CN112533161B - Internet of things control method and device based on indoor positioning - Google Patents
Internet of things control method and device based on indoor positioning Download PDFInfo
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Abstract
The embodiment of the application discloses an Internet of things control method and device based on indoor positioning. The technical scheme provided by the embodiment of the application determines the second mapping position of the control terminal in the indoor three-dimensional map according to the signal intensity information between the control terminal and each first intelligent terminal, determining transmission parameters for communication with the control terminal according to the mapping relation between the mapping position and the transmission parameters, improving the data transmission quality with the control terminal, and when the control terminal sends instruction information, determining a target terminal to be controlled according to the second mapping position, controlling the target terminal based on the instruction information, the target terminal to be controlled is determined according to the position of the control terminal, the control of a plurality of target terminals can be realized through one control terminal, and different forms of equipment control can be realized through the pointing instruction information and the combined instruction information, so that flexible control over a plurality of indoor equipment is realized, and the user experience is effectively improved.
Description
Technical Field
The embodiment of the application relates to the technical field of Internet of things, in particular to an Internet of things control method and device based on indoor positioning.
Background
At present, many devices are controlled through wireless remote controllers, such as an infrared remote controller and a Bluetooth remote controller, and an operator can remotely control target devices within a controlled range of the target devices through the remote controllers, so that the operation efficiency of users is greatly facilitated.
Generally, a remote controller and a target device have a one-to-one control relationship, that is, one remote controller can only control one device at the same time, and remote control of other devices requires using other remote controllers or performing remote pairing again.
However, when the number of devices is large, remote control of each device requires a new remote controller to be operated again or a new pairing operation, which results in poor user experience.
Disclosure of Invention
The embodiment of the application provides an Internet of things control method and device based on indoor positioning, so that remote control over equipment is facilitated, and user experience is improved.
In a first aspect, an embodiment of the application provides an internet of things control method based on indoor positioning, which includes acquiring an indoor three-dimensional map, and determining a first mapping position of a first intelligent terminal in the indoor three-dimensional map based on first positioning information of the first intelligent terminal at each fixed mounting position;
determining a second mapping position of the control terminal in the indoor three-dimensional map based on signal strength information between the control terminal at the movable position and the first intelligent terminal;
updating the transmission parameter corresponding to the second mapping position in real time according to the link mapping relation between the mapping position and the link transmission parameter, and communicating with the control terminal based on the transmission parameter;
and determining a target terminal corresponding to instruction information sent by the control terminal based on the second mapping position so as to control the target terminal based on the instruction information, wherein the instruction information comprises pointing instruction information and combined instruction information, the pointing instruction information points to a specified terminal type and control parameters, and the combined instruction information points to a preset combination of terminal types and a preset combination of control parameters.
Further, the determining a second mapping position of the control terminal in the indoor three-dimensional map based on the signal strength information between the movable position control terminal and the first intelligent terminal comprises:
receiving signal intensity information which is sent by a control terminal at a movable position and is relative to each first intelligent terminal;
screening the signal intensity information to obtain a set number of signal intensity information;
determining second positioning information of the control terminal according to the screened signal intensity information and first positioning information corresponding to the first intelligent terminal;
and determining a second mapping position of the control terminal in the indoor three-dimensional map based on the second positioning information.
Further, the determining the second positioning information of the control terminal according to the filtered signal strength information and the first positioning information corresponding to the first intelligent terminal includes:
calculating the node distance from the control terminal to the corresponding first intelligent terminal according to the signal strength information;
calculating intersection point coordinate information of a multi-line intersection point of the first intelligent terminal corresponding to the node distance according to the first positioning information corresponding to the first intelligent terminal and the node distance;
calculating the intersection point distance of the first intelligent terminal corresponding to the multi-line intersection point based on the intersection point coordinate information and the first positioning information, and correcting the node distance according to the intersection point distance;
and calculating second positioning information of the control terminal based on the first positioning information corresponding to the first intelligent terminal and the corrected node distance.
Further, the set number of signal strength information is 3 signal strength information, and the intersection coordinate information is obtained based on the following formula:
wherein xa and ya, xb and yb, xc and yc are respectively the abscissa and ordinate corresponding to the 3 first positioning information, da1、db1、dc1The node distances corresponding to the 3 pieces of signal strength information are respectively, and x and y are respectively an abscissa and an ordinate of the intersection coordinate information.
Further, the correcting the node distance according to the intersection point distance includes:
determining distance correction coefficients of 3 first intelligent terminals, and correcting node distances based on the following formula:
wherein d isa2、db2And dc2For the corrected node distance, αa1、αb1And alphac1The distance correction coefficients are respectively 3 first intelligent terminals.
Further, the distance correction coefficient of each first intelligent terminal is obtained based on the following formula:
wherein la1、lb1And lc1And the intersection point distances of the 3 first intelligent terminals corresponding to the intersection points of the multiple lines are respectively, and n is a path loss index.
