WO2022151832A1 - IoT设备的控制方法、装置、UWB标签及终端设备 - Google Patents

IoT设备的控制方法、装置、UWB标签及终端设备 Download PDF

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Publication number
WO2022151832A1
WO2022151832A1 PCT/CN2021/130923 CN2021130923W WO2022151832A1 WO 2022151832 A1 WO2022151832 A1 WO 2022151832A1 CN 2021130923 W CN2021130923 W CN 2021130923W WO 2022151832 A1 WO2022151832 A1 WO 2022151832A1
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Prior art keywords
uwb
iot device
target
uwb tag
target channel
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PCT/CN2021/130923
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English (en)
French (fr)
Inventor
张烨
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Oppo广东移动通信有限公司
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Publication of WO2022151832A1 publication Critical patent/WO2022151832A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/02—Power saving arrangements
    • H04W52/0209—Power saving arrangements in terminal devices
    • H04W52/0225—Power saving arrangements in terminal devices using monitoring of external events, e.g. the presence of a signal
    • H04W52/0248—Power saving arrangements in terminal devices using monitoring of external events, e.g. the presence of a signal dependent on the time of the day, e.g. according to expected transmission activity
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y40/00—IoT characterised by the purpose of the information processing
    • G16Y40/30—Control
    • G16Y40/35—Management of things, i.e. controlling in accordance with a policy or in order to achieve specified objectives
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/02—Power saving arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W74/00—Wireless channel access
    • H04W74/08—Non-scheduled access, e.g. ALOHA
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W74/00—Wireless channel access
    • H04W74/08—Non-scheduled access, e.g. ALOHA
    • H04W74/0808—Non-scheduled access, e.g. ALOHA using carrier sensing, e.g. carrier sense multiple access [CSMA]

Definitions

  • the embodiments of the present application relate to the technical field of UWB, and in particular, to a control method and device for an Internet of Things (Internet of Things, IoT) device, an Ultra Wide Band (Ultra Wide Band, UWB) tag, and a terminal device.
  • Internet of Things Internet of Things, IoT
  • Ultra Wide Band Ultra Wide Band
  • UWB technology is a wireless carrier communication technology. It does not use sinusoidal carriers, but uses nanosecond non-sinusoidal narrow pulses to transmit data. Therefore, it occupies a wide spectrum range, and the data transmission rate can reach hundreds of megabytes. bits per second or more.
  • UWB technology has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to channel fading, low interception capability, and high positioning accuracy. It is especially suitable for high-speed wireless access in dense multipath places such as indoors.
  • Embodiments of the present application provide a control method, device, UWB tag, and terminal device for an IoT device.
  • the technical solution is as follows:
  • an embodiment of the present application provides a method for controlling an IoT device, the method is used for a UWB tag, and the method includes:
  • the terminal device In response to the target channel being idle, sending a data frame on the target channel, so that the terminal device determines the IoT device represented by the UWB tag according to the data frame, and controls the IoT device;
  • the target channel In response to the target channel being occupied, the target channel is listened again after a random delay time.
  • an embodiment of the present application provides a method for controlling an IoT device, the method is used for a terminal device, and the method includes:
  • the target IoT device is controlled.
  • an embodiment of the present application provides a control apparatus for an IoT device, and the apparatus includes:
  • the listening module is used to listen to the target channel in the working state
  • a data frame sending module configured to send a data frame on the target channel in response to the target channel being idle, so that the terminal device determines the IoT device represented by the UWB tag according to the data frame, and controls the IoT device ;
  • the listening module is further configured to listen to the target channel again after a random delay time in response to the target channel being occupied.
  • an embodiment of the present application provides a control apparatus for an IoT device, and the apparatus includes:
  • a data frame receiving module configured to receive data frames sent by each UWB tag on the target channel, where the data frame is sent by the UWB tag when the target channel is idle;
  • a device determination module configured to determine a target IoT device from the IoT devices represented by each of the UWB tags based on the data frame;
  • the control module is used to control the target IoT device.
  • an embodiment of the present application provides a UWB tag
  • the UWB tag includes: a microprocessor and a UWB transceiver;
  • the microprocessor is electrically connected to the UWB transceiver
  • the UWB transceiver is used to perform the following steps under the control of the microprocessor:
  • the terminal device In response to the target channel being idle, sending a data frame on the target channel, so that the terminal device determines the IoT device represented by the UWB tag according to the data frame, and controls the IoT device;
  • the target channel In response to the target channel being occupied, the target channel is listened again after a random delay time.
  • an embodiment of the present application provides a terminal device, where the terminal device includes: a processor, a memory, and a UWB component;
  • the processor is electrically connected to the memory and the UWB component, respectively;
  • the UWB component is used to send and receive data on the target channel
  • the memory stores at least one instruction for execution by the processor to perform the following steps:
  • the target IoT device is controlled.
  • an embodiment of the present application provides an IoT device control system, the system includes: a terminal device, a UWB tag, and an IoT device;
  • the terminal device is used to implement the method for controlling an IoT device on the terminal device side as described in the above aspect
  • the UWB tag is used to implement the method for controlling the IoT device on the UWB tag side as described in the above aspects.
  • an embodiment of the present application provides a computer-readable storage medium, where at least one piece of program code is stored in the computer-readable storage medium, and the program code is loaded and executed by a processor to implement the above aspects.
  • an embodiment of the present application provides a computer program product or computer program, where the computer program product or computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium.
  • the processor of the terminal device or the UWB tag reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the terminal device or the UWB tag executes the IoT device provided in the various optional implementations of the above aspects. Control Method.
  • FIG. 1 shows a schematic diagram of an implementation environment of an exemplary embodiment of the present application
  • FIG. 2 is a flowchart of a control method for an IoT device provided by an exemplary embodiment of the present application
  • Fig. 3 is the implementation schematic diagram of UWB label sending data frame process
  • FIG. 4 is a flowchart of a method for controlling an IoT device provided by another exemplary embodiment of the present application.
  • FIG. 5 is a sequence diagram of a process of sending data frames by multiple UWB tags according to an exemplary embodiment of the present application
  • FIG. 6 is a flowchart of a method for controlling an IoT device provided by another exemplary embodiment of the present application.
  • FIG. 7 is a flowchart of a control method for an IoT device provided by another exemplary embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of an antenna in a UWB assembly shown in an exemplary embodiment of the present application.
  • FIG. 9 is a working sequence diagram of a UWB component and a plurality of UWB tags shown in an exemplary embodiment of the present application.
  • FIG. 10 is a schematic diagram of a process of measuring a horizontal direction angle by a horizontal antenna group according to an exemplary embodiment of the present application.
  • FIG. 11 is a schematic diagram of a process for determining the spatial positional relationship between a terminal device and a UWB tag according to an exemplary embodiment of the present application
  • FIG. 12 is a schematic diagram of a tag binding state and a data interaction process in a working state shown in an exemplary embodiment of the present application;
  • FIG. 13 shows a structural block diagram of an apparatus for controlling an IoT device provided by an embodiment of the present application
  • FIG. 14 shows a structural block diagram of a control apparatus for an IoT device provided by an embodiment of the present application
  • FIG. 15 shows a structural block diagram of a terminal device provided by an exemplary embodiment of the present application.
  • FIG. 16 shows a structural block diagram of a UWB tag provided by an exemplary embodiment of the present application
  • FIG. 17 shows a block diagram of the structure of an IoT device control system provided by an exemplary embodiment of the present application.
  • FIG. 1 shows a schematic diagram of an implementation environment of an exemplary embodiment of the present application, where the implementation environment includes a terminal device 110 , at least one IoT device 120 and a UWB tag 130 .
  • the terminal device 110 is a device with a spatial location awareness capability, and the spatial location awareness capability means that the terminal device 110 can perceive the spatial location relationship of other devices.
  • the terminal device 110 may be a portable electronic device such as a smart phone, a tablet computer, a smart remote control, and a smart watch.
  • the spatial location awareness capability of the terminal device 110 is realized by means of UWB components and UWB tags 130 representing IoT devices.
  • the terminal device 110 can perform UWB communication with the UWB tag 130 through the UWB component, that is, the terminal device 110 can receive the data frame sent by the UWB tag 130 on the target channel through the UWB component, and determine according to the data frame sent by the UWB tag 130.
  • the spatial positional relationship between the terminal device 110 and the UWB tag 130 is realized by means of UWB components and UWB tags 130 representing IoT devices.
  • the UWB component can be separated from the terminal device 130, or the UWB component is independent of the terminal device 130, that is, when the terminal device 110 is equipped with the UWB component, it has the function of performing UWB communication with the UWB tag 130; When equipped with UWB components, the terminal device 110 may not be able to perform UWB communication with the UWB tag 130 .
  • the UWB component can be packaged as a terminal accessory, for example, the UWB component can be a terminal accessory such as a mobile phone case, a mobile phone protective cover, and a mobile phone ornament.
  • the UWB component can also be set inside the terminal device 110 , that is, the terminal device 110 has a built-in UWB component, so that the terminal device 110 can perform UWB communication with the UWB tag 130 through the UWB component.
  • the IoT device 120 is an electronic device that can establish a data communication connection with the terminal device 110, which can be a smart TV 122, a smart speaker 121, a smart door lock 123, a smart refrigerator, a smart air conditioner, a smart lamp, a car air conditioner, and other devices.
  • the above data communication connection means that the IoT device 120 and the terminal device 110 can exchange information through a data communication connection, and the data communication connection may be a WiFi connection, a Bluetooth connection, an infrared connection, etc., which is not limited in this embodiment of the present application.
  • the UWB tag 130 is used to represent the IoT device 120 , and the UWB tag 130 is independent of the IoT device 120 .
  • Independent means that the UWB tag 130 is a device independent of the IoT device 120 and can be sold separately as a product, rather than being integrated into the IoT device 120 as a part of the IoT device 120, nor a necessary component of the IoT device 120.
  • the UWB tag 130 and the IoT device 120 do not have a data communication connection relationship, but only have a mapping relationship, and the mapping relationship refers to the IoT device 120 represented by the UWB tag 130. As shown in FIG.
  • the UWB tag 131 is used to characterize the IoT device 121
  • the UWB tag 132 is used to characterize the IoT device 122
  • the UWB tag 132 is used to characterize the IoT device 123 .
  • the UWB tag 130 is provided with an independent power supply, and the independent power supply is a replaceable power supply, a non-replaceable power supply or a rechargeable power supply; in another possible design, the UWB The tag 130 is powered by the IoT device 120 (but does not perform data communication), and the power supply method of the IoT device 120 includes wired power supply (such as through a charging cable) or wireless power supply (such as through a wireless charging coil).
  • the UWB tag 130 in the working state, sends a data frame to the terminal device 110 on the target channel. After receiving the data frame on the target channel, the terminal device 110 determines the IoT device 120 represented by the UWB tag 130, and establishes a data communication connection with the IoT device 120, thereby controlling the IoT device 120 through the data communication connection.
  • a data frame is sent on the target channel, so that the terminal device can determine the IoT device represented by the UWB tag according to the data frame, and control the IoT device; or
  • the target channel In response to the target channel being occupied, the target channel is listened again after a random delay period.
  • the method further includes:
  • determine the random delay duration including:
  • the random delay duration is determined based on the number of listening times, and the number of listening times is used to indicate the number of times of listening to the target channel before sending the data frame;
  • the methods include:
  • determine the random delay duration based on the number of interceptions including:
  • the delay duration range is determined based on the number of interceptions, wherein the delay duration range is positively correlated with the number of interceptions;
  • the listening mode of the target channel includes at least one of energy detection and carrier detection.
  • the data frame contains the tag identifier
  • the terminal device stores the mapping relationship between the UWB tag and the IoT device. control.
  • the data frame includes the device identifier of the IoT device, and the terminal device is used to control the IoT device based on the device identifier.
  • the method also includes:
  • the first binding information sent by the terminal device is received on the target channel, and the first binding information includes the label identifier of the UWB label and the device identifier of the IoT device bound to the UWB label;
  • the data frame contains the device identifier and location information of the IoT device
  • the terminal device is used to control the IoT device based on the device identifier and location information
  • the location information is used to indicate the location of the UWB tag, or, used to indicate The location of the IoT device.
  • the method also includes:
  • the second binding information sent by the terminal device is received on the target channel, and the second binding information includes the label identifier of the UWB tag, the device identifier of the IoT device bound to the UWB tag, and the location information;
  • the target IoT device is determined from the IoT devices represented by each UWB tag;
  • the spatial position relationship between the terminal device and each UWB tag Based on the data frame, determine the spatial position relationship between the terminal device and each UWB tag, and the spatial position relationship includes a horizontal direction angle and a vertical direction angle;
  • the UWB tag pointed to by the terminal device is determined as the target UWB tag
  • the IoT device represented by the target UWB tag is determined as the target IoT device.
  • receive data frames sent by each UWB tag on the target channel including:
  • the data frames sent by each UWB tag are alternately received on the target channel through the first antenna group and the second antenna group, and the first antenna group and the second antenna group correspond to different directions;
  • the vertical direction angle between the terminal device and each UWB tag is determined.
  • determine the UWB tag pointed to by the terminal device as the target UWB tag including:
  • a UWB tag whose horizontal direction angle with the terminal device is within the horizontal angle range and whose vertical direction angle with the terminal device is within the vertical angle range is determined as the target UWB tag.
  • the IoT device represented by the target UWB tag is determined as the target IoT device, including:
  • the target IoT device is determined from the mapping relationship between UWB tags and IoT devices.
  • the method also includes:
  • a mapping relationship between the label identifier and the device identifier corresponding to the IoT device is established.
  • the method also includes:
  • mapping relationship indicated by the UWB tag is deleted.
  • the IoT device represented by the target UWB tag is determined as the target IoT device, including:
  • the IoT device corresponding to the device ID is determined as the target IoT device.
