WO2022095787A1 - 用于智能家居设备导航控制的方法、装置及智能家居设备 - Google Patents

用于智能家居设备导航控制的方法、装置及智能家居设备 Download PDF

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Publication number
WO2022095787A1
WO2022095787A1 PCT/CN2021/127091 CN2021127091W WO2022095787A1 WO 2022095787 A1 WO2022095787 A1 WO 2022095787A1 CN 2021127091 W CN2021127091 W CN 2021127091W WO 2022095787 A1 WO2022095787 A1 WO 2022095787A1
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Prior art keywords
navigation
position information
information
current
smart home
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PCT/CN2021/127091
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English (en)
French (fr)
Inventor
曹高华
郝本华
李学瑞
Original Assignee
青岛海尔空调器有限总公司
青岛海尔空调电子有限公司
海尔智家股份有限公司
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Publication of WO2022095787A1 publication Critical patent/WO2022095787A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2642—Domotique, domestic, home control, automation, smart house
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present application relates to the technical field of smart home devices, for example, to a method, device and smart home device for navigation control of smart home devices.
  • Home appliances such as refrigerators, air conditioners, TVs, washing machines, kitchen appliances, etc. have functions of communication, voice interaction, automatic control, etc., and are all smart home appliances.
  • the embodiments of the present disclosure provide a method, a device, and a smart home device for navigation control of a smart home device, so as to solve the technical problem that the intelligence of the smart home device needs to be improved.
  • the method includes:
  • the current position information determine the current picture position information of the user to be controlled in the indoor three-dimensional picture associated with the smart home device
  • the current picture position information and the obstacle position information in the indoor three-dimensional map determine the navigation route instruction, and carry out the navigation reminder.
  • the apparatus includes:
  • the first acquisition module is configured to acquire the current location information of the user to be controlled in the case of receiving the navigation voice command information
  • a determining module configured to determine, according to the current position information, the current illustrated position information of the user to be controlled in the indoor three-dimensional map in the room associated with the smart home device;
  • the first navigation module is configured to determine a navigation route instruction according to the current graphic position information and the position information of obstacles in the indoor three-dimensional map, and perform a navigation reminder.
  • the apparatus for navigation control of smart home equipment includes a processor and a memory storing program instructions, and the processor is configured to execute the above-mentioned application for smart home when executing the program instructions.
  • Device navigation control method includes a processor and a memory storing program instructions, and the processor is configured to execute the above-mentioned application for smart home when executing the program instructions.
  • the smart home equipment includes the above-mentioned apparatus for navigation control of smart home equipment.
  • the method, device and smart home device for navigation control of smart home equipment provided by the embodiments of the present disclosure can achieve the following technical effects:
  • the current position information of the user to be controlled can be obtained, and it can be determined that the current position information corresponds to the current picture position information in the indoor 3D map, so that the navigation can be determined according to the current picture position information and the obstacle position information in the indoor 3D map.
  • Route instructions and navigation reminders realize intelligent navigation, which can help people to walk conveniently in the home, and can find the remote control terminal of smart devices through navigation, so that they can freely control smart home devices and help improve the convenience of users. It also contributes to the promotion of smart home devices.
  • FIG. 1 is a schematic flowchart of a navigation control method for a smart home device provided by an embodiment of the present disclosure
  • FIG. 2 is a schematic flowchart of a navigation control method for a smart home device provided by an embodiment of the present disclosure
  • FIG. 3 is a schematic flowchart of a method for navigation control of a smart home device provided by an embodiment of the present disclosure
  • FIG. 4 is a schematic structural diagram of a navigation control device for smart home equipment provided by an embodiment of the present disclosure
  • FIG. 5 is a schematic structural diagram of a navigation control device for smart home equipment provided by an embodiment of the present disclosure
  • FIG. 6 is a schematic structural diagram of a navigation control device for a smart home device provided by an embodiment of the present disclosure.
  • A/B means: A or B.
  • a and/or B means: A or B, or, A and B three relationships.
  • Smart home equipment has entered thousands of households, facing various types of users.
  • an intelligent navigation function can be added to help them walk conveniently at home, and they can find the remote control terminal of the smart device through navigation, so that they can control the smart device freely.
  • Smart home equipment further improves the intelligence of smart home equipment.
  • FIG. 1 is a schematic flowchart of a navigation control method for a smart home device provided by an embodiment of the present disclosure. As shown in Figure 1, the process for navigation control of smart home devices includes:
  • Step 101 in the case of receiving the navigation voice command information, obtain the current location information of the user to be controlled.
  • the navigation voice instruction information can receive the navigation voice command information sent by the user, such as: go to the front of the TV or where is the remote control of the air conditioner. These command information are related to the route and need to be planned.
  • the navigation voice instruction information includes one or both of object avoidance navigation instruction information and object finding navigation instruction information. For example: the command to go to the TV, the command to go to the kitchen, or the command to walk, these are all object avoidance navigation command information.
  • the instruction to carry the air conditioner remote control and the sanitary appliance and wait to find the object may be the object-finding navigation instruction information.
  • the current location information of the user to be controlled can be obtained through the positioning device.
  • the positioning device may be a portable terminal, such as a mobile phone or a wearable device, etc.
  • the position of the positioning device is the position of the user to be controlled.
  • the location information sent by the positioning device can only be obtained by communicating with the positioning device.
  • a wireless short-distance communication connection can be established with the positioning device, wherein the wireless short-distance communication connection includes: Bluetooth connection, infrared connection, wireless connection One of the LAN connection and Zigbee connection.
  • the current location information of the user to be controlled may be acquired through the first image acquisition device.
  • the first image acquisition device may acquire indoor azimuth image information of the user to be controlled, so as to acquire current position information of the user to be controlled according to the azimuth image information.
  • the first image acquisition device also needs to communicate with the smart home device, which may or may not be configured on the smart home device.
  • the location information of the user to be controlled can be acquired in real time or periodically through the positioning device that has established a communication connection, or the first image acquisition device, wherein the corresponding location information is current location information each time it is acquired.
  • Step 102 According to the current position information, determine the current illustrated position information of the user to be controlled in the indoor three-dimensional image in the room associated with the smart home device.
  • the smart home device can save the indoor 3D image associated with the smart home device. For example, during installation, you can import the indoor 3D image associated with the smart home device and save it, or communicate with the cloud server to obtain the indoor 3D image associated with the smart home device.
  • the indoor 3D map is saved and updated regularly, so that the current position information of the positioning device in the saved indoor 3D map can be determined according to the current position information.
  • the room associated with the smart home device may include: a room where the smart home device is located, or a suite where the smart home device is located, such as a three-bedroom room.
  • the indoor 3D image is not stored in the smart home device, only the indoor 3D image is stored in the cloud server.
  • the current icon location information can be sent to the cloud server, so that the cloud server can determine that the positioning device is in The current icon position information in the saved indoor three-dimensional map; then, the current icon position information sent by the cloud server is received.
  • Step 103 Determine the navigation route instruction according to the current graphic location information and the obstacle location information in the indoor three-dimensional map, and perform a navigation reminder.
  • the indoor 3D image saved locally or saved in the cloud server also has the position information of obstacles, such as: furniture, household equipment and other position information.
  • obstacles such as: furniture, household equipment and other position information.
  • the navigation route instruction can be determined directly according to the current graphic location information and the obstacle location information in the indoor three-dimensional map, and the navigation reminder can be performed.