Further, determining a target terminal corresponding to the instruction information sent by the control terminal includes:
determining a target type corresponding to the instruction information sent by the control terminal;
determining the terminal type of each controlled terminal and a third mapping position in the indoor three-dimensional map;
and determining the third mapping position to be in the set control range of the second mapping position, determining a controlled terminal with a terminal type corresponding to the target type, and determining the controlled terminal as the target terminal.
In a second aspect, an embodiment of the present application provides an internet of things control device based on indoor positioning, including a first mapping module, a second mapping module, a parameter determination module, and a terminal control module, wherein:
the first mapping module is used for acquiring an indoor three-dimensional map and determining a first mapping position of a first intelligent terminal in the indoor three-dimensional map based on first positioning information of the first intelligent terminal at each fixed mounting position;
the second mapping module is used for determining a second mapping position of the control terminal in the indoor three-dimensional map based on signal strength information between the control terminal with the movable position and the first intelligent terminal;
the parameter determining module is used for updating the transmission parameter corresponding to the second mapping position in real time according to the link mapping relation between the mapping position and the link transmission parameter, and communicating with the control terminal based on the transmission parameter;
and the terminal control module is used for determining a target terminal corresponding to instruction information sent by the control terminal based on the second mapping position so as to control the target terminal based on the instruction information, wherein the instruction information comprises pointing instruction information and combined instruction information, the pointing instruction information points to a specified terminal type and control parameters, and the combined instruction information points to a preset combination of the terminal types and a preset combination of the control parameters.
In a third aspect, an embodiment of the present application provides a computer device, including: a memory and one or more processors;
the memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method for controlling an internet of things based on indoor positioning according to the first aspect.
In a fourth aspect, embodiments of the present application provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the method for controlling an internet of things based on indoor positioning according to the first aspect.
According to the signal intensity information between the control terminal and each first intelligent terminal, a second mapping position of the control terminal in an indoor three-dimensional map is determined, transmission parameters for communicating with the control terminal are determined according to the mapping relation between the mapping positions and the transmission parameters, the data transmission quality of the control terminal is improved, when the control terminal sends instruction information, a target terminal to be controlled is determined according to the second mapping position, the target terminal is controlled based on the instruction information, the target terminal to be controlled is determined according to the position of the control terminal, the control of a plurality of target terminals can be achieved through one control terminal, device control in different forms can be achieved through pointing instruction information and combination instruction information, flexible control over a plurality of indoor devices is achieved, and user experience is effectively improved.
Drawings
Fig. 1 is a flowchart of an internet of things control method based on indoor positioning according to an embodiment of the present application;
fig. 2 is a flowchart of another method for controlling an internet of things based on indoor positioning according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an internet of things control device based on indoor positioning according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, specific embodiments of the present application will be described in detail with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some but not all of the relevant portions of the present application are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Fig. 1 is a flowchart of an internet of things control method based on indoor positioning according to an embodiment of the present disclosure, where the internet of things control method based on indoor positioning according to the embodiment of the present disclosure may be executed by an internet of things control device based on indoor positioning, and the internet of things control device based on indoor positioning may be implemented in a hardware and/or software manner and integrated in a computer device.
The following description will be given by taking as an example an internet of things control method for an internet of things control device based on indoor positioning to execute the internet of things control method based on indoor positioning. Referring to fig. 1, the method for controlling the internet of things based on indoor positioning includes:
s101: the method comprises the steps of obtaining an indoor three-dimensional map, and determining a first mapping position of a first intelligent terminal in the indoor three-dimensional map based on first positioning information of the first intelligent terminal at each fixed installation position.
The indoor three-dimensional map is generated by measuring or modeling according to the indoor actual arrangement of a building (such as a museum, an exhibition hall, etc.), and is stored in the internet of things control device or the cloud database provided by the embodiment. The installation position of the first intelligent terminal (for example, a router, an intelligent device with a wireless communication function, etc.) is fixedly installed indoors, and is in communication connection with the internet-of-things control device provided in this embodiment in a wired or wireless manner. Optionally, a plurality of first intelligent terminals are installed at a plurality of indoor positions, so that the coverage rate of the first intelligent terminals in the indoor wireless communication range is improved. The first intelligent terminal, the control terminal and the controlled terminal (target terminal) provided by the embodiment are all connected in the same internet of things network.
Furthermore, the first positioning information of the first intelligent terminal is determined according to the indoor installation position of the first intelligent terminal, and is stored in the internet of things control device or the cloud database provided by this embodiment.
After the first positioning information of each indoor first intelligent terminal is determined, a first mapping position of each first intelligent terminal in the indoor three-dimensional map is determined according to a map mapping relationship between an indoor position coordinate point (first positioning information) and an indoor three-dimensional map coordinate point, and the first mapping position corresponding to each first intelligent terminal is recorded in the internet of things control device or the cloud database provided in this embodiment.