  • the method also includes:
  • first binding information is sent to the UWB tag in the bound state on the target channel, where the first binding information includes the tag identification of the UWB tag and the device identification of the IoT device bound to the UWB tag , so that the UWB tag stores the device identification;
  • the second binding information is sent to the UWB tag in the binding state on the target channel, where the second binding information includes the tag identification of the UWB tag and the device identification of the IoT device bound to the UWB tag, and location information, so that the UWB tag stores the device identification and location information, and the location information is used to indicate the location of the UWB tag, or to indicate the location of the IoT device.
  • FIG. 2 shows a flowchart of a method for controlling an IoT device provided by an exemplary embodiment of the present application.
  • the embodiment of the present application is described by taking the method applied to the UWB tag shown in FIG. 1 as an example. include:
  • Step 201 in the working state, listen to the target channel.
  • the working state refers to the state of the UWB tag after the UWB tag is bound to the represented IoT device.
  • the UWB tag in the working state, can be affixed to the characterized IoT device, or the UWB tag can be placed near the characterized IoT device, or the UWB tag can be placed away from the characterized IoT device.
  • the embodiment does not limit the setting position of the UWB label in the working state.
  • the UWB tag before the UWB tag sends a data frame on the target channel, it first needs to listen to the target channel, so as to determine the channel state of the target channel.
  • the UWB tag executes the following step 202; when the channel state of the target channel is occupied (ie, occupied), the UWB tag executes the following step 203.
  • the UWB tag listens to the target channel within a backoff time period (for example, 320us), or listens to the target channel at a point in time.
  • a backoff time period for example, 320us
  • the UWB tag turns on the receiver (RX) to listen to the target channel. It should be noted that channel listening is only a monitoring and evaluation of channel status. UWB tags do not need to receive and parse data frames sent by other UWB tags on the target channel, that is, UWB tags can Keep power consumption extremely low.
  • the listening mode adopted by the UWB tag to listen to the target channel includes at least one of energy detection and carrier detection.
  • the energy detection method is used to listen to the target channel, when the energy of the target channel is greater than the energy threshold, it is determined that the target channel is in an occupied state, and when the energy of the target channel is less than the energy threshold, it is determined that the target channel is in an idle state.
  • the carrier detection method is used to listen to the target channel, when there is a carrier signal with a preset frequency on the target channel, it is determined that the target channel is in an occupied state, and when there is no carrier signal with a preset frequency on the target channel, it is determined that the target channel is in an idle state .
  • the UWB tag may use a clear channel assessment (Clear Channel Assessment, CCA) technology to detect whether the target channel is in an idle state.
  • CCA Clear Channel Assessment
  • Step 202 in response to the target channel being idle, send a data frame on the target channel, so that the terminal device determines the IoT device represented by the UWB tag according to the data frame, and controls the IoT device.
  • the UWB tag When the channel state indicates that the target channel is idle, that is, there is no other UWB tag currently sending data frames, the UWB tag sends data frames on the target channel. Among them, the UWB tag transmits data frames on the target channel by broadcasting.
  • the UWB tag turns on the transmitter (TX) for data frame transmission. Moreover, in the process of sending data frames, the UWB tag can turn off the receiver, thereby reducing power consumption.
  • the data frame includes information that can indicate the IoT device represented by the UWB tag.
  • the terminal device receives the data frame sent by the UWB tag on the target channel, and further determines the IoT device represented by the UWB tag according to the information contained in the data frame, thereby realizing the control of the IoT device.
  • Step 203 in response to the target channel being occupied, listen to the target channel again after a random delay time.
  • the channel status indicates that the target channel is occupied, it means that other UWB tags are currently sending data frames on the target channel. If the UWB tag still sends data frames on the target channel, it will cause a data frame conflict. Therefore, when the target channel is occupied, the UWB tag performs random delay, and listens to the target channel again after the random delay time.
  • the UWB tag performs random delay based on the random access (ALOHA) protocol.
  • ALOHA random access
  • the UWB tag turns off the receiver; after the random delay time, the UWB tag turns on the receiver again to perform channel listening.
  • the UWB tag After the UWB tag listens to the target channel again, if the target channel is idle, it will send a data frame on the target channel; if the target channel is still occupied, it will delay again randomly, and listen to the target channel after a random delay time until the target When the channel is idle, the data frame is sent on the target channel.
  • the UWB tag in the working state, the UWB tag first listens to the target channel through RX, and when the target channel is occupied, the UWB tag performs random delay. When the random delay time is reached, the UWB tag listens to the target channel through RX again. When the target channel is idle, the UWB tag sends data frames on the target channel through TX.
  • the UWB tag does not need to be synchronized in advance before working, and does not need to know the existence of the UWB tag in the environment, that is, it is not necessary to pre-specify the time slot (slot) of each UWB tag to send a data frame, and correspondingly, the working state
  • UWB tags do not need to receive data frames sent by other UWB tags on the target channel to send data frames in their own time slots.
  • UWB tags can only be sent but not received in working state.
  • UWB tags can realize dynamic asynchronous access. In the scenario of multiple IoT devices, UWB tags can be accessed at any time and used at any time, which simplifies the control process of IoT devices.
  • the synchronization scheme since the clock cannot be ideally synchronized, a large margin needs to be set.
  • the duration of the data frame sent by the UWB tag is 200us, but the time slot allocated for each UWB tag is 1ms to avoid different Data frame collisions caused by synchronization errors between UWB tags, however, under this scheme, the channel occupancy rate will be affected (the maximum channel occupancy rate in the above example is only 20%), which in turn leads to a higher demand for channel capacity.
  • the channel listening and random delay mechanism since synchronization is not required, there is no need to set a margin for the data frame transmission of the UWB tag, which increases the channel occupancy rate and reduces the demand for channel capacity.
  • the UWB tag in the working state determines the channel state of the target channel by listening to the target channel, and when the target channel is idle, it sends a data frame on the target channel, so that the terminal device can pair the data frame based on the data frame.
  • the IoT device represented by the UWB tag is controlled.
  • UWB tags When the target channel is occupied, the target channel is monitored again after a random delay to avoid data frame collision caused by different UWB tags sending data frames on the target channel at the same time, which is helpful to improve the IoT Accuracy of device control; and, by introducing channel listening and random delay mechanism, UWB tags only send data frames in working state without receiving data frames sent by other UWB tags, that is, without sensing the existence of other UWB tags , which helps to improve the flexibility of UWB tag access and reduces the power consumption of UWB tags.
  • FIG. 4 shows a flowchart of a method for controlling an IoT device provided by another exemplary embodiment of the present application.
  • the method is applied to the UWB tag shown in FIG. Methods include:
  • Step 401 in the working state, listen to the target channel.
  • Step 402 in response to the target channel being idle, send a data frame on the target channel.
  • steps 401 to 402 For the implementation of the foregoing steps 401 to 402, reference may be made to steps 201 to 202, and details are not described herein again in this embodiment.
  • Step 403 enter the sleep state after the data frame is sent.
  • the UWB tag in order to reduce the power consumption of the UWB tag in the working state, the UWB tag enters the sleep state after completing the sending of the data frame.
  • the transceivers of the UWB tag In the dormant state, the transceivers of the UWB tag are all turned off, that is, the UWB tag does not need to continue to monitor the target channel in the dormant state.
  • each UWB tag when four UWB tags are set in the environment, after each UWB tag completes sending the data frame, it immediately enters a dormant state.
  • Step 404 wake up and listen to the target channel in response to the duration of the sleep state reaching the sleep duration.
  • the duration of the sleep state (ie, the sleep duration) after the data frame transmission is completed is preset in the UWB tag, and the sleep duration set by each UWB tag is the same.
  • the sleep duration When the sleep duration is reached, the UWB tag wakes up and enters the working state (ie, releases the sleep state), so as to send data frames in the next cycle.
  • the sleep duration may be 0.5s or 1s, which is not limited in this embodiment of the present application.
  • the UWB tag After waking up, the UWB tag still needs to listen to the target channel and send data frames when the target channel is idle to avoid conflicts with other UWB tags (such as new UWB tags for asynchronous access).
  • each UWB tag wakes up again after reaching the sleep duration, and sends data frames in the next cycle (only the data frame sending process is shown in the figure, and the channel listening process is not shown). ).
  • the UWB tag in the initial working stage of the UWB tag, the UWB tag often senses that the target channel is occupied; and under the action of the channel listening and random delay mechanism, if the UWB tag in the environment remains unchanged, it will change with time. As the working time increases, the data frame sending frequency of each UWB tag will tend to be stable, that is, the UWB tag detects that the target channel is occupied and disappears. conflict. As shown in Figure 5, after working for a period of time, four UWB tags send data frames in an orderly manner.
  • Step 405 in response to the target channel being occupied, determine a random delay time, and enter a sleep state.
  • the UWB tag when the target channel is occupied, the UWB tag enters the sleep state within a random delay time, that is, the transceivers of the UWB tag are all turned off, It is not necessary to continue to listen to the target channel within the random delay time, so as to achieve the effect of reducing power consumption.
  • the UWB tag since the UWB tag is only in the working state during channel listening and data frame transmission, and the duration of channel listening and data frame transmission is extremely short, the UWB tag is in the working state. Most of the time it is in a dormant state, achieving extremely low operating power consumption.
  • the UWB tag determines the random delay duration based on the number of listening times, where the number of listening times is used to indicate the number of times the target channel is monitored before sending the data frame. And, every time after listening to the target channel, the UWB tag will update the listening times (for example, add one); if the target channel is detected to be idle and the data frame is successfully sent, the UWB tag will reset the listening times. When it is detected that the target channel is occupied, the duration of the next random delay is determined based on the updated listening times.
  • the delay time range is first determined based on the number of listening times, and then the delay duration is determined based on the number of listening times. Determine the random delay time in the range.
  • the delay time range is positively correlated with the listening times, that is, the more listening times (indicating that there are more UWB tags in the environment, and the occupancy rate of the target channel is higher), the larger the delay time range, the corresponding , the higher the randomness of the determined random delay time.
  • the delay time range in order to prevent the random delay time from being too large, there is an upper limit on the delay time range, that is, the delay time range will not expand infinitely with the increase of the number of listening times.
  • the delay duration range is a backoff time period (320us) as a unit duration, and the delay duration range is a multiple of the unit duration, and the multiple is positively correlated with the listening times.
  • the delay time range is (23-1) backoff time periods, and the selection range of the random delay time length is 0.32ms to 2.24ms; when the number of listening times is 2, the delay time The duration range is (24-1) backoff time periods, and the selection range of the random delay time is 0.32ms to 4.8ms; when the number of listening times is 3, the delay time range is (25-1) backoff time periods , the selection range of the random delay time is 0.32ms to 9.92ms.
  • Step 406 wake up and listen to the target channel again in response to the duration of the sleep state reaching a random delay time.
  • the UWB tag switches from the sleep state to the working state, and listens to the target channel again. If the target channel is idle, send the data frame on the target channel; if the target channel is still occupied, it will delay again randomly, and listen to the target channel after the random delay time, until the target channel is idle, send the data frame on the target channel Data Frame.
  • the UWB tag enters the dormant state after completing the transmission of the data frame, and enters the dormant state within a random delay time, which further reduces the wake-up time in the working state of the UWB tag. While ensuring the normal transmission of the data frame, The power consumption of the UWB tag is further reduced, and the usage time of the UWB tag is prolonged.
  • the UWB tag dynamically determines the delay duration range based on the number of listening times, and then randomly determines the random delay duration from the delay duration range.
  • the random selection range of the duration can reduce the number of times that the UWB tag repeatedly listens to the target channel and improve the asynchronous access efficiency of the UWB tag.
  • FIG. 6 shows a flowchart of a method for controlling an IoT device provided by another exemplary embodiment of the present application.
  • the embodiment of the present application is described by taking the method applied to the terminal device shown in FIG. Methods include:
  • Step 601 Receive data frames sent by each UWB tag on the target channel, and the data frames are sent by the UWB tag when the target channel is idle.
  • the UWB function of the terminal device is enabled, and the terminal device can receive data frames sent by each UWB tag on the target channel.
  • the process of sending the data frame by the UWB tag reference may be made to the above-mentioned embodiment on the side of the UWB tag, which will not be repeated in this embodiment.
  • each UWB tag Since each UWB tag sends data frames when the target channel is idle, there is no conflict between the data frames sent by different UWB tags, which ensures the accuracy of the data frames received by the terminal device and helps to improve subsequent IoT device control. accuracy.
  • Step 602 based on the data frame, determine the target IoT device from the IoT devices represented by each UWB tag.
  • the terminal device After receiving the data frame, the terminal device determines the IoT device represented by each UWB tag based on the information contained in the data frame, and further determines the target IoT device to be controlled from the identified IoT devices.
  • the target IoT device is an IoT device that satisfies the spatial location relationship condition with the terminal device.
  • the target IoT device is the IoT device that the terminal device is currently facing.
  • Step 603 control the target IoT device.
  • the terminal device further determines a connection mode with the target IoT device, so as to establish a data communication connection with the target IoT device through the connection mode, and then connect to the target IoT device through the data communication connection.
  • the target IoT device is controlled.
  • the connection mode includes WiFi connection, Bluetooth connection, infrared connection, etc., which is not limited in this embodiment.
  • the connection method between the target IoT device and the terminal device is WiFi connection
  • the target IoT device and the terminal device are connected to the same WiFi, that is, the target IoT device and the terminal device are connected through the same routing device.
  • the terminal device can establish a WiFi data communication connection with the target IoT device through the routing device according to the device identification of the target IoT device.
  • the terminal device may send a connection establishment instruction to the routing device.
  • the connection establishment instruction includes a device identifier corresponding to the target IoT device.
  • the routing device sends a connection establishment instruction to the target IoT device according to the device identifier of the target IoT device carried in the connection establishment instruction.
  • the target IoT device receives the connection establishment instruction, and establishes a WiFi data communication connection with the terminal device.