  • the navigation voice instruction information is the object-finding navigation instruction information
  • a positioning device can also be carried on the object to be found, and the position information of the object to be found is obtained through the positioning device carried on the object to be found, and the position information of the object to be found in the indoor three-dimensional map is determined.
  • the user to be controlled may be blind or other visually impaired users, and the navigation reminder can be performed by voice playback.
  • the positioning device worn by the user to be controlled may use a vibration reminder for navigation reminder, for example: walking left, vibrating once, walking right, vibrating twice, and so on.
  • one or more methods of text, sound and light, voice, etc. may also be used to provide navigation reminders, and the details will not be listed one by one.
  • the current position information of the user to be controlled can be obtained, and the current icon position information in the corresponding indoor three-dimensional map can be determined.
  • the convenience of use also helps to promote the promotion of smart home devices.
  • a second image acquisition device can also be configured in the smart home device, and the smart home device can acquire image information in the active area in real time through the configured second image acquisition device, so that the determined current image display the location information and the second image acquisition device in the smart home equipment, and determine the navigation route instruction, that is, the navigation control of the smart home equipment may further include: obtaining the current image acquisition device in the action area of the second image acquisition device through the configured second image acquisition device Image information: According to the current graphic position information, the position information of obstacles in the indoor three-dimensional map, and the current image information, determine the navigation route instruction and give a navigation reminder.
  • the room associated with the smart home device may be a room or a suite. If the smart home device and the user to be controlled are in the same room, the current location information of the user to be controlled is obtained through the first image acquisition device and the current icon is determined. location information, then the first image capture device may be the second image capture device, or other image capture devices that can be communicatively connected to the smart home device. If the smart home device and the user to be controlled are not in the same room, the first image capturing device is different from the second image capturing device.
  • determining the navigation route instruction and performing the navigation reminder includes: in the case that the navigation voice instruction information is the object avoidance navigation instruction information, according to the current graphic location information and the location information of the obstacles in the indoor three-dimensional map, determine the pending Avoiding the obstacle is the first obstacle; performing image recognition on the current image information to determine that the obstacle to be avoided is the second obstacle; when the first obstacle is consistent with the second obstacle, generate avoidance reminder information and navigate remind.
  • the update of the indoor three-dimensional image saved in the smart home equipment or server is not necessarily real-time, but the second image acquisition device configured by the smart home equipment can acquire the current image information in the area of action of the second image acquisition device in real time.
  • the obstacle to be avoided that is, the first obstacle
  • the determined obstacle to be avoided that is, the second obstacle
  • the two When the two are consistent, generate avoidance reminder information and perform navigation reminder.
  • the user to be controlled can avoid obstacles in time, which further improves the accuracy of navigation.
  • determining the navigation route instruction may include: performing image recognition on the current image information, and determining that the second obstacle is to be Avoid obstacles, generate avoidance reminders and provide navigation reminders.
  • the obstacle to be avoided can be determined according to the current image information collected by the second image acquisition device, and the avoidance reminder information can be generated and the navigation reminder can be performed, which further improves the intelligence of the smart home device navigation and the convenience of the user. .
  • determining the navigation route instruction and performing the navigation reminder includes: in the case that the navigation voice instruction information is the object-seeking navigation instruction information, determining the icon position information of the object to be found in the indoor three-dimensional map; The current icon location information, the icon location information of the object to be found, the location information of the obstacle in the indoor three-dimensional map, and the current image information, generate the object-seeking navigation route order and give a navigation reminder.
  • the navigation voice command information is the object-seeking navigation command information
  • the determination by the device includes: obtaining the position information of the object to be found through the positioning device carried on the object to be found, and determining the position information of the first object to be found in the indoor three-dimensional map of the object to be found; Identify and determine the icon position information of the second object to be found; in the case that the icon position information of the first object to be found is consistent with the icon position information of the second object to be found, the first object to be found is shown
  • the location information is determined as the location information of the object to be sought in the indoor three-dimensional map. In this way, the accuracy of
  • the second graphical position information of the object to be found may be determined as the graphical position information of the object to be found in the indoor three-dimensional map.
  • the icon location information of the first object to be found can be determined as the object to be found in the indoor three-dimensional image. Icon location information.
  • the navigation route for the object can be generated based on the current icon location information, the icon location information of the object to be found, and the location information of the obstacles in the indoor 3D map. order and make a navigation reminder. Or, according to the current picture position information, the picture position information of the object to be found, the position information of the obstacle in the indoor three-dimensional map, and the current image information, the object-seeking navigation route order is generated and a navigation reminder is given. Obstacles also need to be avoided in the process of finding objects.
  • the process of generating a navigation route for finding objects also includes: determining the location information of obstacles in the current map and the location information of obstacles in the indoor three-dimensional map.
  • the obstacle to be avoided is the first obstacle; image recognition is performed on the current image information, and the obstacle to be avoided is determined to be the second obstacle; when the first obstacle is consistent with the second obstacle, the avoidance reminder information is generated and performed. Navigation reminder.
  • the smart home device is an air conditioner equipped with an infrared camera, and the indoor three-dimensional image has been imported and saved in the air conditioner, and the user to be controlled is a blind person wearing a positioning watch, and the air conditioner and the positioning watch have established Bluetooth Communication, navigation reminder mode is voice playback.
  • FIG. 2 is a schematic flowchart of a navigation control method for a smart home device provided by an embodiment of the present disclosure.
  • the process for navigation control of smart home devices includes:
  • Step 201 Receive the object avoidance navigation voice instruction information sent by the user to be controlled.
  • the user to be controlled can issue a voice command carrying the set vocabulary.
  • the user to be controlled can issue a voice command to carry the set vocabulary such as "go", "go", or "arrive”.
  • the air conditioner After the air conditioner receives the voice command, Perform analysis to determine that the received voice command is voice command information for object avoidance navigation.
  • Step 202 Perform Bluetooth communication with the positioning watch to obtain the current location information of the user to be controlled, and obtain current image information within the area of action of the infrared camera through the configured infrared camera.
  • Step 203 According to the current position information, determine the current illustrated position information of the positioning device in the indoor three-dimensional image.
  • Step 204 Determine whether the first obstacle determined according to the current image location information and the obstacle location information in the indoor three-dimensional map is consistent with the second obstacle determined by performing image recognition on the current image information? If yes, go to step 205; otherwise, go to step 206.
  • Step 205 generate avoidance reminder information and broadcast it, and perform step 206 .
  • Step 206 Has the stop navigation instruction information been received? If yes, the process ends; otherwise, return to step 202 .
  • the position information of the user to be controlled is obtained by locating the watch, and the position information shown in the corresponding indoor three-dimensional map is determined, and the image of the associated area of the user to be controlled is obtained through the infrared camera.
  • the avoidance reminder information is generated and the navigation reminder is performed, realizing intelligent navigation, which can help set people to walk conveniently in the home and improve the intelligence of smart home equipment.
  • the smart home device is an air conditioner equipped with an infrared camera, and the indoor three-dimensional image is saved in the air conditioner, and the user to be controlled is a blind person wearing a positioning watch, and the air conditioner and the positioning watch have established Bluetooth communication, and at the same time ,
  • the remote control of the air conditioner is also equipped with a positioning device, and it can also communicate with the air conditioner via Bluetooth.
  • the navigation reminder method is voice playback.
  • FIG. 3 is a schematic flowchart of a navigation control method for a smart home device provided by an embodiment of the present disclosure.