In this embodiment, the coordinate system corresponding to the first positioning information and the coordinate system corresponding to the indoor three-dimensional map are the same coordinate system, and at this time, the map mapping relationship between the first positioning information and the positioning information of the indoor three-dimensional map is a one-to-one correspondence relationship, so that the first positioning information can be directly determined as the first mapping position. In other embodiments, if the coordinate system corresponding to the first positioning information and the coordinate system corresponding to the indoor three-dimensional map are different coordinate systems, a map mapping relationship is determined according to a conversion relationship between the two coordinate systems, and the first mapping position of each first intelligent terminal is determined according to the map mapping relationship.
S102: and determining a second mapping position of the control terminal in the indoor three-dimensional map based on signal strength information between the movable control terminal and the first intelligent terminal.
The control terminal provided by this embodiment may be a mobile phone, a tablet, or other wireless communication device that can perform communication connection with the first smart terminal and the internet of things control apparatus provided by this embodiment through a wireless communication manner (e.g., a wireless communication manner such as bluetooth, WiFi, ZigBee), and the first smart terminal is a portable device that is mobile.
Each first intelligent terminal periodically broadcasts positioning information to the periphery at the same power, the positioning information carries ID information and a first mapping position corresponding to the first intelligent terminal, the control terminal determines Received Signal Strength Information (RSSI) corresponding to each positioning information after receiving the positioning information, and the control terminal uploads the Signal Strength information corresponding to each first intelligent terminal to the Internet of things control device.
Illustratively, after receiving the signal intensity information uploaded by the control terminal, according to the signal intensity information of the control terminal relative to each first intelligent terminal, a second mapping position of the control terminal in the indoor three-dimensional map is calculated, and the corresponding second mapping position is returned to the control terminal.
S103: and updating the transmission parameter corresponding to the second mapping position in real time according to the link mapping relation between the mapping position and the link transmission parameter, and communicating with the control terminal based on the transmission parameter.
The transmission parameters include one or more of a modulation mode, a coding mode, redundant information and time-frequency resources. The communication mode between the control terminal and the internet of things control device provided by this embodiment may be direct wireless communication connection, or indirect connection through a router, which is not limited in this application.
Illustratively, test data packets are sent to the control terminal according to different transmission parameters in different indoor areas (for example, different exhibition areas, different exhibition stands in the same exhibition area, different floors, and the like) in advance, data transmission quality under different transmission parameters is detected, and priority ranking is performed on the transmission parameters of each area according to average data transmission quality, so that a link mapping relationship between each mapping position and the link transmission parameters is established.
After the second mapping position of the control terminal is determined, according to the area corresponding to the second mapping position indoors, the transmission parameter corresponding to the area is determined according to the link mapping relation, and communication is carried out with the control terminal based on the transmission parameter.
In a possible embodiment, the indoor three-dimensional map provided by this embodiment includes an overall three-dimensional map, a partitioned three-dimensional map, and a terminal graphic, where the terminal graphic corresponds to a three-dimensional graphic corresponding to each of the first intelligent terminal and the target terminal in the room. And after determining the transmission parameter for communicating the control terminal, sending the overall three-dimensional map of the indoor three-dimensional map to the control terminal based on the transmission parameter, or sending the partitioned three-dimensional map of the area or floor corresponding to the indoor three-dimensional map to the control terminal according to the area or floor corresponding to the second mapping position. And after receiving the overall three-dimensional map or the partitioned three-dimensional map, the control terminal displays the overall three-dimensional map or the partitioned three-dimensional map in the display screen, and displays the position of the control terminal in the overall three-dimensional map or the partitioned three-dimensional map according to the second mapping position.
Further, all terminal graphs are sent to the control terminal, or corresponding terminal graphs are sent to the control terminal according to the area corresponding to the second mapping position. And the control terminal combines the terminal graph into the overall three-dimensional map or the partitioned three-dimensional map for display according to the position information of the terminal graph in the indoor three-dimensional map. Optionally, the coverage area (for example, a temperature and humidity adjustment area of an air conditioner, a lighting area of a lamp, and the like) of the corresponding target terminal may be displayed in the overall three-dimensional map or the partitioned three-dimensional map according to the control range information carried by the terminal graphic, or the operating state (for example, temperature and humidity information of an air conditioner, brightness of a lamp, color temperature, and the like) of the corresponding target terminal may be displayed according to the state information carried by the terminal graphic. And the terminal graph corresponding to the target terminal controllable by the current second mapping position can be highlighted (highlighted, different display colors and the like) in the overall three-dimensional map or the partitioned three-dimensional map.
In one possible embodiment, the signal strength information uploaded by the control terminal is received in real time and the second mapping position of the control terminal is updated. And when the second mapping position indicates that the control terminal moves to other areas, re-determining the corresponding transmission parameters according to the link mapping relation, and communicating with the control terminal based on the updated transmission parameters. When the second mapping position is updated every time, the new second mapping position is compared with the original second mapping position, and when the new second mapping position changes, the new transmission parameter for the control terminal is determined according to the link mapping relation between the mapping position and the link transmission parameter again, so that the real-time update of the transmission parameter corresponding to the second mapping position is realized.