  • the terminal device can establish a Bluetooth data communication connection with the target IoT device through the Bluetooth component according to the device identifier of the target IoT device.
  • both the terminal device and the target IoT device enable the Bluetooth function.
  • the terminal device can receive the Bluetooth signal broadcast by other IoT devices, and the Bluetooth signal can carry the device identifier corresponding to each IoT device. to determine the target Bluetooth signal.
  • the target Bluetooth signal is broadcast by the target IoT device, and a Bluetooth data communication connection is established with the target IoT device.
  • the terminal device may also directly broadcast a Bluetooth connection instruction, where the Bluetooth connection instruction includes a device identifier corresponding to the target IoT device.
  • the target IoT device determines that the device identification is consistent with its own device identification, and establishes a Bluetooth data communication connection with the terminal device.
  • the terminal device saves the connection method corresponding to the target IoT device, and can continue to use this connection method to establish a data communication connection with the target IoT device; If the device has not established a data communication connection with the target IoT device before, the terminal device needs to establish a connection with the target IoT device first, and after the data communication connection is successfully established, save the connection method corresponding to the target IoT device.
  • the terminal device can establish a data communication connection with the IoT device represented by the UWB tag by performing UWB communication with the UWB tag, and perform data communication on the IoT device. control. During the entire control process, users do not need to manually establish a connection between the terminal device and the IoT device, which improves the convenience and automation of IoT device control.
  • the terminal device only needs to receive data frames on the target channel without sending data to the UWB tag (only receiving but not sending, corresponding to the only sending and not receiving of UWB tags), which helps to reduce Power consumption when the terminal device controls the IoT device.
  • the terminal device can determine the relationship with each IoT device (UWB tag) based on the received data frame. set on the IoT device), and then determine the IoT device pointed by the terminal device as the target IoT device and control it.
  • UWB tag IoT device
  • FIG. 7 shows a flowchart of a method for controlling an IoT device provided by another exemplary embodiment of the present application.
  • the embodiment of the present application is described by taking the method applied to the terminal device shown in FIG. Methods include:
  • Step 701 alternately receive data frames sent by each UWB tag on the target channel through the first antenna group and the second antenna group, where the first antenna group and the second antenna group correspond to different directions.
  • the terminal device determines the spatial position relationship with each UWB tag based on the spatial positioning principle in the UWB technology. In a possible implementation manner, the terminal device determines the spatial position relationship with the UWB tag according to the phase difference of the data frame arriving at the antenna.
  • the terminal device in this embodiment of the present application is provided with two sets of antennas, which are a first antenna group and a second antenna group respectively, and the third antenna An antenna group and a second antenna group correspond to different antenna directions.
  • Each antenna group contains two antennas for measuring horizontal and vertical angles respectively. For example, there is a preset angle between the first antenna group and the second antenna group, and the preset angle may be 60 degrees.
  • the first antenna group may be a horizontal antenna group
  • the second antenna group may be a vertical antenna group.
  • the horizontal antenna group includes a first antenna and a second antenna
  • the first antenna and the second antenna are antennas arranged in the horizontal direction
  • the vertical antenna group includes a first antenna and a third antenna
  • the first antenna and the third antenna are vertical antennas Antennas arranged in a straight direction, wherein the first antenna is a public antenna, which can be used to measure the positional relationship in the horizontal direction and also participate in the measurement of the positional relationship in the vertical direction.
  • the UWB component may also include four antennas, namely a first antenna, a second antenna, a third antenna and a fourth antenna.
  • the first antenna and the second antenna are a horizontal antenna group
  • the third antenna and the fourth antenna are a vertical direction group, which is not limited in this embodiment of the present application.
  • the antenna directions of the first antenna group and the second antenna group may correspond to the horizontal direction and the vertical direction of the terminal, that is, the antennas in the horizontal antenna group are along the terminal device.
  • the antennas in the vertical antenna group are arranged along the vertical direction of the terminal device.
  • FIG. 8 it shows a schematic diagram of an antenna structure of a UWB component in a terminal device provided by an exemplary embodiment of the present application.
  • the first antenna group includes a first antenna 801 and a second antenna 802
  • the second antenna group includes a first antenna 801 and a third antenna 803 .
  • the terminal device In order to determine the spatial position relationship between the UWB tag and the terminal device, the terminal device alternately receives the data frames sent by each UWB tag on the target channel through the first antenna group and the second antenna group, that is, the same UWB tag is sent through different antenna groups. data frame.
  • the terminal device first receives data frames on the target channel through the first antenna group, and when the data frame receiving duration of the first antenna group reaches a preset duration, switches the second antenna group to the target channel Receive data frames.
  • the terminal device first receives the data frames sent by the UWB tags 1-4 on the target channel through the first antenna group, and then switches to the second antenna group to receive the UWB tags 1-4 on the target channel. Data frames sent on the channel.
  • Step 702 Determine the spatial positional relationship between the terminal device and each UWB tag based on the data frame, where the spatial positional relationship includes a horizontal direction angle and a vertical direction angle.
  • Angle of Arrival (AOA) measurement Determine the spatial position of the object according to the arrival angle of the data frame
  • Signal Phase Difference of Arrival (PDoA) measurement determine the spatial position of the object according to the arrival phase difference of the data frame .
  • AOA Angle of Arrival
  • PoA Signal Phase Difference of Arrival
  • the embodiments of the present application do not limit the specific manner used for determining the spatial position relationship.
  • determining the spatial positional relationship between the UWB tag and the terminal device may include the following steps:
  • the first antenna group is taken as an example to measure the horizontal direction angle for description.
  • the UWB tag can be determined according to the arrival phase difference between the two antennas of the same data frame.
  • the horizontal angle from the terminal device in the horizontal direction is a certain distance between the two antennas.
  • the horizontal direction angle of the UWB tag 1001 relative to the horizontal antenna group 1002 is ⁇ , and according to the geometric relationship, it can be known that the horizontal direction angle is equal to the angle ⁇ .
  • the horizontal antenna group 1002 includes a first antenna and a second antenna. There is a distance between the first antenna and the second antenna.
  • the horizontal direction angle ⁇ can be calculated from the arrival phase difference.
  • ⁇ represents the angle (in this embodiment, it can represent the horizontal azimuth angle between the terminal device and the UWB tag), ⁇ represents the wavelength, ⁇ represents the arrival phase difference, and d represents the horizontal distance between the first antenna and the second antenna.
  • the second antenna group is taken as an example to measure the vertical direction angle for description.
  • the vertical antenna group includes two antennas, and there is a certain distance between the two antennas, when the vertical antenna group is used for data frame reception, two antennas can be reached according to the same data frame.
  • the arrival phase difference between the antennas determines the vertical angle between the UWB tag and the terminal device in the vertical direction.
  • the application scenario includes a terminal device 1001 and a UWB tag 1002 , and the terminal device 1001 is provided with a UWB component.
  • the UWB tag 1002 sends the data frame through the target channel, and the terminal device 1001 receives the data frame broadcasted by the UWB tag 1002 through the UWB component.
  • the terminal device 1001 determines the horizontal direction angle ⁇ and the vertical direction angle ⁇ between the terminal device 1001 and the UWB tag 1002 according to the data frame, then determines that the UWB tag 1002 is located at the terminal device 1001 horizontal direction angle + ⁇ , vertical direction angle + ⁇ position.
  • the application scenario may contain multiple UWB tags, and measuring the spatial positional relationship between the terminal device and a single UWB tag requires switching the antenna component that receives the data frame, in order to avoid that the terminal device does not all receive the application when switching the antenna group
  • the data frames broadcast by all UWB tags in the scene make it impossible to measure the spatial positional relationship of all UWB tags in the application scene in one antenna group switching process, thereby reducing the subsequent comparison and judgment of the target UWB tag pointed or facing by the terminal device. accuracy.
  • the tag identifier of the UWB tag is inserted into the data frame broadcast by the UWB tag, so that the terminal can record the tag identifier included in the received data frame before switching the antenna. Therefore, it can be judged based on the tag identification whether the data frame broadcast by each UWB tag that may be included in the application scenario is received, and the accuracy of the timing of switching the antenna group is improved.
  • the process of determining the timing of performing antenna group switching between the first antenna group and the second antenna group may be: receiving at least one data frame broadcast by the UWB tag through the first antenna group, and obtaining UWB from the data frame.
  • the tag identifier corresponding to the tag and then a tag set is constructed based on the tag identifier.
  • the tag identifier contained in the tag set stops changing, it is determined that the data frame reception of the UWB tag broadcast in this application scenario is completed, and the second antenna group can be switched to continue to receive.
  • the data frame broadcast by the UWB tag may be: receiving at least one data frame broadcast by the UWB tag through the first antenna group, and obtaining UWB from the data frame.
  • the tag identifier corresponding to the tag and then a tag set is constructed based on the tag identifier.
  • Step 703 based on the spatial position relationship, determine the UWB tag pointed to by the terminal device as the target UWB tag.
  • determining whether the terminal device points to the UWB tag it can be determined by judging whether the spatial positional relationship between the terminal device and the UWB tag deviates, that is, to determine whether the horizontal direction angle between the terminal device and the UWB tag deviates from the preset horizontal angle range, and It is determined whether the vertical direction angle between the terminal device and the UWB tag deviates from the preset vertical angle range.
  • the terminal device determines a UWB tag whose horizontal direction angle with the terminal device is within the horizontal angle range and whose vertical direction angle with the terminal device is within the vertical angle range as the target UWB tag .
  • the horizontal angle range may be -10 degrees to 10 degrees, and the vertical angle range may be 0 degrees to 30 degrees, which is not limited in this embodiment of the present application.
  • the terminal device determines the spatial positional relationship with each UWB tag as follows: UWB tag A (horizontal angle-30 degrees, vertical angle 10 degrees); UWB tag B (horizontal angle-2 degrees) , vertical direction angle 10 degrees); UWB label C (horizontal direction angle 35 degrees, vertical direction angle 5 degrees); UWB label D (horizontal direction angle 60 degrees, vertical direction angle 20 degrees). If the horizontal angle range is -10 degrees to 10 degrees, and the vertical angle range is 0 degrees to 30 degrees, since the spatial positional relationship between the UWB tag B and the terminal device is within this angle range, the terminal device determines the UWB tag B as the target. UWB tags.
  • Step 704 the IoT device represented by the target UWB tag is determined as the target IoT device.
  • the terminal device determines the IoT device represented by the target UWB tag as the target IoT device by parsing the data frame sent by the target UWB tag, so as to subsequently realize accurate control of the target IoT device.
  • the information contained in the data frame sent by the UWB tag may be: the device identification and location information of the IoT device, the device identification of the IoT device or the label identification of the UWB tag itself, etc.
  • the process of determining the target IoT device can be: in the case where the UWB tag can be used to determine the target IoT device represented by the UWB tag according to the device identification and location information; in the case where the data frame sent by the UWB tag contains the device identification of the IoT device , the terminal device can determine the target IoT device represented by the UWB tag according to the device identification; if the data frame sent by the UWB tag contains the tag identification, the terminal device pre-stores each UWB tag and the IoT device and the IoT device represented by it. The mapping relationship between them enables the terminal device to obtain the device identification from the mapping relationship according to the label identification, and determine the target Io
  • Step 705 control the target IoT device.
  • a connection condition is set, that is, the terminal device needs to meet the In the case of this connection condition, it is allowed to establish a data communication connection with the target IoT device and control the target IoT device.
  • connection conditions are set for different IoT devices, so that users can use different operations for different IoT devices, further improving the accuracy of establishing data communication connections.
  • the connection condition corresponding to IoT device A is a touch condition
  • the connection condition corresponding to IoT device B is a gesture condition
  • the terminal device determines that the target IoT device is IoT device A, but receives the user's gesture operation, obviously, the gesture
  • the operation does not match the touch conditions corresponding to IoT device A, it may be that the determination of the target IoT device is inaccurate and does not correspond to user expectations. In this case, you can stop continuing to establish a data communication connection with IoT device A to avoid establishing wrong data communication. connect.
  • the terminal device determines the target IoT device, it continues to determine whether the terminal device satisfies the connection condition corresponding to the target IoT device, and if the connection condition corresponding to the target IoT device is satisfied, establishes data with the target IoT device Communication connection, and control the target IoT device; if the connection conditions corresponding to the target IoT device are not met, stop establishing a data communication connection with the target IoT device.
  • connection conditions include at least one of pointing duration conditions, gesture conditions, touch conditions, sensor conditions, and voice control conditions.
  • the terminal device determines that the duration of pointing to the target UWB tag exceeds the duration threshold, and determines that the user wants the terminal device to establish a data communication connection with the target IoT device represented by the target UWB tag.
  • the duration threshold may be 5s, and the duration threshold is preset by the developer as a default value, or set by the user.
  • the terminal device When the terminal device is determined to point to the target UWB tag within 5s (or the terminal device is determined to be in a positive relationship with the target UWB tag within 5s), it is determined that the terminal device meets the connection conditions corresponding to the target IoT device, and The target IoT device establishes a data communication connection and controls the target IoT device; otherwise, the subsequent steps of establishing a data communication connection with the target IoT device are stopped.
  • the pointing duration condition can be set by the user, and different pointing duration conditions can be set for different IoT devices.
  • the pointing duration condition corresponding to IoT device A is 3 s
  • the pointing duration condition corresponding to IoT device B is 5 s, which is not limited in this embodiment of the present application.
  • the gesture condition is determined as the connection condition: when the terminal device detects that the user performs a preset gesture corresponding to the target IoT device, it means that the user needs to establish a data communication connection between the terminal device and the target IoT device, and the preset gesture can be "OK" On the other hand, if the terminal does not detect the preset gesture, or the detected gesture operation is different from the preset gesture, the terminal device stops the subsequent establishment of a data communication connection with the target IoT device.
  • the user can set different preset gestures for different IoT devices.
