference signal for being sent to the smart machine sends out what time, receiving time and receiving intensity determined.
8. control device according to claim 6, which is characterized in that the coordinate system determining module is specifically used for：
According to the relative distance information of three reference devices, three reference devices from each other opposite is determined
Position；
According to the relative position of three reference devices from each other, the two-dimensional coordinate system and three ginsengs are determined
Examine position of the equipment in the two-dimensional coordinate system.
9. according to claim 6-8 any one of them control devices, which is characterized in that three reference devices include first
Reference device, the second reference device and third reference device；The relative distance information includes characterizing first reference device
It is referred to the third with the first range information, characterization second reference device of the first distance of second reference device
The second distance information of the second distance of equipment, and characterize the third of first reference device and the third reference device
The third range information of distance；
The control device further includes：
First control module sends the first reference signal for controlling first reference device to second reference device,
So that second reference device sends out time, receiving time and receiving intensity according to first reference signal, determine
First range information, and send first range information to the control device；
Second control module sends the second reference signal for controlling second reference device to the third reference device,
So that the third reference device sends out time, receiving time and receiving intensity according to second reference signal, determine
The second distance information, and send the second distance information to the control device；
Third control module sends third reference signal for controlling the third reference device to first reference device,
So that first reference device sends out time, receiving time and receiving intensity according to the third reference signal, determine
First range information, and send the third range information to the control device.
10. a kind of smart machine, which is characterized in that including：
Location Request sending module sends Location Request for three reference devices into the indoor environment, or to control
Control equipment sends Location Request, so that the Location Request is sent to three reference devices by the control device；
Ranging reference signal receiving module, the ranging reference signal sent for receiving three reference devices；The ranging
Reference signal includes the information for sending out the time of the ranging reference signal；
Target range information determination module, for sending out the information of time according to, when the reception of the ranging reference signal
Between and the ranging reference signal receiving intensity, determine target range information；The target range information is for characterizing institute
State distance of the smart machine relative to each reference device；
Target range information sending module, for sending the target range information to control device, so that the control is set
The standby position according to the target range information and three reference devices in two-dimensional coordinate system determines the intelligence
Position of the equipment in the two-dimensional coordinate system；The two-dimensional coordinate system and three reference devices are in the two-dimensional coordinate
Position in system is that the control device is determined according to the relative distance information of three reference devices, the relative distance
Information is for characterizing distance of each reference device relative to other at least one reference devices.
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| WO2021223206A1 (en) * | 2020-05-08 | 2021-11-11 | Nokia Shanghai Bell Co., Ltd. | Methods and apparatuses for positioning |
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