S104: and determining a target terminal corresponding to the instruction information sent by the control terminal based on the second mapping position so as to control the target terminal based on the instruction information.
Illustratively, after receiving instruction information sent by the control terminal, the instruction information is analyzed to obtain a terminal type pointed by the instruction information. Further, a current second mapping position of the control terminal is determined, a corresponding indoor area is determined according to the second mapping position, a controlled terminal with the terminal type consistent with the terminal type pointed by the instruction information in the indoor area is determined, and the corresponding controlled terminal is determined as a target terminal pointed by the instruction information. Or the controlled terminals of each indoor area and the corresponding terminal types are recorded in advance, after the terminal type pointed by the instruction information is determined, the controlled terminal of the corresponding terminal type can be directly determined, and the target terminal pointed by the instruction information is determined.
After the target terminal is determined, a control instruction is sent to a controller corresponding to the target terminal (the control instruction can be directly sent to the controller or sent through a router or a relay), so that the target terminal is controlled according to the instruction information.
Further, the instruction information provided by this embodiment includes pointing instruction information and combination instruction information, where the pointing instruction information points to the specified terminal type and control parameter, and the combination instruction information points to a combination of preset terminal types and a combination of control parameters.
The method comprises the steps of determining a second mapping position of the control terminal in the indoor three-dimensional map according to signal strength information between the control terminal and each first intelligent terminal, determining transmission parameters for communication with the control terminal according to the mapping relation between the mapping position and the transmission parameters, improving data transmission quality of the control terminal, determining a target terminal to be controlled according to the second mapping position when the control terminal sends instruction information, controlling the target terminal based on the instruction information, determining the target terminal to be controlled according to the position of the control terminal, controlling a plurality of target terminals through one control terminal, controlling devices in different forms through pointing instruction information and combined instruction information, flexibly controlling a plurality of indoor devices, and effectively improving user experience.
On the basis of the foregoing embodiment, fig. 2 is a flowchart of another control method of the internet of things based on indoor positioning according to an embodiment of the present application, where the control method of the internet of things based on indoor positioning is a concrete implementation of the control method of the internet of things based on indoor positioning. As shown in fig. 2, the method for controlling the internet of things based on indoor positioning includes:
s201: the method comprises the steps of obtaining an indoor three-dimensional map, and determining a first mapping position of a first intelligent terminal in the indoor three-dimensional map based on first positioning information of the first intelligent terminal at each fixed installation position.
S202: and receiving signal strength information which is sent by the control terminal at the movable position and is relative to each first intelligent terminal.
Specifically, each first intelligent terminal periodically broadcasts positioning information to the surroundings with the same power, and the positioning information carries ID information and a first mapping position corresponding to the first intelligent terminal. After receiving the positioning information, the control terminal determines to receive signal strength information corresponding to each positioning information, and uploads the signal strength information corresponding to each first intelligent terminal to the Internet of things control device in real time. Wherein the signal strength information indicates a measure of the received radio frequency energy.
S203: and screening the signal intensity information to obtain a set number of signal intensity information.
And after receiving the signal intensity information uploaded by the control terminal, screening the signal intensity information to obtain the signal intensity information with the set quantity. In this embodiment, the set number of pieces of signal strength information is specifically 3 pieces of signal strength information, that is, for each control terminal, the signal strength information is filtered at each set positioning period, and then 3 pieces of signal strength information are obtained.
Specifically, the screening the signal strength information provided in this embodiment to obtain the signal strength information with a set number includes:
and sorting the signal intensity information, determining floors and/or regions corresponding to a predetermined number of signal intensity information before sorting, judging the floor and/or region with the largest occupation ratio, and selecting 3 pieces of signal intensity information ranked in the top three in the signal intensity information with the largest occupation ratio of the floors and/or regions.
Specifically, every set positioning period is set, and for each piece of signal strength information received from each control terminal, the signal strength information is sorted according to the strength of the energy value indicated by the signal strength information. After the signal strength information is sorted, floors and/or areas corresponding to a predetermined number (for example, 5 or 10) of signal strength information before sorting are determined, the floor and/or area with the largest occupation ratio is judged, and 3 pieces of signal strength information with the top three of the signal strength information with the largest occupation ratio of the floors and/or areas are selected as the basis of the second positioning information.
The signal intensity information corresponding to the same floor or area is used as the basis for calculating the second positioning information, so that the influence of indoor environment (walls and decorative articles) on the signal transmission process is reduced, and the accuracy of determining the second positioning information is improved. And the determination of the floor on which the control terminal is located may also be determined by the floor and/or area fraction in the signal strength information.
In a possible embodiment, a positioning period may be further set every interval, and for each piece of signal strength information received from each control terminal, the signal strength information is sorted according to the strength of the energy value indicated by the signal strength information, and 3 pieces of signal strength information ranked in the top three are selected as the basis of the second positioning information.
S204: and determining second positioning information of the control terminal according to the screened signal intensity information and the first positioning information corresponding to the first intelligent terminal.