  • the gesture condition corresponding to IoT device A is: a gesture of "OK" by the user is detected;
  • the gesture condition corresponding to IoT device B is: it is detected that the user draws a preset pattern on the screen of the terminal device, etc.
  • the touch condition is determined as the connection condition: when the terminal device detects that the user touches the preset position of the terminal, for example, the fingerprint recognition area, and detects that the fingerprint is the fingerprint that controls the terminal device to establish a data communication connection with the target IoT device; Or when the terminal detects that the user taps the screen of the terminal device, it establishes a data communication connection with the target IoT device; otherwise, if the terminal does not detect the preset touch operation, or the detected touch operation is different from the preset touch operation , the terminal device stops the subsequent establishment of a data communication connection with the target IoT device.
  • the user can also set different touch conditions for different IoT devices to distinguish the data communication connection between the terminal device and different IoT devices, and improve the accuracy of the data communication connection between the terminal device and the IoT device.
  • the terminal device may establish a data communication connection with the target IoT device when it detects that the user holds the terminal to perform a preset operation. For example, the terminal device detects that the user holds the terminal device to perform a "shake" operation, and establishes a data communication connection with the target IoT device.
  • the user can also set different sensor conditions for different IoT devices.
  • the voice control condition is used as the connection condition: when the terminal device determines the target IoT device, the voice detection function can be enabled, and when a voice command related to the target IoT device is detected, a data communication connection is established with the target IoT device.
  • the voice control condition corresponding to the smart TV indicates that the preset voice command is "screen projection".
  • the terminal device determines that the target IoT device is a smart TV and receives the screen projection command, the terminal device and the smart TV establish a data communication connection in advance. .
  • the user can set different voice control conditions for devices that do not pass through the IoT.
  • the terminal device uses the first antenna group and the second antenna group alternately to receive data frames on the target channel, so as to determine the horizontal direction between the UWB tag and the terminal device according to the data frame reception conditions of different antenna groups Angle and vertical direction angle, so as to determine the UWB tag pointed by the terminal device based on the horizontal and vertical direction angle, and control the IoT device represented by the pointed UWB tag, which improves the convenience and accuracy of IoT device control.
  • the data frame includes a tag identifier
  • the terminal device stores the mapping relationship between the UWB tag and the IoT device.
  • the terminal device determines the target IoT device represented by the target UWB tag, it obtains the tag ID from the data frame sent by the target UWB tag, and based on the tag ID, obtains the tag ID from the mapping relationship between the UWB tag and the IoT device. Identify target IoT devices.
  • the terminal device in response to the binding operation, obtains the tag identifier of the UWB tag to be bound; Select an operation to establish the mapping relationship between the label ID and the device ID corresponding to the IoT device.
  • the UWB tag sends a data frame when it is powered on, and the data frame contains a tag identifier that uniquely identifies the UWB tag.
  • the terminal device When receiving a (tag) binding operation, the terminal device will receive the pending binding on the target channel. The terminal device establishes a mapping relationship between the two when receiving the user's selection operation of the IoT device to be bound.
  • mapping relationship between UWB tags and IoT devices is shown in Table 1.
  • the UWB tag After the binding is completed, the UWB tag still sends data frames on the target channel.
  • the terminal device can obtain the tag identification of the UWB tag from the data frame, and then determine the IoT device represented by the UWB tag based on the mapping relationship.
  • the terminal device when the user triggers the decoding of the UWB tag, in response to the unbinding operation, the terminal device only needs to delete the mapping relationship indicated by the UWB tag to complete the unbinding of the UWB tag and the IoT device.
  • the unbinding process is simple and does not require It will affect the data frame transmission of the UWB tag.
  • the UWB tag only needs to send a data frame containing the tag identification, and the terminal device can complete the tag binding and subsequent IoT device control based on the data frame.
  • the function of the UWB tag is simple and low-cost.
  • the data frame contains the device identifier of the IoT device.
  • the terminal device determines the target IoT device represented by the target UWB tag, it can directly obtain it from the data frame sent by the target UWB tag. device identification, and then determine the IoT device corresponding to the device identification as the target IoT device.
  • the terminal device connected to the IoT device can use the UWB tag to control the IoT device without the need for The above-mentioned mapping relationship is stored in advance.
  • the terminal device in response to the binding operation, sends the first binding information to the UWB tag in the binding state on the target channel, the The first binding information includes the tag identifier of the UWB tag (to be bound) and the device identifier of the IoT device bound to the UWB tag.
  • the UWB tag includes two states, namely a binding state and a working state.
  • the binding state the UWB tag sends a data frame containing the tag identification of the tag identification on the target channel, and receives the first binding information sent by the terminal device on the target channel.
  • the tag identification included in the received first binding information is consistent with the own tag identification
  • the UWB tag stores the device identification and enters a working state.
  • the working state the UWB tag only sends the data frame containing the device identification on the target channel, and will not receive the data frame on the target channel.
  • the terminal device 1201 selects the smart speaker 1203 bound to the UWB tag 1202, thereby The first binding information including the tag identification and the device identification is sent on the target channel.
  • the UWB tag 1202 in the binding state receives the first binding information, since the tag identification contained in the first binding information is consistent with itself, the UWB tag 1202 stores the device identification contained in the first binding information, And switch to the working state, so as to send the data frame containing the device identification in the working state.
  • the data frame in addition to the device identifier of the IoT device, also includes location information, where the location information is used to indicate the location where the UWB tag is located, or is used to indicate the location where the IoT device is located. Location.
  • the terminal device determines the target IoT device represented by the target UWB tag, it can directly obtain the device identification from the data frame sent by the target UWB tag, and then determine the IoT device corresponding to the device identification as the target IoT device.
  • the terminal device can further determine the distance between the IoT device and the terminal device according to the location information contained in the data frame, so that the distance between the two is less than When the distance threshold (for example, 10m) is reached, the IoT device is determined as the target IoT device.
  • the distance threshold for example, 10m
  • the terminal device in response to the binding operation, sends a second binding to the UWB tag in the bound state on the target channel information, the second binding information includes the label identifier of the (to be bound) UWB tag, the device identifier of the IoT device bound to the UWB tag, and the location information.
  • the UWB tag in the binding state, sends a data frame containing the tag identification of the tag identification on the target channel, and receives the second binding information sent by the terminal device on the target channel.
  • the UWB tag stores the device identification and location information, and enters a working state. In the working state, the UWB tag only sends data frames containing device identification and location information on the target channel, and will not receive data frames on the target channel.
  • the UWB tag is provided with a physical button.
  • the UWB tag When receiving a trigger operation of the physical button, the UWB tag switches to a bound state, and automatically switches to work after the device identification (and location information) is stored. state. And, when the UWB tag is switched from the working state to the binding state, the UWB tag deletes the stored device identification (and location information), and resends the data frame containing the tag identification.
  • the operations performed by the terminal device to control the IoT device are not the same.
  • the terminal device when the terminal device determines that the target IoT device is a smart TV, the terminal device can control the target IoT device to perform a screen projection operation, that is, the current display screen of the terminal device can be transmitted to the smart TV .
  • an operation confirmation control can be displayed on the display interface of the terminal device. If the user needs to perform a screen projection operation, the operation confirmation control can be clicked.
  • the terminal device After receiving the click operation on the operation confirmation control, the current display screen of the terminal device can be transmitted to the smart TV, so that the user can continue to watch the displayed content through the smart TV.
  • the terminal device may further display a control interface corresponding to the smart TV, and the control interface further includes function controls corresponding to the smart TV.
  • the control interface further includes function controls corresponding to the smart TV.
  • the user can click the video progress adjustment control, and the terminal device controls the smart TV to adjust the current video playback progress in response to the trigger operation of the video progress adjustment control.
  • the terminal device may display a control interface corresponding to the smart home device, wherein, The control interface includes function controls corresponding to the smart home devices; the user can click the function controls on the control interface as required, and the terminal device controls the smart home devices to perform corresponding device functions in response to triggering operations on the function controls in the control interface.
  • the smart home devices may include: smart refrigerators, smart speakers, smart door locks, smart curtains, smart lamps, smart air conditioners, etc.
  • the embodiments of the present application do not limit the types of smart home devices.
  • the control interface displayed in the terminal device may include: volume adjustment controls, music progress adjustment controls, playback mode adjustment controls, etc.; the target IoT device is a smart door lock, and the control interface displayed in the terminal device may Including: password setting control, switch control, etc.; if the target IoT device is a smart curtain, the control interface displayed in the terminal device may include: curtain shading adjustment control, curtain switch control, etc.; if the target IoT device is a smart air conditioner, the terminal device The displayed control interface may include: temperature adjustment control, mode adjustment control, wind speed adjustment control, switch control, etc.; if the target IoT device is a smart lamp, the control interface displayed in the terminal device may include: lamp switch control, brightness adjustment control, color temperature Adjustment controls, etc.
  • FIG. 13 shows a structural block diagram of an apparatus for controlling an IoT device provided by an embodiment of the present application.
  • the device has the function of implementing the function performed by the UWB tag side in the above method embodiments, and the function may be implemented by hardware or by executing corresponding software by hardware.
  • the apparatus may include:
  • the listening module 1301 is used to listen to the target channel in the working state
  • the data frame sending module 1302 is configured to send a data frame on the target channel in response to the target channel being idle, so that the terminal device can determine the IoT device represented by the UWB tag according to the data frame, and perform a data frame on the IoT device. control;
  • the listening module 1301 is further configured to listen to the target channel again after a random delay time in response to the target channel being occupied.
  • the device :
  • a first dormancy module configured to enter a dormant state after the data frame is sent
  • the listening module 1301 is further configured to wake up and listen to the target channel in response to the sleep duration reaching the sleep duration.
  • the device includes:
  • a second dormancy module configured to determine the random delay duration in response to the target channel being occupied, and enter a dormant state
  • the listening module 1301 is configured to wake up and listen to the target channel again in response to the duration of the dormant state reaching the random delay time.
  • the second sleep module includes:
  • a duration determining unit configured to determine the random delay duration based on the number of listening times, where the number of listening times is used to indicate the number of times of listening to the target channel before sending the data frame;
  • the device also includes:
  • An update module configured to update the listening times.
  • the unit for determining the duration which is specifically used for:
  • a delay duration range is determined based on the number of interceptions, wherein the delay duration range is positively correlated with the number of interceptions;
  • the random delay duration is determined from the delay duration range.
  • the listening mode of the target channel includes at least one of energy detection and carrier detection.
  • the data frame includes a tag identifier
  • the terminal device stores a mapping relationship between the UWB tag and the IoT device
  • the terminal device is configured to convert the mapping from the mapping according to the tag identifier.
  • the device identifier is obtained from the relationship, and the IoT device is controlled based on the device identifier.
  • the data frame includes a device identifier of the IoT device, and the terminal device is used to control the IoT device based on the device identifier;
  • the device also includes:
  • a first information receiving module configured to receive, on the target channel, first binding information sent by the terminal device in a bound state, where the first binding information includes a label identifier of the UWB label, and the device identifier of the IoT device bound to the UWB tag;
  • the first storage module is used for storing the device identification and entering a working state.
  • the data frame includes the device identifier and location information of the IoT device, and the terminal device is used to control the IoT device based on the device identifier and the location information, and the location information is used to control the IoT device.
  • the terminal device is used to control the IoT device based on the device identifier and the location information, and the location information is used to control the IoT device.
  • the location information is used to control the IoT device.
  • the device also includes:
  • a second information receiving module configured to receive second binding information sent by the terminal device on the target channel in a bound state, where the second binding information includes the label identifier of the UWB label, the device identifier of the IoT device bound to the UWB tag, and the location information;
  • the second storage module is used for storing the device identification and the location information, and entering a working state.
  • the UWB tag in the working state determines the channel state of the target channel by listening to the target channel, and when the target channel is idle, it sends a data frame on the target channel, so that the terminal device can pair the data frame based on the data frame.
  • the IoT device represented by the UWB tag is controlled.
  • UWB tags When the target channel is occupied, the target channel is monitored again after a random delay to avoid data frame collision caused by different UWB tags sending data frames on the target channel at the same time, which is helpful to improve the IoT Accuracy of device control; and, by introducing channel listening and random delay mechanism, UWB tags only send data frames in working state without receiving data frames sent by other UWB tags, that is, without sensing the existence of other UWB tags , which helps to improve the flexibility of UWB tag access and reduces the power consumption of UWB tags.
  • FIG. 14 shows a structural block diagram of an apparatus for controlling an IoT device provided by another embodiment of the present application.
  • the apparatus has the function of implementing the function performed by the terminal device side in the above method embodiments, and the function may be implemented by hardware or by executing corresponding software by the hardware.
  • the apparatus may include:
  • a data frame receiving module 1401, configured to receive data frames sent by each UWB tag on a target channel, the data frames being sent by the UWB tag when the target channel is idle;
  • a device determination module 1402 configured to determine a target IoT device from the IoT devices represented by each of the UWB tags based on the data frame;
  • the control module 1403 is used to control the target IoT device.
  • the device determining module 1402 includes:
  • a position determination unit configured to determine a spatial position relationship between the terminal device and each of the UWB tags based on the data frame, where the spatial position relationship includes a horizontal direction angle and a vertical direction angle;
  • a tag determining unit configured to determine the UWB tag pointed to by the terminal device as a target UWB tag based on the spatial position relationship
  • a device determining unit configured to determine the IoT device represented by the target UWB tag as the target IoT device.
  • the data frame receiving module 1401 is used for:
  • the data frames sent by each of the UWB tags are alternately received on the target channel through a first antenna group and a second antenna group, where the first antenna group and the second antenna group correspond to different directions;
  • the position determination unit is used for:
  • the vertical direction angle between the terminal device and each of the UWB tags is determined.
  • label determination unit for:
  • a UWB tag whose horizontal direction angle with the terminal device is within the horizontal angle range and whose vertical direction angle with the terminal device is within the vertical angle range is determined as the target UWB tag.