  • the process for navigation control of smart home devices includes:
  • Step 301 Receive the object-finding voice instruction information sent by the user to be controlled to find the remote controller of the air conditioner.
  • Step 302 Perform Bluetooth communication with the positioning watch, obtain the current location information of the user to be controlled, perform Bluetooth communication with the air conditioner remote control, obtain the remote control position information of the air conditioner remote control, and obtain the infrared camera through the configured infrared camera. of the current image information.
  • Step 303 According to the current position information, determine the current illustrated position information of the user to be controlled in the indoor three-dimensional image.
  • Step 304 Determine whether image recognition is performed on the current image information, and the second icon location information corresponding to the remote control is determined? If yes, go to step 305; otherwise, go to step 308.
  • the room associated with the air conditioner may be a suite, in which the air conditioner may be in the bedroom, and the remote control may be in the bedroom or in the living room. In this way, image recognition is performed on the current image information collected. If the remote control is in the action area of the infrared camera on the air conditioner , the second graphic location information corresponding to the remote control can be determined, and step 305 is executed. If the remote control is in the living room or other areas where the infrared camera cannot capture, the second graphic location information corresponding to the remote control cannot be determined. , and step 308 is executed.
  • Step 305 Determine whether the determined first illustrated position information of the remote controller in the indoor three-dimensional image is consistent with the second illustrated position information? If yes, go to step 306; otherwise, go to step 307.
  • Step 306 According to the current picture position information, the picture position information of the remote controller, the position information of obstacles in the indoor three-dimensional map, and the current image information, generate and broadcast the object-seeking navigation route order. Go to step 309 .
  • the illustrated location information of the remote control may be the first illustrated location information or the second illustrated location information.
  • avoidance reminder information may also be generated and broadcast as shown in steps 204-205 in the above-mentioned embodiment.
  • Step 307 According to the current picture position information, the second picture position information, the obstacle position information in the indoor three-dimensional picture, and the current image information, generate and broadcast the object-seeking navigation route order. Go to step 309 .
  • Step 308 According to the current picture position information, the first picture position information of the remote controller in the indoor three-dimensional picture, and the obstacle position information in the indoor three-dimensional picture, generate and broadcast the object-seeking navigation route order. Go to step 309 .
  • Step 309 Has the stop navigation instruction information been received? If yes, the process ends; otherwise, return to step 302 .
  • the current location information of the user to be controlled and the location information of the remote control are obtained through the positioning device, and the location information shown in the corresponding indoor three-dimensional map is determined, and the infrared camera is used to obtain the relevant area of the user to be controlled.
  • Image information in this way, according to the location information and image information of the icon, the object-seeking navigation route order can be generated and the navigation reminder can be performed, realizing intelligent navigation, which can help the set group to get the remote control, so as to freely control the smart home equipment, and further Improve the convenience of users, and also help to promote the promotion of smart home equipment.
  • an apparatus for navigation control of smart home equipment can be constructed.
  • FIG. 4 is a schematic structural diagram of a navigation control device for a smart home device provided by an embodiment of the present disclosure.
  • the navigation control device for smart home equipment includes: a first acquisition module 410 , a determination module 420 and a first navigation module 430 .
  • the first obtaining module 410 is configured to obtain the current location information of the user to be controlled in the case of receiving the navigation voice command information.
  • the determining module 420 is configured to determine, according to the current position information, the current illustrated position information of the user to be controlled in the indoor three-dimensional map in the room associated with the smart home device.
  • the first navigation module 430 is configured to determine a navigation route instruction and perform a navigation reminder according to the current illustrated position information and the position information of obstacles in the indoor three-dimensional map.
  • the first obtaining module 410 is specifically configured to obtain the current position information of the user to be controlled through a positioning device; or obtain the current position information of the user to be controlled through the first image acquisition device.
  • the determining module 420 is specifically configured to send the current picture position information to the cloud server, so that the cloud server determines the current picture position information of the positioning device in the saved indoor three-dimensional picture; Current icon location information.
  • it further includes: a second acquisition module and a second navigation module.
  • the second acquisition module is configured to acquire the current image information in the action area of the second image acquisition device through the configured second image acquisition device.
  • the second navigation module is configured to determine a navigation route instruction and perform a navigation reminder according to the current graphic location information, the obstacle location information in the indoor three-dimensional map, and the current image information.
  • the second navigation module is specifically configured to, when the navigation voice instruction information is object avoidance navigation instruction information, determine the to-be-avoided location information according to the current graphic location information and the obstacle location information in the indoor three-dimensional map The obstacle is the first obstacle; perform image recognition on the current image information to determine that the obstacle to be avoided is the second obstacle; when the first obstacle is consistent with the second obstacle, generate avoidance reminder information and perform a navigation reminder .
  • the second navigation module is configured to determine the graphic position information of the object to be found in the indoor three-dimensional map when the navigation voice instruction information is the object-seeking navigation instruction information; according to the current Graphical location information, graphic location information of the object to be found, obstacle location information in the indoor three-dimensional map, and current image information, generate object-seeking navigation route orders and provide navigation reminders.
  • the second navigation module is further configured to obtain position information of the object to be found through a positioning device carried on the object to be found, and to determine the first object to be found icon in the indoor three-dimensional map of the object to be found Location information; perform image recognition on the current image information to determine the second object to be found icon location information of the object to be found; in the case that the first object to be found icon location information is consistent with the second object to be found icon location information , and determine the graphical position information of the first object to be found as the graphical position information of the object to be found in the indoor three-dimensional map.
  • the smart home device is a TV equipped with an infrared camera, and the indoor three-dimensional image is saved in the TV, and the user to be controlled is a blind person wearing a positioning watch, and the TV and the positioning watch have established Bluetooth communication, and at the same time ,
  • the TV remote control is also equipped with a positioning device, and can also communicate with the TV via Bluetooth.
  • FIG. 5 is a schematic structural diagram of a navigation control device for a smart home device provided by an embodiment of the present disclosure.
  • the navigation control device for smart home equipment includes: a first acquisition module 410 , a determination module 420 , a first navigation module 430 , a second acquisition module 440 and a second navigation module 430 .
  • the first acquisition module 410 can perform Bluetooth communication with the positioning watch after receiving the object-finding voice command information sent by the user to be controlled to find the TV remote control, obtain the current location information of the user to be controlled, and perform Bluetooth communication with the TV remote control. Communication, get the remote control location information of the TV remote control.
  • the second obtaining module 440 can obtain the current image information in the working area of the infrared camera through the configured infrared camera.
  • the determining module 420 can determine the currently illustrated position information of the positioning device in the indoor three-dimensional image according to the current position information, and determine the illustrated position information of the remote controller in the indoor three-dimensional image according to the remote controller position information.
  • the first navigation module 430 can determine a navigation route instruction and perform a navigation reminder according to the current illustrated location information, the illustrated location information of the remote controller, and the location information of obstacles in the indoor three-dimensional map.
  • the second navigation module 450 Evasion reminders can be generated and broadcast.
  • the device used for the navigation control of smart home equipment can determine the navigation route instruction and perform navigation reminder according to the positioning device and the image acquisition device, so as to realize the intelligent navigation, which can help set the crowd to walk conveniently in the home, And freely control the smart home equipment, which helps to improve the convenience of users, and also helps to realize the promotion of smart home equipment.