After 3 signal intensity information are screened out, second positioning information of the control terminal can be further calculated according to the first positioning information of the first intelligent terminal corresponding to the screened signal intensity information. Specifically, the calculation of the second positioning information includes steps S2041 to S2044:
s2041: and calculating the node distance from the control terminal to the corresponding first intelligent terminal according to the signal strength information.
Specifically, the node distance between the control terminal and the first intelligent terminal is calculated according to the following logarithm-normal distribution model:
the above formula can predict the average energy received when the distance between the control terminal and the first intelligent terminal is d, wherein PL (d) [ dB [)]Signal energy corresponding to signal strength information, d0Corresponding to the near-ground reference distance of the first intelligent terminal, which is determined through testing,
when the distance between the control terminal and the first intelligent terminal is d0Average energy received from a corresponding first intelligent terminal, n is a path loss index and represents the rate of path loss increasing along with distance, the range is 2-6, and XσThe Gaussian distribution variable with the average value of 0 is used for reducing the difference of the surrounding environments at different positions.
Respectively substituting the 3 pieces of signal strength information into the logarithm-normal distribution model to calculate the node distance d from the control terminal to the corresponding first intelligent terminala1、db1And dc1。
S2042: and calculating intersection point coordinate information of a multi-line intersection point of the first intelligent terminal corresponding to the node distance according to the first positioning information corresponding to the first intelligent terminal and the node distance.
Specifically, after the node distances from the control terminal to the screened 3 first intelligent terminals are determined, intersection point coordinate information of a multi-line intersection point of the node distances corresponding to the 3 first intelligent terminals is further calculated. The intersection points of the multiple lines can be understood as that each first intelligent terminal uses the first positioning information as an origin point, the corresponding node distance is used as a radius to make a circle, and the intersection point or the center of an intersection area of the three circles is the intersection point of the multiple lines.
Specifically, the intersection coordinate information provided in this embodiment is obtained based on the following formula:
wherein xa and ya, xb and yb, xc and yc are respectively the abscissa and ordinate corresponding to the 3 first positioning information, da1、db1、dc1The node distances corresponding to the 3 pieces of signal strength information are respectively, and x and y are respectively an abscissa and an ordinate of the intersection coordinate information.
Coordinate points (xa, ya), (xb, yb) and (xc, yc) corresponding to the first positioning information of the 3 first intelligent terminals and the node distance da1、db1And dc1Substituting the formula into the above formula to calculate the intersection point coordinate (x) corresponding to the intersection point coordinate information1，y1)。
S2043: and calculating the intersection point distance of the first intelligent terminal corresponding to the multi-line intersection point based on the intersection point coordinate information and the first positioning information, and correcting the node distance according to the intersection point distance.
Specifically, after intersection point coordinate information is obtained through calculation, intersection point distances l from the screened 3 first intelligent terminals to the intersection points of the multiple lines are further calculateda1、lb1And lc1. The intersection distance can be directly determined by the intersection coordinates (x)1，y1) And coordinate points (xa, ya), (xb, yb) and (xc, yc) corresponding to the first positioning information are obtained by distance calculation. For example, coordinate points (xa, ya) to (x)1，y1) A distance l ofa1Is composed of
Further, after the intersection point distance of the 3 first intelligent terminals relative to the intersection point of the multiple lines is obtained through calculation, the multiple node distance is corrected. Specifically, the node distance is corrected according to the intersection distance, which includes steps S20431 to S20432:
s20431: and determining the distance correction coefficients of the 3 first intelligent terminals.
The distance correction coefficients of the 3 first intelligent terminals are obtained based on the following formula:
wherein alpha isa1、αb1And alphac1Distance correction coefficients l for 3 first intelligent terminals respectivelya1、lb1And lc1And the intersection point distances of the 3 first intelligent terminals corresponding to the intersection points of the multiple lines are respectively, and n is a path loss index.
Intersection point distance l corresponding to 3 first intelligent terminalsa1、lb1And lc1And node distance da1、db1、dc1Substituting the above formula can calculate the distance correction coefficient alpha corresponding to the 3 first intelligent terminalsa1、αb1And alphac1。
S20432: and correcting the node distance according to the distance correction coefficient. Specifically, the node distance is corrected based on the following formula:
wherein d isa2、db2And dc2For the corrected node distance, αa1、αb1And alphac1The distance correction coefficients are respectively 3 first intelligent terminals.
Correcting the distance alpha corresponding to 3 first intelligent terminalsa1、αb1And alphac1And node distance da1、db1、dc1The modified node distance d can be obtained by substituting the formulaa2、db2And dc2。
S2044: and calculating second positioning information of the control terminal based on the first positioning information corresponding to the first intelligent terminal and the corrected node distance.