  • the device determining unit is used for:
  • the target IoT device is determined from the mapping relationship between the UWB tag and the IoT device.
  • the apparatus further includes a first binding module for:
  • a mapping relationship between the label identifier and the device identifier corresponding to the IoT device is established.
  • the device further includes:
  • An unbinding module configured to delete the mapping relationship indicated by the UWB tag in response to the unbinding operation.
  • the device determining unit is used for:
  • the IoT device corresponding to the device identifier is determined as the target IoT device.
  • the device further includes:
  • a second binding module configured to send first binding information to the UWB tag in the binding state on the target channel in response to the binding operation, where the first binding information includes the tag of the UWB tag identification, and the device identification of the IoT device bound to the UWB tag, so that the UWB tag stores the device identification;
  • a third binding module configured to send second binding information to the UWB tag in the binding state on the target channel in response to the binding operation, where the second binding information includes the tag of the UWB tag identifier, the device identifier of the IoT device bound to the UWB tag, and location information, so that the UWB tag stores the device identifier and the location information, and the location information is used to indicate the The location where the UWB tag is located, or is used to indicate the location where the IoT device is located.
  • the terminal device can establish a data communication connection with the IoT device represented by the UWB tag by performing UWB communication with the UWB tag, and communicate with the IoT device. device to control.
  • the terminal device can establish a data communication connection with the IoT device represented by the UWB tag by performing UWB communication with the UWB tag, and communicate with the IoT device. device to control.
  • users do not need to manually establish a connection between the terminal device and the IoT device, which improves the convenience and automation of IoT device control.
  • the terminal device only needs to receive data frames on the target channel without sending data to the UWB tag (only receiving but not sending, corresponding to the only sending and not receiving of UWB tags), which helps to reduce Power consumption when the terminal device controls the IoT device.
  • FIG. 15 shows a structural block diagram of a terminal device 1500 provided by an exemplary embodiment of the present application.
  • the terminal device 1500 in this application may include one or more of the following components: a processor 1510, a memory 1520, and a UWB component 1530, wherein the processor 1510 is electrically connected to the memory 1520 and the UWB component 1530, respectively.
  • Processor 1510 may include one or more processing cores.
  • the processor 1510 uses various interfaces and lines to connect various parts of the entire terminal device 1500, and executes by running or executing the instructions, programs, code sets or instruction sets stored in the memory 1520, and calling the data stored in the memory 1520.
  • the processor 1510 may adopt at least one of digital signal processing (Digital Signal Processing, DSP), field-programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA).
  • DSP Digital Signal Processing
  • FPGA Field-Programmable Gate Array
  • PLA programmable logic array
  • a hardware form is implemented.
  • the processor 1510 may integrate one or a combination of a CPU, a graphics processor (Graphics Processing Unit, GPU), a modem, and the like.
  • the CPU mainly handles the operating system, user interface and application programs, etc.; the GPU is used for rendering and drawing the content that needs to be displayed on the touch screen; the modem is used to handle wireless communication. It can be understood that, the above-mentioned modem may not be integrated into the processor 1510, and is implemented by a communication chip alone.
  • the memory 1520 may include a random access memory (Random Access Memory, RAM), or may include a read-only memory (Read-Only Memory, ROM).
  • RAM Random Access Memory
  • ROM Read-Only Memory
  • the memory 1520 includes a non-transitory computer-readable storage medium.
  • Memory 1520 may be used to store instructions, programs, codes, sets of codes, or sets of instructions.
  • the memory 1520 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.) , instructions for implementing the above method embodiments, etc.
  • the operating system can be an Android (Android) system (including a system based on the deep development of the Android system), an IOS system developed by Apple (including a system based on the deep development of the IOS system) or other systems.
  • the storage data area may also store data (such as phone book, audio and video data, chat record data) created by the terminal device 1300 during use.
  • at least one instruction is stored in the memory 1520, and the at least one instruction is used to be executed by the processor 1510 to execute the method for controlling an IoT device as shown in the foregoing embodiments.
  • the UWB component 1530 is configured to receive the data frame broadcast by the external UWB component, so that the terminal device 1500 can process the data frame through the processor to achieve the purpose of determining the spatial position of the IoT device according to the data frame.
  • the UWB component can be packaged as an internal antenna component of the terminal device, the UWB component is electrically connected to the terminal device through the internal circuit board, and the terminal device can receive the data frame broadcast by the UWB tag through the UWB component.
  • the UWB component can be packaged as a terminal fitting, and the terminal fitting is independent of the terminal equipment.
  • the terminal equipment and the terminal fitting are electrically connected through the interface circuit, so that the The terminal device may have spatial position awareness capability; when the terminal device is not equipped with the terminal accessory, the terminal device does not have the spatial position awareness capability.
  • the terminal accessory includes a UWB component and an interface circuit, and the UWB component transmits data frames to the terminal device through the interface circuit; optionally, the terminal accessory also includes a universal serial bus hub ( Universal Serial Bus Hub, USB Hub), when the terminal device is wearing the terminal accessory, the terminal accessory can communicate with the terminal through the USB Hub.
  • a universal serial bus hub Universal Serial Bus Hub, USB Hub
  • the UWB component 1530 may include two antenna groups, for example, a first antenna group and a second antenna group, and the first antenna group and the second antenna group alternately receive data frames on the target channel to determine the The horizontal direction angle of the UWB label, and the vertical direction angle of the UWB label.
  • the first antenna group and the second antenna group may include different antennas, that is, the first antenna group includes the first antenna and the second antenna, and the second antenna group includes the third antenna and the fourth antenna;
  • the first antenna group and the second antenna group may share some antennas.
  • the first antenna group includes the first antenna and the second antenna
  • the second antenna group includes the first antenna and the third antenna.