  • An embodiment of the present disclosure provides an apparatus for navigation control of smart home equipment, the structure of which is shown in FIG. 6 and includes:
  • a processor (processor) 1000 and a memory (memory) 1001 may also include a communication interface (Communication Interface) 1002 and a bus 1003 .
  • the processor 1000 , the communication interface 1002 , and the memory 1001 can communicate with each other through the bus 1003 .
  • Communication interface 1002 may be used for information transfer.
  • the processor 1000 may invoke the logic instructions in the memory 1001 to execute the method for navigation control of a smart home device in the above-mentioned embodiments.
  • logic instructions in the memory 1001 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.
  • the memory 1001 can be used to store software programs and computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure.
  • the processor 1000 executes function applications and data processing by running the program instructions/modules stored in the memory 1001, that is, to implement the method for navigation control of smart home devices in the above method embodiments.
  • the memory 1001 may 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 the use of the terminal smart home device, etc.
  • the memory 1001 may include high-speed random access memory, and may also include non-volatile memory.
  • An embodiment of the present disclosure provides a navigation control device for smart home equipment, including: a processor and a memory storing program instructions, the processor is configured to execute a method for smart home equipment navigation control when executing the program instructions.
  • An embodiment of the present disclosure provides a smart home device, including the above-mentioned navigation control device for the smart home device.
  • Embodiments of the present disclosure provide a computer-readable storage medium storing computer-executable instructions, where the computer-executable instructions are configured to execute the above-mentioned navigation control method for smart home devices.
  • An embodiment of the present disclosure provides a computer program product, where the computer program product includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions that, when executed by a computer, cause all The computer executes the above-mentioned navigation control method for smart home equipment.
  • the above-mentioned computer-readable storage medium may be a transient computer-readable storage medium, and may also be a non-transitory computer-readable storage medium.
  • the above-mentioned terminal device is, for example, a mobile device, a computer, or a vehicle-mounted device built into a floating car, or any combination thereof.
  • mobile devices may include, for example, cell phones, smart home devices, wearable devices, smart mobile devices, virtual reality devices, etc., or any combination thereof.
  • the technical solutions of the embodiments of the present disclosure may be embodied in the form of software products, and the computer software products are stored in a storage medium and include one or more instructions to enable a computer smart home device (which may be a personal computer, a server, Or network smart home equipment, etc.) to execute all or part of the steps of the methods described in the embodiments of the present disclosure.
  • the aforementioned storage medium can be a non-transitory storage medium, including: U disk, removable hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, etc.
  • a first element could be termed a second element, and similarly, a second element could be termed a first element, so long as all occurrences of "the first element” were consistently renamed and all occurrences of "the first element” were named consistently
  • the “second element” can be renamed consistently.
  • the first element and the second element are both elements, but may not be the same element.