Specifically, the second positioning information is calculated based on the following formula:
will be correctedNode distance d ofa2、db2And dc2And the coordinate points (xa, ya), (xb, yb) and (xc, yc) corresponding to the first positioning information are substituted into the formula, and the coordinate point (x) corresponding to the second positioning information of the control terminal can be calculated2，y2)。
S205: and determining a second mapping position of the control terminal in the indoor three-dimensional map based on the second positioning information.
Specifically, after the second positioning information of the control terminal is determined, the coordinate point of the indoor three-dimensional map mapped by the second positioning information is determined according to the map mapping relationship between the coordinate point of the indoor position and the coordinate point of the indoor three-dimensional map, so that the second mapping position of the control terminal in the indoor three-dimensional map is determined.
The coordinate system corresponding to the second positioning information and the coordinate system corresponding to the indoor three-dimensional map provided in this embodiment are the same coordinate system, and at this time, the map mapping relationship between the second positioning information and the positioning information of the indoor three-dimensional map is a one-to-one correspondence relationship, so that the second positioning information can be directly determined as the second mapping position. In another embodiment, if the coordinate system corresponding to the second positioning information and the coordinate system corresponding to the indoor three-dimensional map are different coordinate systems, a map mapping relationship is determined according to a conversion relationship between the two coordinate systems, and the second mapping position of the control terminal is determined according to the map mapping relationship.
S206: and updating the transmission parameter corresponding to the second mapping position in real time according to the link mapping relation between the mapping position and the link transmission parameter, and communicating with the control terminal based on the transmission parameter.
S207: and determining a target type corresponding to the instruction information sent by the control terminal, and determining the terminal type of each controlled terminal and a third mapping position in the indoor three-dimensional map.
Illustratively, a target type (such as an air conditioner, a lamp, etc.) to be controlled is selected on the control terminal, and a corresponding control parameter is selected, and the control terminal generates instruction information according to the target type and the control parameter, and sends the instruction information to the internet of things control device provided by this embodiment. The determination of the target type can be determined according to a specific control button for selecting the control parameter, and can also be determined by detecting the selection of the terminal type in the interactive interface.
Specifically, after receiving the instruction information uploaded by the control terminal, the target type and the control parameter corresponding to the instruction information, and the current second mapping position of the control terminal are determined.
Further, the terminal type of each controlled terminal and a third mapping position in the indoor three-dimensional map are determined. The terminal type and the third mapping position may be determined when the controlled terminal is installed, and recorded in the internet of things control apparatus provided in this embodiment.
S208: and determining the third mapping position to be within the set control range of the second mapping position, determining a controlled terminal with a terminal type corresponding to the target type, and determining the controlled terminal as a target terminal so as to control the target terminal based on the instruction information.
Specifically, a set control range of the second mapping position in the indoor three-dimensional map is determined, controlled terminals in the set control range are searched according to the third mapping position of each controlled terminal, and the terminal types of the controlled terminals are determined.
In one possible embodiment, the determination manner of the control range may be determined according to the target type, that is, different target types correspond to different determination manners of the set control range. The set control range may be a circular range formed by taking the second mapping position as a center and taking the set control distance as a radius, or a region where the second mapping position is located as the control range.
Further, in the controlled terminals within the set control range, if there are controlled terminals whose terminal types are consistent with the target type, these controlled terminals are determined as target terminals. And after the target terminal is determined, a control instruction is sent to a controller corresponding to the target terminal, so that the target terminal is controlled according to the instruction information.
The method comprises the steps of determining a second mapping position of the control terminal in the indoor three-dimensional map according to signal strength information between the control terminal and each first intelligent terminal, determining transmission parameters for communication with the control terminal according to the mapping relation between the mapping position and the transmission parameters, improving data transmission quality of the control terminal, determining a target terminal to be controlled according to the second mapping position when the control terminal sends instruction information, controlling the target terminal based on the instruction information, determining the target terminal to be controlled according to the position of the control terminal, controlling a plurality of target terminals through one control terminal, controlling devices in different forms through pointing instruction information and combined instruction information, flexibly controlling a plurality of indoor devices, and effectively improving user experience. Meanwhile, the screened signal intensity information corresponds to the first intelligent terminal on the same floor and/or region, the influence of a shielding object on the positioning of the control terminal is effectively reduced, the node distance is corrected, and the indoor positioning accuracy of the control terminal is improved.
Fig. 3 is a schematic structural diagram of an internet of things control device based on indoor positioning according to an embodiment of the present application. Referring to fig. 3, the internet of things control device based on indoor positioning includes a first mapping module 31, a second mapping module 32, a parameter determination module 33, and a terminal control module 34.