  • the first antenna group and the second antenna group share the first antenna.
  • the terminal device 1500 may further include a touch display screen, which may be a capacitive touch display screen, and the capacitive touch display screen is used to receive user touches on or near it using any suitable object such as a finger, a touch pen, etc. operations, as well as displaying the user interface of each application.
  • the touch display screen is usually provided on the front panel of the terminal device 1500 .
  • the touch screen can be designed as a full screen, a curved screen or a special-shaped screen.
  • the touch display screen can also be designed to be a combination of a full screen and a curved screen, or a combination of a special-shaped screen and a curved screen, which is not limited in this embodiment of the present application.
  • the structure of the terminal device 1500 shown in the above drawings does not constitute a limitation on the terminal device 1500, and the terminal may include more or less components than those shown in the drawings, or combinations thereof certain components, or different component arrangements.
  • the terminal device 1500 also includes components such as radio frequency circuits, photographing components, sensors (excluding temperature sensors), audio circuits, Wireless Fidelity (WiFi) components, power supplies, and Bluetooth components, which will not be repeated here.
  • FIG. 16 shows a structural block diagram of a UWB tag provided by an exemplary embodiment of the present application.
  • UWB tag 1600 includes: microprocessor 1610 and UWB transceiver 1620.
  • the microprocessor 1610 is electrically connected to the UWB transceiver 1620, and the UWB transceiver 1620 is configured to execute the control method of the IoT device on the UWB tag side in the above embodiment under the control of the microprocessor 1610.
  • FIG. 17 shows a structural block diagram of an IoT device control system 1700 provided by an exemplary embodiment of the present application.
  • the control system includes a mid-terminal device 1701 , a UWB tag 1702 and an IoT device 1703 .
  • the terminal device 1701 establishes UWB communication with the UWB tag 1702, the UWB tag 1702 is used to represent the IoT device 1703 to be connected, and the UWB tag 1702 is independent of the IoT device 1703;
  • the UWB tag 1702 sends a data frame to the terminal device 1701;
  • the terminal device 1701 determines the device information of the IoT device 1703 represented by the UWB tag 1702 according to the data frame sent by the UWB tag 1702 , establishes a data communication connection with the IoT device 1703 according to the device information, and controls the IoT device 1703 .
  • Embodiments of the present application further provide a computer-readable storage medium, where at least one piece of program code is stored in the computer-readable storage medium, and the program code is loaded and executed by a processor to implement the IoT device described in the various embodiments above. Control Method.
  • a computer program product or computer program comprising computer instructions stored in a computer readable storage medium.
  • the processor of the terminal device or the UWB tag reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the terminal device or the UWB tag executes the IoT device provided in the various optional implementations of the above aspects. Control Method.
  • references herein to "a plurality” means two or more.
  • "And/or" which describes the association relationship of the associated objects, means that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone.
  • the character "/" generally indicates that the associated objects are an "or” relationship.
  • the numbering of the steps described in this document only exemplarily shows a possible execution sequence between the steps. In some other embodiments, the above steps may also be executed in different order, such as two different numbers. The steps are performed at the same time, or two steps with different numbers are performed in a reverse order to that shown in the figure, which is not limited in this embodiment of the present application.

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Abstract

一种IoT设备的控制方法、装置、UWB标签、终端设备，属于UWB技术领域。该方法包括：工作状态下，侦听目标信道(201)；响应于所述目标信道空闲，在所述目标信道上发送数据帧，以使终端设备根据所述数据帧确定所述UWB标签所表征IoT设备，并对所述IoT设备进行控制(202)；响应于所述目标信道被占用，在随机延时时长后再次侦听所述目标信道(203)。该方法有助于降低UWB标签的功耗。

Description

IoT设备的控制方法、装置、UWB标签及终端设备
本申请要求于2021年01月18日提交的申请号为202110061509.7、发明名称为“IoT设备的控制方法、装置、UWB标签及终端设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及UWB技术领域，特别涉及一种物联网(Internet of Things，IoT)设备的控制方法、装置、超宽带(Ultra Wide Band，UWB)标签及终端设备。
背景技术
UWB技术是一种无线载波通信技术，它不采用正弦载波，而是利用纳秒级的非正弦波窄脉冲传输数据，因此其所占的频谱范围很宽，且数据传输速率可以达到几百兆比特每秒以上。
在应用场景中，UWB技术具有***复杂度低，发射信号功率谱密度低，对信道衰落不敏感，截获能力低，定位精度高等优点，尤其适用于室内等密集多径场所的高速无线接入。
发明内容
本申请实施例提供了一种IoT设备的控制方法、装置、UWB标签及终端设备。所述技术方案如下：
一方面，本申请实施例提供了一种IoT设备的控制方法，所述方法用于UWB标签，所述方法包括：
工作状态下，侦听目标信道；
响应于所述目标信道空闲，在所述目标信道上发送数据帧，以使终端设备根据所述数据帧确定所述UWB标签所表征IoT设备，并对所述IoT设备进行控制；
响应于所述目标信道被占用，在随机延时时长后再次侦听所述目标信道。
另一方面，本申请实施例提供了一种IoT设备的控制方法，所述方法用于终端设备，所述方法包括：
在目标信道上接收各个UWB标签发送的数据帧，所述数据帧是所述UWB标签在所述目标信道空闲时发送的；
基于所述数据帧，从各个所述UWB标签所表征的IoT设备中确定出目标IoT设备；
对所述目标IoT设备进行控制。
另一方面，本申请实施例提供了一种IoT设备的控制装置，所述装置包括：
侦听模块，用于工作状态下，侦听目标信道；
数据帧发送模块，用于响应于所述目标信道空闲，在所述目标信道上发送数据帧，以使终端设备根据所述数据帧确定UWB标签所表征IoT设备，并对所述IoT设备进行控制；
所述侦听模块，还用于响应于所述目标信道被占用，在随机延时时长后再次侦听所述目标信道。
另一方面，本申请实施例提供了一种IoT设备的控制装置，所述装置包括：
数据帧接收模块，用于在目标信道上接收各个UWB标签发送的数据帧，所述数据帧是所述UWB标签在所述目标信道空闲时发送的；
设备确定模块，用于基于所述数据帧，从各个所述UWB标签所表征的IoT设备中确定出目标IoT设备；
控制模块，用于对所述目标IoT设备进行控制。
另一方面，本申请实施例提供了一种UWB标签，所述UWB标签包括：微处理器和UWB收发器；
所述微处理器与所述UWB收发器电性相连；
所述UWB收发器用于在所述微处理器的控制下执行如下步骤：
工作状态下，侦听目标信道；
响应于所述目标信道空闲，在所述目标信道上发送数据帧，以使终端设备根据所述数据帧确定所述UWB标签所表征IoT设备，并对所述IoT设备进行控制；
响应于所述目标信道被占用，在随机延时时长后再次侦听所述目标信道。
另一方面，本申请实施例提供了一种终端设备，所述终端设备包括：处理器、存储器和UWB组件；
所述处理器分别与所述存储器和所述UWB组件电性相连；
所述UWB组件用于在目标信道上进行数据收发；
所述存储器存储有至少一条指令，所述至少一条指令用于被所述处理器执行以执行如下步骤：
在所述目标信道上接收各个UWB标签发送的数据帧，所述数据帧是所述UWB标签在所述目标信道空闲时发送的；
基于所述数据帧，从各个所述UWB标签所表征的IoT设备中确定出目标IoT设备；
对所述目标IoT设备进行控制。
另一方面，本申请实施例提供了一种IoT设备控制***，所述***包括：终端设备、UWB标签和IoT 设备；
所述终端设备用于实现如上述方面所述的终端设备侧的IoT设备的控制方法；
所述UWB标签用于实现如上述方面所述的UWB标签侧的IoT设备的控制方法。
另一方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有至少一条程序代码，所述程序代码由处理器加载并执行以实现上述方面所述的UWB标签侧的IoT设备的控制方法，或，实现上述方面所述的终端设备侧的IoT设备的控制方法。
另一方面，本申请实施例提供了一种计算机程序产品或计算机程序，该计算机程序产品或计算机程序包括计算机指令，该计算机指令存储在计算机可读存储介质中。终端设备或UWB标签的处理器从计算机可读存储介质读取该计算机指令，处理器执行该计算机指令，使得该终端设备或UWB标签执行上述方面的各种可选实现方式中提供的IoT设备的控制方法。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1示出了本申请一个示例性实施例的实施环境的示意图；
图2是本申请一个示例性实施例提供的IoT设备的控制方法的流程图；
图3是UWB标签发送数据帧过程的实施示意图；
图4是本申请另一个示例性实施例提供的IoT设备的控制方法的流程图；
图5是本申请一个示例性实施例示出的多个UWB标签发送数据帧过程的时序图；
图6是本申请另一个示例性实施例提供的IoT设备的控制方法的流程图；
图7是本申请另一个示例性实施例提供的IoT设备的控制方法的流程图；
图8是本申请一个示例性实施例示出的UWB组件中天线的结构示意图；
图9是本申请一个示例性实施例示出的UWB组件和多个UWB标签的工作时序图；
图10是本申请一个示例性实施例示出的水平天线组测量水平方向角度的过程示意图；
图11是本申请一个示例性实施例示出的确定终端设备和UWB标签空间位置关系的过程示意图；
图12是本申请一个示例性实施例示出的标签绑定状态以及工作状态下数据交互过程的示意图；
图13示出了本申请一个实施例提供的IoT设备的控制装置的结构框图；
图14示出了本申请一个实施例提供的IoT设备的控制装置的结构框图；
图15示出了本申请一个示例性实施例提供的终端设备的结构方框图；
图16示出了本申请一个示例性实施例提供的UWB标签的结构方框图；
图17示出了本申请一个示例性实施例提供的IoT设备控制***的结构方框图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施方式作进一步地详细描述。
请参考图1，其示出了本申请一个示例性实施例的实施环境的示意图，该实施环境中包括终端设备110、至少一个IoT设备120和UWB标签130。
终端设备110是具备空间位置感知能力的设备，空间位置感知能力指：终端设备110可以感知其他设备的空间位置关系。终端设备110可以是智能手机、平板电脑、智能遥控器、智能手表等便携式电子设备。
本申请实施例中，终端设备110的空间位置感知能力借助UWB组件，以及表征IoT设备的UWB标签130实现。终端设备110可以通过UWB组件与UWB标签130进行UWB通信，也就是说，终端设备110可以通过UWB组件接收UWB标签130在目标信道上发送的数据帧，并根据UWB标签130发送的数据帧，确定终端设备110和UWB标签130之间的空间位置关系。
可选的，UWB组件与终端设备130可分离，或UWB组件独立于终端设备130，也就是说，终端设备110在装备UWB组件时，具备与UWB标签130进行UWB通信的功能；当终端设备110装备UWB组件时，终端设备110可能无法与UWB标签130进行UWB通信。在该应用场景下，UWB组件可以封装为终端配件，比如，UWB组件可以为手机壳、手机保护套、手机挂饰等终端配件。
可选的，UWB组件也可以设置在终端设备110内部，也就是说，在终端设备110内置有UWB组件，使终端设备110可以通过UWB组件与UWB标签130进行UWB通信。