  • the terms used in this application are used to describe the embodiments only and not to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a” (a), “an” (an) and “the” (the) are intended to include the plural forms as well, unless the context clearly dictates otherwise. .
  • the term “and/or” as used in this application is meant to include any and all possible combinations of one or more of the associated listings.
  • the term “comprise” and its variations “comprises” and/or including and/or the like refer to stated features, integers, steps, operations, elements, and/or The presence of a component does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groupings of these.
  • an element defined by the phrase “comprising a" does not preclude the presence of additional identical elements in the process, method, or smart home device that includes the element.
  • each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other.
  • the methods, products, etc. disclosed in the embodiments if they correspond to the method sections disclosed in the embodiments, reference may be made to the descriptions of the method sections for relevant parts.
  • the disclosed methods and products can be implemented in other ways.
  • the apparatus embodiments described above are only illustrative.
  • the division of the units may only be a logical function division.
  • there may be other division methods for example, multiple units or components may be combined Either it can be integrated into another system, or some features can be omitted, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
  • each functional unit in the embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function(s) executable instructions.
  • the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.

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Abstract

一种用于智能家居设备导航控制的方法、装置及智能家居设备。该方法包括：在接收导航语音指令信息的情况下，获取待控制用户的当前位置信息（步骤101）；根据所述当前位置信息，确定所述待控制用户在所述智能家居设备关联室内的室内三维图中的当前图示位置信息（步骤102）；根据所述当前图示位置信息，以及所述室内三维图中障碍物位置信息，确定导航路线指令并进行导航提醒（步骤103）。该方法实现了智能导航，可帮助设定人群在家居中便利行走，并自如控制智能家居设备，提高了智能家居设备的智能性。

Description

用于智能家居设备导航控制的方法、装置及智能家居设备
本申请基于申请号为202011231011.2、申请日为2020年11月6日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及智能家居设备技术领域，例如涉及用于智能家居设备导航控制的方法、装置及智能家居设备。
背景技术
冰箱、空调、电视、洗衣机、厨房电器等等家居设备都具有通讯，语音交互，自动控制等等功能，都是智能家居设备。
目前，智能家居设备的使用和控制都是针对普通人，但是，对于一些特殊人群，例如：视力不佳的人，很难自如地控制智能家居，因此，智能家居设备的智能性还有待提高。
发明内容
为了对披露的实施例的一些方面有基本的理解，下面给出了简单的概括。所述概括不是泛泛评述，也不是要确定关键/重要组成元素或描绘这些实施例的保护范围，而是作为后面的详细说明的序言。
本公开实施例提供了一种用于智能家居设备导航控制的方法、装置和智能家居设备，以解决智能家居设备智能性有待提高的技术问题。
在一些实施例中，所述方法包括：
在接收导航语音指令信息的情况下，获取待控制用户的当前位置信息；
根据所述当前位置信息，确定所述待控制用户在所述智能家居设备关联室内的室内三维图中的当前图示位置信息；
根据所述当前图示位置信息，以及所述室内三维图中障碍物位置信息，确定导航路线指令，并进行导航提醒。
在一些实施例中，所述装置包括：
第一获取模块，被配置为在接收导航语音指令信息的情况下，获取待控制用户的当前位置信息；
确定模块，被配置为根据所述当前位置信息，确定所述待控制用户在所述智能家居设备关联室内的室内三维图中的当前图示位置信息；
第一导航模块，被配置为根据所述当前图示位置信息，以及所述室内三维图中障碍物位置信息，确定导航路线指令，并进行导航提醒。
在一些实施例中，所述用于智能家居设备导航控制的装置，包括处理器和存储有程序指令的存储器，所述处理器被配置为在执行所述程序指令时，执行上述用于智能家居设备导航控制方法。
在一些实施例中，所述智能家居设备，包括上述用于智能家居设备导航控制的装置。
本公开实施例提供的用于智能家居设备导航控制的方法、装置和智能家居设备，可以实现以下技术效果：
可获取待控制用户的当前位置信息，并确定该当前位置信息对应在室内三维图中的当前图示位置信息，从而，根据当前图示位置信息，以及室内三维图中障碍物位置信息，确定导航路线指令并进行导航提醒，实现了智能导航，可帮助设定人群在家居中便利行走，并可通过导航找到智能设备的遥控终端，从而，自如控制智能家居设备，有助于提高用户的使用便捷性，同时还有助于实现智能家居设备的推广。
以上的总体描述和下文中的描述仅是示例性和解释性的，不用于限制本申请。
附图说明
一个或多个实施例通过与之对应的附图进行示例性说明，这些示例性说明和附图并不构成对实施例的限定，附图中具有相同参考数字标号的元件示为类似的元件，附图不构成比例限制，并且其中：
图1是本公开实施例提供的一种用于智能家居设备导航控制方法的流程示意图；
图2是本公开实施例提供的一种用于智能家居设备导航控制方法的流程示意图；
图3是本公开实施例提供的一种用于智能家居设备导航控制方法的流程示意图；
图4是本公开实施例提供的一种用于智能家居设备导航控制装置的结构示意图；
图5是本公开实施例提供的一种用于智能家居设备导航控制装置的结构示意图；
图6是本公开实施例提供的一种用于智能家居设备导航控制装置的结构示意图。
具体实施方式
为了能够更加详尽地了解本公开实施例的特点与技术内容，下面结合附图对本公开实施例的实现进行详细阐述，所附附图仅供参考说明之用，并非用来限定本公开实施例。在以下的技术描述中，为方便解释起见，通过多个细节以提供对所披露实施例的充分理解。然而，在没有这些细节的情况下，一个或多个实施例仍然可以实施。在其它情况下，为简化附图，熟知的结构和装置可以简化展示。
本公开实施例的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本公开实施例的实施例。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含。
除非另有说明，术语“多个”表示两个或两个以上。
本公开实施例中，字符“/”表示前后对象是一种“或”的关系。例如，A/B表示：A或B。
术语“和/或”是一种描述对象的关联关系，表示可以存在三种关系。例如，A和/或B，表示：A或B，或，A和B这三种关系。