The first mapping module 31 is configured to obtain an indoor three-dimensional map, and determine a first mapping position of a first intelligent terminal in the indoor three-dimensional map based on first positioning information of the first intelligent terminal at each fixed installation position; the second mapping module 32 is used for determining a second mapping position of the control terminal in the indoor three-dimensional map based on signal strength information between the control terminal with the movable position and the first intelligent terminal; the parameter determining module 33 is configured to update, in real time, a transmission parameter corresponding to the second mapping position according to a link mapping relationship between a mapping position and a link transmission parameter, and communicate with the control terminal based on the transmission parameter, where the transmission parameter includes one or more of a modulation mode, a coding mode, redundant information, and a time-frequency resource; and the terminal control module 34 is configured to determine, based on the second mapping position, a target terminal corresponding to instruction information sent by the control terminal, so as to control the target terminal based on the instruction information, where the instruction information includes pointing instruction information and combination instruction information, the pointing instruction information points to a specified terminal type and control parameter, and the combination instruction information points to a combination of preset terminal types and a combination of control parameters.
The method comprises the steps of determining a second mapping position of the control terminal in the indoor three-dimensional map according to signal strength information between the control terminal and each first intelligent terminal, determining transmission parameters for communication with the control terminal according to the mapping relation between the mapping position and the transmission parameters, improving data transmission quality of the control terminal, determining a target terminal to be controlled according to the second mapping position when the control terminal sends instruction information, controlling the target terminal based on the instruction information, determining the target terminal to be controlled according to the position of the control terminal, controlling a plurality of target terminals through one control terminal, controlling devices in different forms through pointing instruction information and combined instruction information, flexibly controlling a plurality of indoor devices, and effectively improving user experience.
The embodiment of the present application further provides a computer device, and the computer device may integrate the internet of things control device based on indoor positioning provided in the embodiment of the present application. Fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present application. Referring to fig. 4, the computer apparatus includes: an input device 43, an output device 44, a memory 42, and one or more processors 41; the memory 42 for storing one or more programs; when the one or more programs are executed by the one or more processors 41, the one or more processors 41 are enabled to implement the method for controlling the internet of things based on indoor positioning as provided in the above embodiments. Wherein the input device 43, the output device 44, the memory 42 and the processor 41 may be connected by a bus or other means, for example, in fig. 4.
The memory 42 is a storage medium readable by a computing device and can be used for storing software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the internet of things control method based on indoor positioning according to any embodiment of the present application (for example, the first mapping module 31, the second mapping module 32, the parameter determining module 33, and the terminal control module 34 in the internet of things control apparatus based on indoor positioning). The memory 42 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, the memory 42 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 42 may further include memory located remotely from processor 41, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 43 may be used to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the apparatus. The output device 44 may include a display device such as a display screen.
The processor 41 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 42, so as to implement the above-mentioned internet of things control method based on indoor positioning.
The internet of things control device, the equipment and the computer based on indoor positioning provided by the above embodiments can be used for executing the internet of things control method based on indoor positioning provided by any of the above embodiments, and have corresponding functions and beneficial effects.
Embodiments of the present application further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the method for controlling an internet of things based on indoor positioning according to the embodiments, where the method for controlling an internet of things based on indoor positioning includes: the method comprises the steps of obtaining an indoor three-dimensional map, and determining a first mapping position of a first intelligent terminal in the indoor three-dimensional map based on first positioning information of the first intelligent terminal at each fixed installation position; determining a second mapping position of the control terminal in the indoor three-dimensional map based on signal strength information between the control terminal at the movable position and the first intelligent terminal; updating the transmission parameter corresponding to the second mapping position in real time according to the link mapping relation between the mapping position and the link transmission parameter, and communicating with the control terminal based on the transmission parameter, wherein the transmission parameter comprises one or more of a modulation mode, a coding mode, redundant information and time-frequency resources; and determining a target terminal corresponding to instruction information sent by the control terminal based on the second mapping position so as to control the target terminal based on the instruction information, wherein the instruction information comprises pointing instruction information and combined instruction information, the pointing instruction information points to a specified terminal type and control parameters, and the combined instruction information points to a preset combination of terminal types and a preset combination of control parameters.
Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system connected to the first computer system through a network (such as the internet). The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium containing the computer-executable instructions provided in the embodiments of the present application is not limited to the method for controlling an internet of things based on indoor positioning as described above, and may also perform related operations in the method for controlling an internet of things based on indoor positioning as provided in any embodiment of the present application.
The internet of things control device, the equipment and the storage medium based on indoor positioning provided in the foregoing embodiments may execute the internet of things control method based on indoor positioning provided in any embodiment of the present application, and reference may be made to the internet of things control method based on indoor positioning provided in any embodiment of the present application without detailed technical details described in the foregoing embodiments.
The foregoing is considered as illustrative of the preferred embodiments of the invention and the technical principles employed. The present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the claims.