IoT设备120是可以与终端设备110建立数据通信连接的电子设备，其可以是智能电视122、智能音箱121、智能门锁123、智能冰箱、智能空调、智能灯具、车载空调等设备。上述数据通信连接是指IoT设备120和终端设备110可以通过数据通信连接进行信息交互，该数据通信连接可以是WiFi连接、蓝牙连接、红外线连接等，本申请实施例对此不构成限定。
本申请实施例中，UWB标签130用于表征IoT设备120，且UWB标签130独立于IoT设备120。独 立于意味着，UWB标签130是独立于IoT设备120的装置，能够单独作为产品进行售卖，而并非作为IoT设备120的一部分集成于IoT设备120内，也不是IoT设备120的必要组成模块。并且当UWB标签130与IoT设备120绑定完成后，UWB标签130与IoT设备120不具备数据通信连接关系，仅具备映射关系，映射关系指可以通过UWB标签130确定其表征的IoT设备120。如图1所示，UWB标签131用于表征IoT设备121，UWB标签132用于表征IoT设备122，UWB标签132用于表征IoT设备123。
关于IWB标签130的供电方式，在一种可能的设计中，UWB标签130设置有独立电源，该独立电源为可替换电源、不可替换电源或者可充电电源；在另一种可能的设计中，UWB标签130由IoT设备120供电(但并不进行数据通信)，IoT设备120的供电方式包括有线供电(比如通过充电线)或无线供电(比如通过无线充电线圈)。
本申请实施例中，工作状态下，UWB标签130在目标信道上向终端设备110发送数据帧。终端设备110在目标信道上接收到数据帧后，确定UWB标签130所表征的IoT设备120，并与IoT设备120建立数据通信连接，从而通过数据通信连接对IoT设备120进行控制。
本申请实施例提供的应用于UWB标签的IoT设备的控制方法包括：
工作状态下，侦听目标信道；
响应于目标信道空闲，在目标信道上发送数据帧，以使终端设备根据数据帧确定UWB标签所表征IoT设备，并对IoT设备进行控制；或
响应于目标信道被占用，在随机延时时长后再次侦听目标信道。
可选的，响应于目标信道空闲，在目标信道上发送数据帧之后，方法还包括：
在数据帧发送完毕后进入休眠状态；
响应于处于休眠状态的持续时长达到休眠时长，唤醒并侦听目标信道。
可选的，响应于目标信道被占用，在随机延时时长后再次侦听目标信道，包括：
响应于目标信道被占用，确定随机延时时长，并进入休眠状态；
响应于处于休眠状态的持续时长达到随机延时时长，唤醒并再次侦听目标信道。
可选的，确定随机延时时长，包括：
基于侦听次数确定随机延时时长，侦听次数用于指示发送数据帧前侦听目标信道的次数；
唤醒并再次侦听目标信道之后，方法包括：
更新侦听次数。
可选的，基于侦听次数确定随机延时时长，包括：
基于侦听次数确定延时时长范围，其中，延时时长范围与侦听次数呈正相关关系；
从延时时长范围内确定随机延时时长。
可选的，目标信道的侦听方式包括能量检测和载波检测中的至少一种。
可选的，数据帧中包含标签标识，终端设备中存储有UWB标签与IoT设备之间的映射关系，终端设备用于根据标签标识从映射关系中获取设备标识，并基于设备标识对IoT设备进行控制。
可选的，数据帧中包含IoT设备的设备标识，终端设备用于基于设备标识对IoT设备进行控制。
可选的，方法还包括：
绑定状态下，在目标信道上接收终端设备发送的第一绑定信息，第一绑定信息中包含UWB标签的标签标识，以及与UWB标签绑定的IoT设备的设备标识；
对设备标识进行存储，并进入工作状态。
可选的，数据帧中包含IoT设备的设备标识以及位置信息，终端设备用于基于设备标识和位置信息对IoT设备进行控制，位置信息用于指示UWB标签所处的位置，或，用于指示IoT设备所处的位置。
可选的，方法还包括：
绑定状态下，在目标信道上接收终端设备发送的第二绑定信息，第二绑定信息中包含UWB标签的标签标识、与UWB标签绑定的IoT设备的设备标识，以及位置信息；
对设备标识和位置信息进行存储，并进入工作状态。
本申请实施例提供的应用于终端设备的IoT设备的控制方法包括：
在目标信道上接收各个UWB标签发送的数据帧，数据帧是UWB标签在目标信道空闲时发送的；
基于数据帧，从各个UWB标签所表征的IoT设备中确定出目标IoT设备；
对目标IoT设备进行控制。
可选的，基于数据帧，从各个UWB标签所表征的IoT设备中确定出目标IoT设备，包括：
基于数据帧，确定终端设备与各个UWB标签之间的空间位置关系，空间位置关系包括水平方向角度和竖直方向角度；
基于空间位置关系，将终端设备指向的UWB标签确定为目标UWB标签；
将目标UWB标签所表征的IoT设备确定为目标IoT设备。
可选的，在目标信道上接收各个UWB标签发送的数据帧，包括：
通过第一天线组和第二天线组在目标信道上交替接收各个UWB标签发送的数据帧，第一天线组和第二天线组对应不同方向；
基于数据帧，确定终端设备与各个UWB标签之间的空间位置关系，包括：
基于第一天线组接收到的数据帧，确定终端设备与各个UWB标签之间的水平方向角度；
基于第二天线组接收到的数据帧，确定终端设备与各个UWB标签之间的竖直方向角度。
可选的，基于空间位置关系，将终端设备指向的UWB标签确定为目标UWB标签，包括：
将与终端设备之间的水平方向角度位于水平角度范围，且与终端设备之间的竖直方向角度位于竖直角度范围的UWB标签确定为目标UWB标签。
可选的，将目标UWB标签所表征的IoT设备确定为目标IoT设备，包括：
从目标UWB标签发送的数据帧中获取标签标识；
基于标签标识，从UWB标签与IoT设备之间的映射关系中确定目标IoT设备。
可选的，方法还包括：
响应于绑定操作，获取待绑定UWB标签的标签标识；
响应于对IoT设备的选择操作，建立标签标识与IoT设备对应设备标识之间的映射关系。
可选的，方法还包括：
响应于解绑操作，删除UWB标签所指示的映射关系。
可选的，将目标UWB标签所表征的IoT设备确定为目标IoT设备，包括：
从目标UWB标签发送的数据帧中获取设备标识；
将设备标识对应的IoT设备确定为目标IoT设备。
可选的，方法还包括：
响应于绑定操作，在目标信道上向处于绑定状态的UWB标签发送第一绑定信息，第一绑定信息中包含UWB标签的标签标识，以及与UWB标签绑定的IoT设备的设备标识，以使UWB标签对设备标识进行存储；
或，
响应于绑定操作，在目标信道上向处于绑定状态的UWB标签发送第二绑定信息，第二绑定信息中包含UWB标签的标签标识、与UWB标签绑定的IoT设备的设备标识，以及位置信息，以使UWB标签对设备标识和位置信息进行存储，位置信息用于指示UWB标签所处的位置，或，用于指示IoT设备所处的位置。
请参考图2，其示出了本申请一个示例性实施例提供的IoT设备的控制方法的流程图，本申请实施例以该方法应用于图1所示的UWB标签为例进行说明，该方法包括：
步骤201，工作状态下，侦听目标信道。
本申请实施例中，工作状态指为UWB标签与所表征的IoT设备绑定后，UWB标签所处的状态。并且，工作状态下，UWB标签可以粘贴在所表征的IoT设备上，或者，UWB标签可以放置在所表征的IoT设备附近，或者，UWB标签可以放置在远离所表征IoT设备的位置处，本申请实施例对工作状态下UWB标签的设置位置并不进行限定。
本申请实施例中，UWB标签在目标信道上发送数据帧之前，首先需要对目标信道进行侦听，以此确定目标信道的信道状态。当目标信道的信道状态为空闲状态时(即未被占用)，UWB标签执行下述步骤202；当目标信道的信道状态为占用状态时(即被占用)，UWB标签执行下述步骤203。
可选的，UWB标签在一个backoff时间段(比如320us)内侦听目标信道，或者，在一个时间点侦听目标信道。
在一种可能的实施方式中，UWB标签开启接收器(RX)对目标信道进行侦听。需要说明的是，信道侦听仅是对信道状态的一种监测评估，UWB标签并不需要对目标信道上其它UWB标签发送的数据帧进行接收和解析，即UWB标签在信道侦听过程中能够保持极低的功耗。
在一些实施例中，UWB标签对目标信道进行侦听时采用的侦听方式包括能量检测和载波检测中的至少一种。可选的，若采用能量检测方式侦听目标信道，当目标信道的能量大于能量阈值时，确定目标信道处于占用状态，当目标信道的能量小于能量阈值时，确定目标信道处于空闲状态。
若采用载波检测方式侦听目标信道，当目标信道上存在预设频率的载波信号时，确定目标信道处于占用状态，当目标信道上不存在预设频率的载波信号时，确定目标信道处于空闲状态。
示意性的，UWB标签可以采用空闲信道评估(Clear Channel Assessment，CCA)技术侦听目标信道是否处于空闲状态。
步骤202，响应于目标信道空闲，在目标信道上发送数据帧，以使终端设备根据数据帧确定UWB标签所表征IoT设备，并对IoT设备进行控制。
当信道状态指示目标信道空闲，即当前不存在其他UWB标签发送数据帧时，UWB标签在目标信道上发送数据帧。其中，UWB标签采用广播方式在目标信道上发送数据帧。
在一种可能的实施方式中，UWB标签开启发射器(TX)进行数据帧发送。并且，在发送数据帧的过程中，UWB标签可以关闭接收器，以此降低功耗。
本申请实施例中，数据帧中包含能够指示UWB标签所表征IoT设备的信息。相应的，终端设备在目标信道上接收UWB标签发送的数据帧，并进一步根据该数据帧中包含的信息，确定UWB标签所表征的IoT设备，进而实现对IoT设备的控制。
步骤203，响应于目标信道被占用，在随机延时时长后再次侦听目标信道。
当信道状态指示目标信道被占用时，表示当前其他UWB标签正在目标信道上发送数据帧，若UWB标签仍旧在目标信道上发送数据帧，则会造成数据帧冲突。因此，当目标信道被占用时，UWB标签进行随机延时，并在随机延时时长后再次侦听目标信道。
在一种可能的实施方式中，UWB标签基于随机接入(ALOHA)协议进行随机延时。
可选的，在随机延时时长内，UWB标签关闭接收器；在随机延时时长后，UWB标签重新开启接收器，以进行信道侦听。
UWB标签再次侦听目标信道后，若目标信道空闲，则在目标信道上发送数据帧；若目标信道仍旧被占用，则再次随机延时，并在随机延时时长后侦听目标信道，直至目标信道空闲时，在目标信道上发送数据帧。
示意性的，如图3所示，工作状态下，UWB标签首先通过RX侦听目标信道，当目标信道被占用时，UWB标签进行随机延时。当达到随机延时时长时，UWB标签再次通过RX侦听目标信道，当目标信道空闲时，UWB标签即通过TX在目标信道上发送数据帧。
本申请实施例中，UWB标签在工作之前无需预先进行同步，也无需知悉环境中UWB标签的存在情况，即无需预先规定每一个UWB标签发送数据帧的时隙(slot)，相应的，工作状态下，UWB标签无需在目标信道上接收其他UWB标签发送的数据帧，以在属于自己的时隙中发送数据帧。通过引入信道侦听以及随机延时机制，UWB标签在工作状态下只发不收，一方面有助于降低UWB标签的功耗，延长UWB标签的使用时长(对于无法替换电源的UWB标签来说尤为重要)；另一方面，UWB标签能够实现动态异步接入，在多IoT设备场景下，能够做到UWB标签随时接入随时使用，简化了IoT设备的控制流程。
此外，在采用同步方案时，由于时钟无法做到理想同步，因此需要设置较大的余量，比如UWB标签发送数据帧的时长为200us，但是为各个UWB标签分配的时隙为1ms，避免不同UWB标签之间同步误差造成的数据帧冲突，然而这种方案下，信道占用率将受到影响(上述示例中信道占用率最高只有20％)，进而导致对信道容量的需求较高。而采用上述信道侦听以及随机延时机制，由于无需进行同步，因此无需为UWB标签的数据帧发送设置余量，在提高信道占用率的同时，降低对信道容量的需求。
综上所述，本申请实施例中，处于工作状态的UWB标签通过侦听目标信道确定目标信道的信道状态，在目标信道空闲时，在目标信道上发送数据帧，以便终端设备基于数据帧对UWB标签所表征的IoT设备进行控制，在目标信道被占用时，随机延时后再次进行目标信道侦听，避免不同UWB标签同时在目标信道上发送数据帧造成数据帧冲突，有助于提高IoT设备控制的准确性；并且，通过引入信道侦听以及随机延时机制，UWB标签在工作状态下仅发送数据帧，而无需接收其它UWB标签发送的数据帧，即无需感知其它UWB标签的存在情况，有助于提高UWB标签接入的灵活性，并降低了UWB标签的功耗。
请参考图4，其示出了本申请另一个示例性实施例提供的IoT设备的控制方法的流程图，本申请实施例以该方法应用于图1所示的UWB标签为例进行说明，该方法包括：
步骤401，工作状态下，侦听目标信道。
步骤402，响应于目标信道空闲，在目标信道上发送数据帧。
上述步骤401至402的实施方式可以参考步骤201至202，本实施例在此不再赘述。
步骤403，在数据帧发送完毕后进入休眠状态。
本申请实施例中，为了降低UWB标签在工作状态下的功耗，UWB标签在完成数据帧发送后进入休眠状态。休眠状态下，UWB标签的收发器均关闭，即UWB标签在休眠状态下并不需要继续侦听目标信道。
示意性的，如图5所示，当环境中设置有四个UWB标签时，各个UWB标签完成数据帧发送后，均立即进入休眠状态。
步骤404，响应于处于休眠状态的持续时长达到休眠时长，唤醒并侦听目标信道。
在一种可能的实施方式中，数据帧发送完成后休眠状态的持续时长(即休眠时长)预先设置在UWB标签中，且各个UWB标签设置的休眠时长相同。当达到该休眠时长时，UWB标签唤醒并进入工作状态(即解除休眠状态)，以便进行下一周期的数据帧发送。其中，该休眠时长可以为0.5s或者1s，本申请实施例并不对此进行限定。
唤醒后，UWB标签仍旧需要对目标信道进行侦听，并在目标信道空闲时进行数据帧发送，避免与其他UWB标签(比如异步接入的新UWB标签)发生冲突。
示意性的，如图5所示，各个UWB标签在达到休眠时长后重新唤醒，并进行下一周期的数据帧发送(图中仅对数据帧发送过程进行展示，未对信道侦听过程进行展示)。
需要说明的是，在UWB标签初始工作阶段，UWB标签侦听到目标信道被占用的情况较多；而在信道侦听和随机延时机制的作用下，若环境中UWB标签保持不变，随着工作时间的增加，各个UWB标签的数据帧发送频率将趋于稳定，即UWB标签侦听到目标信道被占用的情况减少直至消失，各个UWB标签在目标信道上有序发送数据帧，互不冲突。如图5所示，在工作一段时间后，四个UWB标签有序发送数据帧。
步骤405，响应于目标信道被占用，确定随机延时时长，并进入休眠状态。
为了进一步降低UWB标签在工作状态下的功耗，在一种可能的实施方式中，当目标信道被占用时，UWB标签在随机延时时长内进入休眠状态，即UWB标签的收发器均关闭，在随机延时时长内不需要继续侦听目标信道，达到降低功耗的效果。
可见，采用本申请实施例提供的方案，由于UWB标签仅在进行信道侦听以及数据帧发送时处于工作状态，而信道侦听以及数据帧发送的时长极短，因此UWB标签在工作状态下的大部分时间内均处于休眠状态，达到极低的运行功耗。
关于随机延时时长的确定方式，在一种可能的实施方式中，UWB标签基于侦听次数确定随机延时时长，该侦听次数用于指示发送数据帧前侦听目标信道的次数。并且，每次侦听目标信道后，UWB标签都会更新侦听次数(比如进行加一)；若侦听到目标信道空闲，并成功发送数据帧，UWB标签则对侦听次数进行重置，若侦听到目标信道被占用，则基于更新后的侦听次数确定下一次随机延时时长。
为了减少UWB标签重复进行信道侦听的次数，在一种可能的实施方式中，UWB标签基于侦听次数确定随机延时时长时，首先基于侦听次数确定延时时长范围，然后从延时时长范围中确定随机延时时长。其中，该延时时长范围与侦听次数呈正相关关系，即侦听次数越多(表明环境中UWB标签的数量较多，目标信道的占用率较高)，延时时长范围越大，相应的，确定出的随机延时时长的随机性越高。
可选的，为了避免随机延时时长过大，当延时时长范围存在上限，即延时时长范围不会随侦听次数增加而无限扩大。
在一些实施例中，延时时长范围以一个backoff时间段(320us)为单位时长，延时时长范围即为单位时长的倍数，该倍数与侦听次数呈正相关关系。比如，当侦听次数为1时，延时时长范围为(23-1)个backoff时间段，随机延时时长的选取范围即为0.32ms至2.24ms；当侦听次数为2时，延时时长范围为(24-1)个backoff时间段，随机延时时长的选取范围即为0.32ms至4.8ms；当侦听次数为3时，延时时长范围为(25-1)个backoff时间段，随机延时时长的选取范围即为0.32ms至9.92ms。
步骤406，响应于处于休眠状态的持续时长达到随机延时时长，唤醒并再次侦听目标信道。
当休眠状态的持续时长达到随机延时时长时，UWB标签即从休眠状态切换回工作状态，并再次侦听目标信道。若目标信道空闲，则在目标信道上发送数据帧；若目标信道仍旧被占用，则再次随机延时，并在随机延时时长后侦听目标信道，直至目标信道空闲时，在目标信道上发送数据帧。
本实施例中，UWB标签在完成数据帧发送后进入休眠状态，且在随机延时时长内进入休眠状态，进一步减少了UWB标签的工作状态下的唤醒时长，在保证数据帧正常发送的同时，进一步降低了UWB标签的功耗，延长了UWB标签的使用时长。
此外，本实施例中，UWB标签基于侦听次数动态确定延时时长范围，进而从延时时长范围内随机确定随机延时时长，在环境中存在大量UWB标签的情况下，通过动态调整随机延时时长的随机选取范围，能够减少UWB标签重复侦听目标信道的次数，提高UWB标签的异步接入效率。
请参考图6，其示出了本申请另一个示例性实施例提供的IoT设备的控制方法的流程图，本申请实施例以该方法应用于图1所示的终端设备为例进行说明，该方法包括：
步骤601，在目标信道上接收各个UWB标签发送的数据帧，数据帧是UWB标签在目标信道空闲时发送的。
在一种可能的实施方式中，当需要使用终端设备控制IoT设备时，开启终端设备的UWB功能，终端设备即可在目标信道上接收各个UWB标签发送的数据帧。其中，UWB标签发送数据帧的过程可以参考上述UWB标签侧的实施例，本实施例在此不再赘述。