智能家居设备已走进千家万户，面对各类型的用户。本公开实施例中，针对特性人群，例如：盲人或其他视力不佳的人群，可增加智能导航功能，帮助他们在家居中便利行走，并可通过导航找到智能设备的遥控终端，从而，自如控制智能家居设备，也进一步提高了智能家居设备的智能性。
图1是本公开实施例提供的一种用于智能家居设备导航控制方法的流程示意图。如图1所示，用于智能家居设备导航控制的过程包括：
步骤101：在接收导航语音指令信息的情况下，获取待控制用户的当前位置信息。
可接收用户发送的导航语音指令信息，例如：去电视机前或者空调遥控器在哪里，这些指令信息都与路线有关，需要进行路线规划。在一些实施例中，导航语音指令信息包括：避物导航指令信息和寻物导航指令信息中的一种或两种。例如：去电视机前指令，去厨房指令，或者走路指令，这些都可是避物导航指令信息。携带空调遥控器、卫生用具等待寻物品的指令可为寻物导航指令信息。
可通过定位装置，获取待控制用户的当前位置信息。定位装置可为便携式终端， 例如：手机或穿戴设备等等，这样，定位装置的位置即为待控制用户的位置。需与定位装置进行通讯，才可获取定位装置发送的位置信息，在一些实施例中，可与定位装置建立无线短距离通讯连接，其中，无线短距离通讯连接包括：蓝牙连接、红外连接、无线局域网连接、紫蜂连接中的一种。
在一些实施例中，可通过第一图像采集装置，获取待控制用户的当前位置信息。第一图像采集装置可获取待控制用户在室内的方位图像信息，从而，根据方位图像信息，获取待控制用户的当前位置信息。当然，第一图像采集装置也需与智能家居设备进行通讯，可配置在智能家居设备上，也可没有配置在智能家居设备上。
通过已建立通讯连接的定位装置，或第一图像采集装置，可实时或定时获取待控制用户的位置信息，其中，每次获取时，对应的位置信息为当前位置信息。
步骤102：根据当前位置信息，确定待控制用户在智能家居设备关联室内的室内三维图中的当前图示位置信息。
智能家居设备中可保存智能家居设备关联室内的室内三维图，例如：可在安装时，导入智能家居设备关联室内的室内三维图并保存，或者，与云端服务器进行通讯，获取智能家居设备关联室内的室内三维图并保存，还可定时进行更新，这样，可根据当前位置信息，确定定位装置在保存的室内三维图中的当前图示位置信息。其中，智能家居设备关联室内可包括：智能家居设备所在房间，或者智能家居设备所在的一套房，例如：三居室。
或者，智能家居设备中并不保存室内三维图，只有云端服务器中保存了室内三维图，这样，在一些实施例中，可将当前图示位置信息发送给云端服务器，使得云端服务器确定定位装置在保存的室内三维图中的当前图示位置信息；然后，接收云端服务器发送的当前图示位置信息。
步骤103：根据当前图示位置信息，以及室内三维图中障碍物位置信息，确定导航路线指令，并进行导航提醒。
在确定了待控制用户对应的当前图示位置信息，本地保存的或云端服务器中保存的室内三维图中也有障碍物位置信息，例如：家具、家居设备等位置信息，这样，可根据当前图示位置信息，以及室内三维图中障碍物位置信息，确定导航路线指令，并进行导航提醒。
其中，在导航语音指令信息为避物导航指令信息的情况下，直接可根据当前图示位置信息，以及室内三维图中障碍物位置信息，确定导航路线指令，并进行导航 提醒。
而在导航语音指令信息为寻物导航指令信息的情况下，还需确定待寻物在室内三维图中的待寻物图示位置信息，这样，即可根据当前图示位置信息，待寻物图示位置信息，室内三维图中障碍物位置信息，生成寻物导航路线令，并进行导航提醒。
其中，待寻物上也可携带定位装置，通过待寻物上携带的定位装置，获取待寻物位置信息，并确定待寻物在室内三维图中的寻物图示位置信息。
导航提醒的方式有多种，待控制用户可能为盲人或其他视力困难用户，可采用语音播放的方式进行导航提醒。或者，待控制用户上穿戴的定位装置可以采用震动提醒的方式进行导航提醒，例如：向左行走，震动一次，向右行走，震动两次等等。当然，对于其他待控制用户也可采用文字，声光、语音等中一种或多种方式进行导航提醒，具体就不一一列举了。
可见，本实施例中，可获取待控制用户的当前位置信息，并确定对应室内三维图中的当前图示位置信息，从而，根据当前图示位置信息，以及室内三维图中障碍物位置信息，确定导航路线指令并进行导航提醒，实现了智能导航，可帮助设定人群在家居中便利行走，并可通过导航找到智能设备的遥控终端，从而，自如控制智能家居设备，有助于提高用户的使用便捷性，同时还有助于实现智能家居设备的推广。
本公开一些实施例中，智能家居设备中还可配置第二图像采集装置，智能家居设备可通过配置的第二图像采集装置实时获取作用区域内的图像信息，从而，可通过已确定的当前图示位置信息和智能家居设备中的第二图像采集装置，确定导航路线指令，即智能家居设备导航控制还可包括：通过配置的第二图像采集装置，获取第二图像采集装置作用区域内的当前图像信息；根据当前图示位置信息，室内三维图中障碍物位置信息，以及当前图像信息，确定导航路线指令并进行导航提醒。
智能家居设备关联的室内可能是一个房间，或者一套房，若智能家居设备与待控制用户同在一个房间，若通过第一图像采集装置，获取待控制用户的当前位置信息并确定了当前图示位置信息，那么，第一图像采集装置可为第二图像采集装置，或者，其他可与智能家居设备通讯连接的图像采集装置。若智能家居设备与待控制用户不在一个房间，第一图像采集装置则与第二图像采集装置不同。
在一些实施例中，确定导航路线指令并进行导航提醒包括：在导航语音指令信息为避物导航指令信息的情况下，根据当前图示位置信息，以及室内三维图中障碍 物位置信息，确定待躲避障碍物为第一障碍物；对当前图像信息进行图像识别，确定待躲避障碍物为第二障碍物；在第一障碍物与第二障碍物一致的情况下，生成躲避提醒信息并进行导航提醒。
智能家居设备或服务器中保存的室内三维图更新的不一定是实时的，而通过智能家居设备配置的第二图像采集装置，可实时获取第二图像采集装置作用区域内的当前图像信息，这样，根据当前图示位置信息，以及室内三维图中障碍物位置信息确定的待躲避障碍物，即第一障碍物，对当前图像信息进行图像识别，确定的待躲避障碍物，即第二障碍物，两者一致时，生成躲避提醒信息并进行导航提醒。这样，待控制用户可及时躲避障碍物，进一步提高了导航的准确性。
在一些实施例中，第一障碍物和第二障碍物不一致时，为减少待控制用户被碰撞的几率，确定导航路线指令可包括：对当前图像信息进行图像识别，确定第二障碍物为待躲避障碍物，生成躲避提醒信息并进行导航提醒。这样，可根据第二图像采集装置采集的当前图像信息，确定了待躲避障碍物，即可生成躲避提醒信息并进行导航提醒，进一提高智能家居设备导航的智能性，以及用户的使用便捷性。
在一些实施例中，确定导航路线指令并进行导航提醒包括：在导航语音指令信息为寻物导航指令信息的情况下，确定待寻物在室内三维图中的待寻物图示位置信息；根据当前图示位置信息，待寻物图示位置信息，室内三维图中障碍物位置信息，以及当前图像信息，生成寻物导航路线令并进行导航提醒。
由于导航语音指令信息为寻物导航指令信息，则需确定待寻物在室内三维图中的待寻物图示位置信息，而确定待寻物在室内三维图中的待寻物图示位置信息的方式也有多种，包括：直接通过待寻物上携带的定位装置进行确定；或者，在一些实施例中，通过待寻物上携带的定位装置，以及智能家居设备上配置的第二图像采集装置进行确定，包括：通过待寻物上携带的定位装置，获取待寻物位置信息，并确定待寻物在室内三维图中的第一待寻物图示位置信息；对当前图像信息进行图像识别，确定待寻物的第二待寻物图示位置信息；在第一待寻物图示位置信息与第二待寻物图示位置信息一致的情况下，将第一待寻物图示位置信息确定为在室内三维图中的待寻物图示位置信息。这样，提高了寻物的准确率。
当然，第一待寻物图示位置信息与第二待寻物图示位置信息不一致时，若根据对当前图像信息进行图像识别，确定了待寻物的第二待寻物图示位置信息，则可将第二待寻物图示位置信息确定为在室内三维图中的待寻物图示位置信息。而若根据 对当前图像信息进行图像识别，未确定待寻物的第二待寻物图示位置信息，则可将第一待寻物图示位置信息确定为在室内三维图中的待寻物图示位置信息。
确定了待寻物在室内三维图中的待寻物图示位置信息，即可根据当前图示位置信息，待寻物图示位置信息，室内三维图中障碍物位置信息，生成寻物导航路线令并进行导航提醒。或者，根据当前图示位置信息，待寻物图示位置信息，室内三维图中障碍物位置信息，以及当前图像信息，生成寻物导航路线令并进行导航提醒。在寻物的过程中同样要躲避障碍物，因此，在一些实施例中，生成寻物导航路线的过程也包括了：可根据当前图示位置信息，以及室内三维图中障碍物位置信息，确定待躲避障碍物为第一障碍物；对当前图像信息进行图像识别，确定待躲避障碍物为第二障碍物；在第一障碍物与第二障碍物一致的情况下，生成躲避提醒信息并进行导航提醒。
下面将操作流程集合到具体实施例中，举例说明本发明实施例提供的用于智能家居设备导航控制过程。
本实施例中，智能家居设备为配置了红外摄像头的空调，并且，空调中已导入并保存了室内三维图，而待控制用户为穿戴了定位手表的盲人，并且，空调与定位手表建立了蓝牙通讯，导航提醒方式为语音播放方式。
图2是本公开实施例提供的一种用于智能家居设备导航控制方法的流程示意图。结合图2，用于智能家居设备导航控制的过程包括：
步骤201：接收待控制用户发出的避物导航语音指令信息。
待控制用户可发出携带设定词汇的语音指令，例如：待控制用户可发出携带“走”、“去”、或“到”等，这些设定词汇的语音指令，空调接收到语音指令后，进行解析，确定接收到语音指令为避物导航语音指令信息。