Claims (8)
1. An Internet of things control method based on indoor positioning is characterized by comprising the following steps:
the method comprises the steps of obtaining an indoor three-dimensional map, and determining a first mapping position of a first intelligent terminal in the indoor three-dimensional map based on first positioning information of the first intelligent terminal at each fixed installation position;
receiving signal intensity information which is sent by a control terminal at a movable position and is relative to each first intelligent terminal; screening the signal intensity information to obtain a set number of signal intensity information; calculating the node distance from the control terminal to the corresponding first intelligent terminal according to the signal strength information; calculating intersection point coordinate information of a multi-line intersection point of the first intelligent terminal corresponding to the node distance according to the first positioning information corresponding to the first intelligent terminal and the node distance; calculating the intersection point distance of the first intelligent terminal corresponding to the multi-line intersection point based on the intersection point coordinate information and the first positioning information, and correcting the node distance according to the intersection point distance; calculating second positioning information of the control terminal based on the first positioning information corresponding to the first intelligent terminal and the corrected node distance; determining a second mapping position of the control terminal in the indoor three-dimensional map based on the second positioning information;
updating the transmission parameter corresponding to the second mapping position in real time according to the link mapping relation between the mapping position and the link transmission parameter, and communicating with the control terminal based on the transmission parameter;
and determining a target terminal corresponding to instruction information sent by the control terminal based on the second mapping position so as to control the target terminal based on the instruction information, wherein the instruction information comprises pointing instruction information and combined instruction information, the pointing instruction information points to a specified terminal type and control parameters, and the combined instruction information points to a preset combination of terminal types and a preset combination of control parameters.
2. The internet of things control method based on indoor positioning as claimed in claim 1, wherein the set number of signal strength information is 3 signal strength information, and the intersection coordinate information is obtained based on the following formula:
wherein xa and ya, xb and yb, xc and yc are respectively the abscissa and ordinate corresponding to the 3 first positioning information, da1、db1、dc1Node distances, x, corresponding to 3 pieces of signal strength information, respectively1And y1Respectively coordinate information of intersectionsThe abscissa and the ordinate.
3. The internet of things control method based on indoor positioning as claimed in claim 2, wherein the modifying the node distance according to the intersection point distance comprises:
determining distance correction coefficients of 3 first intelligent terminals, and correcting node distances based on the following formula:
wherein d isa2、db2And dc2For the corrected node distance, αa1、αb1And alphac1The distance correction coefficients are respectively 3 first intelligent terminals.
4. The internet of things control method based on indoor positioning as claimed in claim 3, wherein the distance correction coefficient of each first intelligent terminal is obtained based on the following formula:
wherein la1、lb1And lc1And the intersection point distances of the 3 first intelligent terminals corresponding to the intersection points of the multiple lines are respectively, and n is a path loss index.
5. The internet of things control method based on indoor positioning as claimed in claim 1, wherein the screening the signal strength information to obtain a set number of signal strength information comprises:
and sorting the signal intensity information, determining floors and/or regions corresponding to a predetermined number of signal intensity information before sorting, judging the floor and/or region with the largest occupation ratio, and selecting 3 pieces of signal intensity information ranked in the top three in the signal intensity information with the largest occupation ratio of the floors and/or regions.
6. The internet of things control method based on indoor positioning as claimed in claim 1, wherein determining the target terminal corresponding to the instruction information sent by the control terminal comprises:
determining a target type corresponding to the instruction information sent by the control terminal;
determining the terminal type of each controlled terminal and a third mapping position in the indoor three-dimensional map;
and determining the third mapping position to be in the set control range of the second mapping position, determining a controlled terminal with a terminal type corresponding to the target type, and determining the controlled terminal as the target terminal.
7. The utility model provides an thing networking controlling means based on indoor location which characterized in that includes first mapping module, second mapping module, parameter determination module and terminal control module, wherein:
the first mapping module is used for acquiring an indoor three-dimensional map and determining a first mapping position of a first intelligent terminal in the indoor three-dimensional map based on first positioning information of the first intelligent terminal at each fixed mounting position;
the second mapping module is used for receiving signal intensity information which is sent by the control terminal at the movable position and is relative to each first intelligent terminal; screening the signal intensity information to obtain a set number of signal intensity information; calculating the node distance from the control terminal to the corresponding first intelligent terminal according to the signal strength information; calculating intersection point coordinate information of a multi-line intersection point of the first intelligent terminal corresponding to the node distance according to the first positioning information corresponding to the first intelligent terminal and the node distance; calculating the intersection point distance of the first intelligent terminal corresponding to the multi-line intersection point based on the intersection point coordinate information and the first positioning information, and correcting the node distance according to the intersection point distance; calculating second positioning information of the control terminal based on the first positioning information corresponding to the first intelligent terminal and the corrected node distance; determining a second mapping position of the control terminal in the indoor three-dimensional map based on the second positioning information;
the parameter determining module is used for updating the transmission parameter corresponding to the second mapping position in real time according to the link mapping relation between the mapping position and the link transmission parameter, and communicating with the control terminal based on the transmission parameter;
and the terminal control module is used for determining a target terminal corresponding to instruction information sent by the control terminal based on the second mapping position so as to control the target terminal based on the instruction information, wherein the instruction information comprises pointing instruction information and combined instruction information, the pointing instruction information points to a specified terminal type and control parameters, and the combined instruction information points to a preset combination of the terminal types and a preset combination of the control parameters.
8. A computer device, comprising: a memory and one or more processors;
the memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of internet of things control based on indoor positioning as recited in any one of claims 1-5.
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