步骤202：与定位手表进行蓝牙通讯，获取待控制用户的当前位置信息，并通过配置的红外摄像头，获取红外摄像头作用区域内的当前图像信息。
步骤203：根据当前位置信息，确定定位装置在室内三维图中的当前图示位置信息。
步骤204：判断根据当前图示位置信息以及室内三维图中障碍物位置信息确定的第一障碍物，与对当前图像信息进行图像识别确定的第二障碍物是否一致？若是，执行步骤205，否则，执行步骤206。
步骤205：生成躲避提醒信息并播报，并执行步骤206。
步骤206：是否接收到停止导航指令信息？若是，流程结束，否则，返回步骤202。
可见，本实施例中，通过定位手表，获取待控制用户的位置信息，并确定对应室内三维图中的图示位置信息，并通过红外摄像头，获取待控制用户关联区域的图像，在根据图示位置信息确定的障碍物与根据图像确定的障碍物一致时，生成躲避提醒信息并进行导航提醒，实现了智能导航，可帮助设定人群在家居中便利行走，提高了智能家居设备的智能性。
本实施例中，智能家居设备为配置了红外摄像头的空调，并且，空调中保存了室内三维图，而待控制用户为穿戴了定位手表的盲人，并且，空调与定位手表建立了蓝牙通讯，同时，空调遥控器上也配置了定位装置，也可与空调进行蓝牙通讯，导航提醒方式为语音播放方式。
图3是本公开实施例提供的一种用于智能家居设备导航控制方法的流程示意图。结合图3，用于智能家居设备导航控制的过程包括：
步骤301：接收待控制用户发出的寻找空调遥控器的寻物语音指令信息。
步骤302：与定位手表进行蓝牙通讯，获取待控制用户的当前位置信息，与空调遥控器进行蓝牙通讯，获取空调遥控器的遥控器位置信息，并通过配置的红外摄像头，获取红外摄像头作用区域内的当前图像信息。
步骤303：根据当前位置信息，确定待控制用户在室内三维图中的当前图示位置信息。
步骤304：判断是否对当前图像信息进行图像识别，确定了与遥控器对应的第二图示位置信息？若是，执行步骤305，否则，执行步骤308。
空调关联的室内可能是一套房，其中，空调可能在卧室，而遥控器可能在卧室，或者在客厅，这样，对采集到当前图像信息进行图像识别，若遥控器在空调上红外摄像头的作用区域，则可确定与遥控器对应的第二图示位置信息，执行步骤305，若遥控器在客厅或其他空调上红外摄像头不能采集的区域，则不能确定与遥控器对应的第二图示位置信息，执行步骤308。
步骤305：判断确定的遥控器在室内三维图中的第一图示位置信息是否与第二图示位置信息一致？若是，执行步骤306，否则，执行步骤307。
步骤306：根据当前图示位置信息，遥控器图示位置信息，室内三维图中障碍物位置信息，以及当前图像信息，生成寻物导航路线令并播报。转入步骤309。
其中，遥控器图示位置信息可为第一图示位置信息或第二图示位置信息。并且，在生成寻物导航路线的过程中，若有待躲避障碍物，也可如上述实施例步骤204-205所示，生成躲避提醒信息并播报。
步骤307：根据当前图示位置信息，第二图示位置信息，室内三维图中障碍物位置信息，以及当前图像信息，生成寻物导航路线令并播报。转入步骤309。
步骤308：根据当前图示位置信息，遥控器在室内三维图中的第一图示位置信息，室内三维图中障碍物位置信息，生成寻物导航路线令并播报。转入步骤309。
步骤309：是否接收到停止导航指令信息？若是，流程结束，否则，返回步骤302。
可见，本实施例中，通过定位装置，获取待控制用户的当前位置信息以及遥控器位置信息，并确定对应室内三维图中的图示位置信息，并通过红外摄像头，获取待控制用户关联区域的图像信息，这样，可根据图示位置信息以及图像信息，生成寻物导航路线令并进行导航提醒，实现了智能导航，可帮助设定人群拿到遥控器，从而自如控制智能家居设备，也进一步提高用户的使用便捷性，同时还有助于实现智能家居设备的推广。
根据上述用于智能家居设备导航控制的过程，可构建一种用于智能家居设备导航控制的装置。
图4是本公开实施例提供的一种用于智能家居设备导航控制装置的结构示意图。如图4所示，用于智能家居设备导航控制装置包括：第一获取模块410、确定模块420以及第一导航模块430。
第一获取模块410，被配置为在接收导航语音指令信息的情况下，获取待控制用户的当前位置信息。
确定模块420，被配置为根据当前位置信息，确定待控制用户在智能家居设备关联室内的室内三维图中的当前图示位置信息。
第一导航模块430，被配置为根据当前图示位置信息，以及室内三维图中障碍物位置信息，确定导航路线指令并进行导航提醒。
在一些实施例中，第一获取模块410，具体被配置为通过定位装置，获取待控制用户的当前位置信息；或，通过第一图像采集装置，获取待控制用户的当前位置信息。
在一些实施例中，确定模块420，具体被配置为将当前图示位置信息发送给云 端服务器，使得云端服务器确定定位装置在保存的室内三维图中的当前图示位置信息；接收云端服务器发送的当前图示位置信息。
在一些实施例中，还包括：第二获取模块和第二导航模块。
第二获取模块，被配置为通过配置的第二图像采集装置，获取第二图像采集装置作用区域内的当前图像信息。
第二导航模块，被配置为根据当前图示位置信息，室内三维图中障碍物位置信息，以及当前图像信息，确定导航路线指令并进行导航提醒。
在一些实施例中，第二导航模块，具体被配置为在导航语音指令信息为避物导航指令信息的情况下，根据当前图示位置信息，以及室内三维图中障碍物位置信息，确定待躲避障碍物为第一障碍物；对当前图像信息进行图像识别，确定待躲避障碍物为第二障碍物；在第一障碍物与第二障碍物一致的情况下，生成躲避提醒信息并进行导航提醒。
在一些实施例中，第二导航模块，具备被配置为在导航语音指令信息为寻物导航指令信息的情况下，确定待寻物在室内三维图中的待寻物图示位置信息；根据当前图示位置信息，待寻物图示位置信息，室内三维图中障碍物位置信息，以及当前图像信息，生成寻物导航路线令并进行导航提醒。
在一些实施例中，第二导航模块，还被配置为通过待寻物上携带的定位装置，获取待寻物位置信息，并确定待寻物在室内三维图中的第一待寻物图示位置信息；对当前图像信息进行图像识别，确定待寻物的第二待寻物图示位置信息；在第一待寻物图示位置信息与第二待寻物图示位置信息一致的情况下，将第一待寻物图示位置信息确定为在室内三维图中的待寻物图示位置信息。
下面具体描述应用于智能家居设备中的用于智能家居设备导航控制的装置的智能家居设备导航控制过程。
本实施例中，智能家居设备为配置了红外摄像头的电视，并且，电视中保存了室内三维图，而待控制用户为穿戴了定位手表的盲人，并且，电视与定位手表建立了蓝牙通讯，同时，电视遥控器上也配置了定位装置，也可与电视进行蓝牙通讯。
图5是本公开实施例提供的一种用于智能家居设备导航控制装置的结构示意图。如图5所示，用于智能家居设备导航控制装置包括：第一获取模块410、确定模块420、第一导航模块430、第二获取模块440以及第二导航模块430。
其中，接收待控制用户发出的寻找电视遥控器的寻物语音指令信息后，第一获 取模块410可与定位手表进行蓝牙通讯，获取待控制用户的当前位置信息，并可与电视遥控器进行蓝牙通讯，获取电视遥控器的遥控器位置信息。而第二获取模块440即可通过配置的红外摄像头，获取红外摄像头作用区域内的当前图像信息。
这样，确定模块420可根据当前位置信息，确定定位装置在室内三维图中的当前图示位置信息，以及根据遥控器位置信息，确定遥控器在室内三维图中的遥控器图示位置信息。
这样，第一导航模块430可根据当前图示位置信息、遥控器图示位置信息以及室内三维图中障碍物位置信息，确定导航路线指令并进行导航提醒。
并且，在若根据当前图示位置信息，以及室内三维图中障碍物位置信息，确定的第一障碍物与对当前图像信息进行图像识别，确定的第二障碍物一致时，第二导航模块450可生成躲避提醒信息并播报。
可见，本实施例中，用于智能家居设备导航控制的装置可根据定位装置和图像采集装置，确定导航路线指令并进行导航提醒，实现了智能导航，可帮助设定人群在家居中便利行走，并自如控制智能家居设备，有助于提高用户的使用便捷性，同时还有助于实现智能家居设备的推广。
本公开实施例提供了一种用于智能家居设备导航控制的装置，其结构如图6所示，包括：
处理器(processor)1000和存储器(memory)1001，还可以包括通信接口(Communication Interface)1002和总线1003。其中，处理器1000、通信接口1002、存储器1001可以通过总线1003完成相互间的通信。通信接口1002可以用于信息传输。处理器1000可以调用存储器1001中的逻辑指令，以执行上述实施例的用于智能家居设备导航控制的方法。
此外，上述的存储器1001中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。
存储器1001作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序，如本公开实施例中的方法对应的程序指令/模块。处理器1000通过运行存储在存储器1001中的程序指令/模块，从而执行功能应用以及数据处理，即实现上述方法实施例中的用于智能家居设备导航控制的方法。
存储器1001可包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需的应用程序；存储数据区可存储根据终端智能家居设备的 使用所创建的数据等。此外，存储器1001可以包括高速随机存取存储器，还可以包括非易失性存储器。
本公开实施例提供了一种用于智能家居设备导航控制装置，包括：处理器和存储有程序指令的存储器，处理器被配置为在执行程序指令时，执行用于智能家居设备导航控制方法。
本公开实施例提供了一种智能家居设备，包括上述用于智能家居设备导航控制装置。
本公开实施例提供了一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令设置为执行上述用于智能家居设备导航控制方法。
本公开实施例提供了一种计算机程序产品，所述计算机程序产品包括存储在计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行上述用于智能家居设备导航控制方法。
上述的计算机可读存储介质可以是暂态计算机可读存储介质，也可以是非暂态计算机可读存储介质。
上述终端设备，例如为移动设备、电脑、或浮动车中内置的车载设备等，或其任意组合。在一些实施例中，移动设备例如可以包括手机、智能家居设备、可穿戴设备、智能移动设备、虚拟现实设备等，或其任意组合。
本公开实施例的技术方案可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括一个或多个指令用以使得一台计算机智能家居设备(可以是个人计算机，服务器，或者网络智能家居设备等)执行本公开实施例所述方法的全部或部分步骤。而前述的存储介质可以是非暂态存储介质，包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等多种可以存储程序代码的介质，也可以是暂态存储介质。
以上描述和附图充分地示出了本公开的实施例，以使本领域的技术人员能够实践它们。其他实施例可以包括结构的、逻辑的、电气的、过程的以及其他的改变。实施例仅代表可能的变化。除非明确要求，否则单独的部件和功能是可选的，并且操作的顺序可以变化。一些实施例的部分和特征可以被包括在或替换其他实施例的部分和特征。本公开实施例的范围包括权利要求书的整个范围，以及权利要求书的所有可获得的等同物。当用于本申请中时，虽然术语“第一”、“第二”等可能会 在本申请中使用以描述各元件，但这些元件不应受到这些术语的限制。这些术语仅用于将一个元件与另一个元件区别开。比如，在不改变描述的含义的情况下，第一元件可以叫做第二元件，并且同样第，第二元件可以叫做第一元件，只要所有出现的“第一元件”一致重命名并且所有出现的“第二元件”一致重命名即可。第一元件和第二元件都是元件，但可以不是相同的元件。而且，本申请中使用的用词仅用于描述实施例并且不用于限制权利要求。如在实施例以及权利要求的描述中使用的，除非上下文清楚地表明，否则单数形式的“一个”(a)、“一个”(an)和“所述”(the)旨在同样包括复数形式。类似地，如在本申请中所使用的术语“和/或”是指包含一个或一个以上相关联的列出的任何以及所有可能的组合。另外，当用于本申请中时，术语“包括”(comprise)及其变型“包括”(comprises)和/或包括(comprising)等指陈述的特征、整体、步骤、操作、元素，和/或组件的存在，但不排除一个或一个以上其它特征、整体、步骤、操作、元素、组件和/或这些的分组的存在或添加。在没有更多限制的情况下，由语句“包括一个…”限定的要素，并不排除在包括所述要素的过程、方法或者智能家居设备中还存在另外的相同要素。本文中，每个实施例重点说明的可以是与其他实施例的不同之处，各个实施例之间相同相似部分可以互相参见。对于实施例公开的方法、产品等而言，如果其与实施例公开的方法部分相对应，那么相关之处可以参见方法部分的描述。
本领域技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，可以取决于技术方案的特定应用和设计约束条件。所述技术人员可以对每个特定的应用来使用不同方法以实现所描述的功能，但是这种实现不应认为超出本公开实施例的范围。所述技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的***、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
本文所披露的实施例中，所揭露的方法、产品(包括但不限于装置、智能家居设备等)，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，可以仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另外，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性， 机械或其它的形式。所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例。另外，在本公开实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
附图中的流程图和框图显示了根据本公开实施例的***、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这可以依所涉及的功能而定。在附图中的流程图和框图所对应的描述中，不同的方框所对应的操作或步骤也可以以不同于描述中所披露的顺序发生，有时不同的操作或步骤之间不存在特定的顺序。例如，两个连续的操作或步骤实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这可以依所涉及的功能而定。框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的***来实现，或者可以用专用硬件与计算机指令的组合来实现。

Claims (10)

  1. 一种用于智能家居设备导航控制的方法，其特征在于，包括：
    在接收导航语音指令信息的情况下，获取待控制用户的当前位置信息；
    根据所述当前位置信息，确定所述待控制用户在所述智能家居设备关联室内的室内三维图中的当前图示位置信息；
    根据所述当前图示位置信息，以及所述室内三维图中障碍物位置信息，确定导航路线指令，并进行导航提醒。
  2. 根据权利要求1所述的方法，其特征在于，所述获取待控制用户的当前位置信息包括：
    通过定位装置，获取待控制用户的当前位置信息；或，
    通过第一图像采集装置，获取待控制用户的当前位置信息。
  3. 根据权利要求1所述的方法，其特征在于，所述确定所述待控制用户在所述智能家居设备关联室内的室内三维图中的当前图示位置信息包括：
    将所述当前图示位置信息发送给云端服务器，使得所述云端服务器确定所述定位装置在保存的室内三维图中的当前图示位置信息；
    接收所述云端服务器发送的所述当前图示位置信息。
  4. 根据权利要求1所述的方法，其特征在于，所述智能家居设备配置有第二图像采集装置，所述方法还包括：
    通过所述第二图像采集装置，获取所述第二图像采集装置作用区域内的当前图像信息；
    根据所述当前图示位置信息，所述室内三维图中障碍物位置信息，以及所述当前图像信息，确定导航路线指令，并进行导航提醒。
  5. 根据权利要求4所述的方法，其特征在于，所述确定导航路线指令包括：
    在所述导航语音指令信息为避物导航指令信息的情况下，根据所述当前图示位置信息，以及所述室内三维图中障碍物位置信息，确定待躲避障碍物为第一障碍物；
    对所述当前图像信息进行图像识别，确定待躲避障碍物为第二障碍物；
    在所述第一障碍物与所述第二障碍物一致的情况下，生成躲避提醒信息，并进行导航提醒。
  6. 根据权利要4所述的方法，其特征在于，所述确定导航路线指令并进行导航提醒包括：
    在所述导航语音指令信息为寻物导航指令信息的情况下，确定待寻物在所述室内三维图中的待寻物图示位置信息；
    根据所述当前图示位置信息，所述待寻物图示位置信息，所述室内三维图中障碍物位置信息，以及所述当前图像信息，生成寻物导航路线令，并进行导航提醒。
  7. 根据权利要6所述的方法，其特征在于，所述确定待寻物在所述室内三维图中的待寻物图示位置信息包括：
    通过所述待寻物上携带的定位装置，获取所述待寻物位置信息，并确定所述待寻物在所述室内三维图中的第一待寻物图示位置信息；
    对所述当前图像信息进行图像识别，确定所述待寻物的第二待寻物图示位置信息；
    在所述第一待寻物图示位置信息与所述第二待寻物图示位置信息一致的情况下，将所述第一待寻物图示位置信息确定为在所述室内三维图中的待寻物图示位置信息。
  8. 一种用于智能家居设备导航控制的装置，其特征在于，包括：
    第一获取模块，被配置为在接收导航语音指令信息的情况下，获取待控制用户的当前位置信息；
    确定模块，被配置为根据所述当前位置信息，确定所述待控制用户在所述智能家居设备关联室内的室内三维图中的当前图示位置信息；
    第一导航模块，被配置为根据所述当前图示位置信息，以及所述室内三维图中障碍物位置信息，确定导航路线指令，并进行导航提醒。
  9. 一种用于智能家居设备导航控制的装置，该装置包括处理器和存储有程序指令的存储器，其特征在于，所述处理器被配置为在执行所述程序指令时，执行如权利要求1至7任一项所述用于智能家居设备导航控制的方法。
  10. 一种智能家居设备，其特征在于，包括：如权利要求8或9所述用于智能家居设备导航控制的装置。
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