由于各个UWB标签均在目标信道空闲时发送数据帧，因此不同UWB标签发送的数据帧之间不会发生冲突，保证了终端设备接收到的数据帧的准确性，有助于提高后续IoT设备控制的准确性。
步骤602，基于数据帧，从各个UWB标签所表征的IoT设备中确定出目标IoT设备。
终端设备接收到数据帧后，基于数据帧中包含的信息，确定各个UWB标签所表征的IoT设备，并进一步从识别出的各个IoT设备中确定待控制的目标IoT设备。
可选的，目标IoT设备是与终端设备之间满足空间位置关系条件的IoT设备。比如，该目标IoT设备是终端设备当前正对的IoT设备。
步骤603，对目标IoT设备进行控制。
在一种可能的实施方式中，确定出目标IoT设备后，终端设备进一步确定与该目标IoT设备的连接方式，从而通过该连接方式与目标IoT设备建立数据通信连接，进而通过该数据通信连接对目标IoT设备进行控制。其中，该连接方式包括WiFi连接、蓝牙连接、红外连接等等，本实施例对此不作限定。
可选的，若目标IoT设备与终端设备的连接方式为WiFi连接，在该应用场景中，目标IoT设备与终端设备连接有相同的WiFi，即目标IoT设备与终端设备均通过同一路由设备接入网络，则终端设备可以根据目标IoT设备的设备标识，通过该路由设备与目标IoT设备建立WiFi数据通信连接。
在一个示例性的例子中，终端设备可以向路由设备发送连接建立指令。其中，连接建立指令中包含目标IoT设备对应的设备标识，对应的，路由设备在接收到连接建立指令后，根据连接建立指令中携带的目标IoT设备的设备标识，向目标IoT设备发送连接建立指令，目标IoT设备接收到该连接建立指令，与终端设备建立WiFi数据通信连接。
可选的，若目标IoT设备与终端设备的连接方式为蓝牙连接，则终端设备可以根据目标IoT设备的设备标识，通过蓝牙组件与目标IoT设备建立蓝牙数据通信连接。
针对具体建立蓝牙数据通信连接的方式，在一种可能的实施方式中，终端设备和目标IoT设备均开启蓝牙功能。其中，终端设备可以接收到其他IoT设备广播的蓝牙信号，该蓝牙信号中可以携带有各个IoT设备对应的设备标识，终端设备可以根据目标IoT设备对应的设备标识，从接收到的多个蓝牙信号中确定出目标蓝牙信号。其中，目标蓝牙信号是由目标IoT设备广播的，并与目标IoT设备建立蓝牙数据通信连接。
可选的，终端设备也可以直接广播包含蓝牙连接指令，该蓝牙连接指令中包含目标IoT设备对应的设备标识。当目标IoT设备接收到该蓝牙连接指令后，确定出设备标识与自身设备标识一致，与终端设备建立蓝牙数据通信连接。
需要说明的是，若终端设备与目标IoT设备之前建立过数据通信连接，终端设备则保存目标IoT设备对应的连接方式，则后续可以继续使用该连接方式与目标IoT设备建立数据通信连接；若终端设备与目标IoT设备之前未建立过数据通信连接，终端设备则首先需要与目标IoT设备建立连接，并在成功建立数据通信连接后，保存目标IoT设备对应的连接方式。
采用本申请实施例提供的方法，通过设置可以表征IoT设备的UWB标签，终端设备可以通过与UWB标签进行UWB通信，实现与该UWB标签所表征的IoT设备建立数据通信连接，并对IoT设备进行控制。整个控制过程中，用户无需手动建立终端设备与IoT设备之间的连接，提高了IoT设备控制的便捷性以及自动化程度。
此外，在控制IoT设备过程中，终端设备只需要在目标信道上接收数据帧，而无需向UWB标签发送数据(只收不发，与UWB标签的只发不收相对应)，有助于降低终端设备控制IoT设备时的功耗。
用户需要通过终端设备控制某个IoT设备时，一般都会将终端设备指向该IoT设备，因此，基于用户的这一行为习惯，终端设备可以基于接收到的数据帧，确定与各个IoT设备(UWB标签设置在IoT设备上)之间的空间位置关系，进而将终端设备指向的IoT设备确定为目标IoT设备，并进行控制。下面采用示例性的实施例进行说明。
请参考图7，其示出了本申请另一个示例性实施例提供的IoT设备的控制方法的流程图，本申请实施例以该方法应用于图1所示的终端设备为例进行说明，该方法包括：
步骤701，通过第一天线组和第二天线组在目标信道上交替接收各个UWB标签发送的数据帧，第一天线组和第二天线组对应不同方向。
本申请实施例中，终端设备基于UWB技术中的空间定位原理，确定与各个UWB标签之间的空间位置关系。在一种可能的实施方式中，终端设备根据数据帧到达天线的相位差来确定与UWB标签之间的空间位置关系。
为了确定出终端设备与UWB标签之间的水平方向以及竖直方向上的位置关系，本申请实施例中的终端设备设置有两组天线，分别为第一天线组和第二天线组，且第一天线组和第二天线组对应不同天线方向。
每个天线组包含两根天线，用于分别测量水平方向角度和竖直方向角度。比如，第一天线组和第二天线组之间具备预设夹角，预设夹角可以是60度。
在一个示例性的例子中，第一天线组可以是水平天线组，第二天线组可以是竖直天线组。其中，水平天线组包括第一天线和第二天线，第一天线和第二天线为水平方向设置的天线，竖直天线组包括第一天线和第三天线，第一天线和第三天线为竖直方向设置的天线，其中，第一天线为公用天线，其既可以用于参与测量水平方向位置关系，也可以参与用于测量竖直方向位置关系。
可选的，以水平天线组和竖直天线组为例，UWB组件也可以包括四根天线，即第一天线、第二天线、 第三天线和第四天线。其中，第一天线和第二天线为水平天线组，第三天线和第四天线为竖直方向组，本申请实施例对此不构成限定。
在一种可能的实施方式中，为了减少终端设备的计算量，第一天线组和第二天线组的天线方向可以与终端的水平方向和竖直方向对应，即水平天线组中天线沿终端设备的水平方向设置，竖直天线组中天线沿终端设备的竖直方向设置。
在一个示例性的例子中，如图8所示，其示出了本申请一个示例性实施例提供的终端设备中UWB组件天线结构的示意图。其中，第一天线组包括第一天线801和第二天线802，第二天线组包括第一天线801和第三天线803。
为了确定UWB标签与终端设备之间的空间位置关系，终端设备通过第一天线组和第二天线组在目标信道上交替接收各个UWB标签发送的数据帧，即通过不同天线组接收同一UWB标签发送的数据帧。
在一种可能的实施方式中，终端设备首先通过第一天线组在目标信道上接收数据帧，当第一天线组的数据帧接收时长达到预设时长，则切换第二天线组在目标信道上接收数据帧。
示意性的，如图9所示，终端设备首先通过第一天线组，接收UWB标签1-4在目标信道上发送的数据帧，然后切换通过第二天线组，接收UWB标签1-4在目标信道上发送的数据帧。
步骤702，基于数据帧，确定终端设备与各个UWB标签之间的空间位置关系，空间位置关系包括水平方向角度和竖直方向角度。
可选的，在基于数据帧进行空间定位时，可以采用如下技术。信号到达角度(Angle of Arrival，AOA)测量：根据数据帧的到达角度确定物体的空间位置；信号到达相位差(Phase Difference of Arrival，PDoA)测量，根据数据帧的到达相位差确定物体的空间位置。本申请实施例对确定空间位置关系所采用的具体方式并不构成限定。
在一种可能的实施方式中，确定UWB标签与终端设备之间空间位置关系时可以包括如下步骤：
1、基于第一天线组接收到的数据帧，确定终端设备与各个UWB标签之间的水平方向角度。
本实施例中，以第一天线组为测量水平方向角度的水平天线组为例进行说明。
由于水平天线组包括两根天线，且两根天线之间存在一定的距离，因此利用水平天线组进行数据帧接收时，可以根据同一数据帧到达两根天线之间的到达相位差，确定UWB标签与终端设备在水平方向上的水平方向角度。
在一个示例性的例子中，如图10所述，UWB标签1001相对于水平天线组1002的水平方向角度为α，根据几何关系可以得知该水平方向角度与角度θ相等。水平天线组1002包括第一天线和第二天线，第一天线和第二天线之间相距，UWB标签1001发送的数据帧到达水平天线组1002中第一天线和第二天线时存在到达相位差，可以根据该到达相位差计算水平方向角度θ。
如图10所示，基于PDoA原理确定水平方位角度可以表示为：
Figure PCTCN2021130923-appb-000001
其中，θ表示角度(本实施例里可以表示终端设备与UWB标签的水平方位角度)，λ表示波长，Δφ表示到达相位差，d表示第一天线和第二天线之间的水平距离。
2、基于第二天线组接收到的数据帧，确定终端设备与各个UWB标签之间的竖直方向角度。
本实施例中，以第二天线组为测量竖直方向角度的竖直天线组为例进行说明。
与水平方向角度测量过程类似的，由于竖直天线组包括两根天线，且两根天线之间存在一定的距离，因此利用竖直天线组进行数据帧接收时，可以根据同一数据帧到达两根天线之间的到达相位差，确定UWB标签与终端设备在竖直方向上的竖直方向角度。
在一个示例性的例子中，如图11所示，该应用场景中包含终端设备1001和UWB标签1002，终端设备1001中设置有UWB组件。UWB标签1002通过目标信道发送数据帧，终端设备1001通过UWB组件接收UWB标签1002广播的数据帧。终端设备1001根据该数据帧，确定终端设备1001与UWB标签1002之间的水平方向角度θ，以及竖直方向角度φ，则确定UWB标签1002位于终端设备1001水平方向角度+θ，竖直方向角度+φ的位置。
由于应用场景中可能包含多个UWB标签，且测量终端设备与单个UWB标签之间的空间位置关系需要切换接收数据帧的天线组件，为了避免在切换天线组时，终端设备并未全部接收该应用场景中全部UWB标签广播的数据帧，导致无法在一次天线组切换过程中实现对应用场景中所有UWB标签空间位置关系的测量，从而降低后续在比较和判断终端设备指向或正对的目标UWB标签的准确性。在一种可能的实施方式中，通过在UWB标签广播的数据帧中***UWB标签的标签标识，使得终端可以通过在切换天线前，记录接收到的数据帧中包含的标签标识。由此，可以基于该标签标识来判断是否接收到该应用场景中可能包括的各个UWB标签广播的数据帧，提高天线组切换时机的准确性。
可选的，确定第一天线组和第二天线组之间进行天线组切换的时机的过程可以为：通过第一天线组接收至少一个UWB标签广播的数据帧，并从数据帧中获取到UWB标签对应的标签标识，进而基于该标签标识构建标签集合，当标签集合中包含的标签标识停止变化时，确定该应用场景中UWB标签广播的数据帧接收完成，可以切换至第二天线组继续接收UWB标签广播的数据帧。
步骤703，基于空间位置关系，将终端设备指向的UWB标签确定为目标UWB标签。
确定终端设备是否指向UWB标签时，可以通过判断终端设备与UWB标签之间的空间位置关系是否偏离来确定，即确定终端设备与UWB标签之间的水平方向角度是否偏离预设水平角度范围，且终端设备与UWB标签之间的竖直方向角度是否偏离预设竖直角度范围来确定。
在一种可能的实施方式中，终端设备将与终端设备之间的水平方向角度位于水平角度范围，且与终端设备之间的竖直方向角度位于竖直角度范围的UWB标签确定为目标UWB标签。
其中，水平角度范围可以是-10度～10度，竖直角度范围可以是0度～30度，本申请实施例在此不做限制。
在一个示例性的例子中，终端设备确定与各个UWB标签的空间位置关系如下：UWB标签A(水平方向角度-30度、竖直方向角度10度)；UWB标签B(水平方向角度-2度、竖直方向角度10度)；UWB标签C(水平方向角度35度、竖直方向角度5度)；UWB标签D(水平方向角度60、竖直方向角度20度)。若水平角度范围为-10度～10度，竖直角度范围为0度～30度，由于UWB标签B与终端设备的空间位置关系位于该角度范围内，因此终端设备将UWB标签B确定为目标UWB标签。
步骤704，将目标UWB标签所表征的IoT设备确定为目标IoT设备。
在一种可能的实施方式，终端设备通过解析目标UWB标签发送的数据帧，将目标UWB标签所表征的IoT设备确定为目标IoT设备，以便后续实现对目标IoT设备的准确控制。
其中，UWB标签发送的数据帧中所包含的信息可以为：IoT设备的设备标识和位置信息、IoT设备的设备标识或UWB标签自身的标签标识等，对应的，终端基于UWB标签发送的数据帧，确定目标IoT设备的过程可以为：在UWB标签发可以用于根据设备标识和位置信息确定UWB标签所表征的目标IoT设备；在UWB标签发送的数据帧中包含IoT设备的设备标识的情况下，终端设备可以根据设备标识确定UWB标签所表征的目标IoT设备；在UWB标签发送的数据帧中包含标签标识的情况下，终端设备中预先存储有各个UWB标签与IoT设备和其表征的IoT设备之间的映射关系，使得终端设备可以根据标签标识从映射关系中获取设备标识，并根据设备标识确定目标IoT设备。
步骤705，对目标IoT设备进行控制。
为了避免用户误操作，导致终端设备与目标IoT设备建立无效数据通信连接，占用目标IoT设备的设备资源，在一种可能的实施方式中，设置有连接条件，也就是说，终端设备需要在满足该连接条件的情况下，允许与目标IoT设备建立数据通信连接，并对目标IoT设备进行控制。
其中，由于不同IoT设备的功能不同，针对不同IoT设备设置有不同的连接条件，使得用户针对不同IoT设备可以采用不同操作，进一步提高建立数据通信连接的准确性。比如，若IoT设备A对应的连接条件为触控条件，IoT设备B对应的连接条件为手势条件，当终端设备确定出目标IoT设备为IoT设备A，但是接收到用户的手势操作，显然，手势操作与IoT设备A对应的触控条件不匹配，可能是目标IoT设备的确定不准确，与用户期望不对应，此时，可以停止继续与IoT设备A建立数据通信连接，避免建立错误的数据通信连接。
在一种可能的实施方式中，当终端设备确定出目标IoT设备后，继续判断终端设备是否满足该目标IoT设备对应的连接条件，若满足目标IoT设备对应的连接条件，与目标IoT设备建立数据通信连接，并对目标IoT设备进行控制；若不满足目标IoT设备对应的连接条件，则停止与目标IoT设备建立数据通信连接。
其中，连接条件包括指向时长条件、手势条件、触控条件、传感器条件和语音控制条件中的至少一种。
针对将指向时长条件确定为连接条件的场景：终端设备确定指向目标UWB标签的时长超过时长阈值，确定用户想要终端设备与目标UWB标签所表征的目标IoT设备建立数据通信连接。其中，时长阈值可以是5s，该时长阈值由开发人员预先设置，为默认值，或由用户自行设置。当终端设备确定在5s内均确定指向目标UWB标签(或终端设备确定在5s内，终端设备与该目标UWB标签均处于正向关系)，则确定终端设备满足目标IoT设备对应的连接条件，与目标IoT设备建立数据通信连接，并对目标IoT设备进行控制；反之，停止后续与目标IoT设备建立数据通信连接的步骤。
可选的，指向时长条件可以由用户自行设置，可以针对不同IoT设备设置不同的指向时长条件。比如，IoT设备A对应的指向时长条件为3s，IoT设备B对应的指向时长条件为5s，本申请实施例对此不构成限定。
针对将手势条件确定为连接条件的场景：当终端设备检测到用户进行目标IoT设备对应的预设手势，表示用户需要终端设备与目标IoT设备建立数据通信连接，预设手势可以是“比划OK的手势”，或“滑动终端屏幕”等；反之，若终端并未检测到预设手势，或者检测到的手势操作与预设手势不同，则终端设备 停止后续与目标IoT设备建立数据通信连接。
可选的，用户可以为不同IoT设备设置不同的预设手势。比如，IoT设备A对应的手势条件为：检测到用户比划“OK”的手势；IoT设备B对应的手势条件为：检测到用户在终端设备屏幕上绘制预设图案等。
针对将触控条件确定为连接条件的场景：当终端设备检测到用户触摸终端预设位置，比如，指纹识别区域，且检测到该指纹为控制终端设备与目标IoT设备建立数据通信连接的指纹；或终端检测到用户轻触终端设备的屏幕时，与目标IoT设备建立数据通信连接；反之，若终端并未检测到预设触控操作，或者检测到的触控操作与预设触控操作不同，则终端设备停止后续与目标IoT设备建立数据通信连接。
可选的，用户也可以为不同IoT设备设置不同的触控条件，以区分终端设备与不同IoT设备之间建立数据通信连接，提高终端设备与IoT设备建立数据通信连接的准确性。
针对将传感器条件作为连接条件的场景：可以是终端设备检测到用户握持终端进行预设操作时，与目标IoT设备建立数据通信连接。比如，终端设备检测到用户手握持终端设备进行“摇一摇”操作，与目标IoT设备建立数据通信连接。
可选的，用户也可以为不同IoT设备设置不同传感器条件。
针对将语音控制条件作为连接条件的场景：终端设备在确定出目标IoT设备时，可以开启语音检测功能，当检测到与目标IoT设备相关的语音指令时，与目标IoT设备建立数据通信连接。比如，智能电视对应的语音控制条件中指示预设语音指令为“投屏”，当终端设备确定出目标IoT设备为智能电视，且接收到投屏指令，终端设备与智能电视预先建立数据通信连接。
可选的，用户可以为不通过IoT设备设置不同语音控制条件。本实施例中，终端设备通过交替使用第一天线组和第二天线组在目标信道上接收数据帧，从而根据不同天线组的数据帧接收情况，确定出UWB标签与终端设备之间的水平方向角度和竖直方向角度，从而基于水平竖直方向角度确定出终端设备指向的UWB标签，进行对所指向UWB标签所表征的IoT设备进行控制，提高了IoT设备控制的便捷性和准确性。
关于数据帧中包含的内容，在一种可能的实施方式中，数据帧中包含标签标识，且终端设备中存储有UWB标签与IoT设备之间的映射关系。相应的，终端设备在确定目标UWB标签所表征的目标IoT设备时，即从目标UWB标签发送的数据帧中获取标签标识，并基于该标签标识，从UWB标签与IoT设备之间的映射关系中确定目标IoT设备。
关于终端设备中UWB标签与IoT设备之间映射关系的建立方式，在一种可能的实施方式中，响应于绑定操作，终端设备获取待绑定UWB标签的标签标识；响应于对IoT设备的选择操作，建立标签标识与IoT设备对应设备标识之间的映射关系。
可选的，UWB标签在通电状态下即进行数据帧发送，该数据帧中包含唯一标识UWB标签的标签标识，当接收到(标签)绑定操作时，终端设备即在目标信道上接收待绑定的UWB标签发送的数据帧，并获取数据帧中包含的标签标识；当接收到用户对待绑定的IoT设备的选择操作时，终端设备即建立两者的映射关系。
示意性的，UWB标签与IoT设备之间的映射关系如表一所示。
表一
标签标识 设备标识
UWB标签1 IoT设备B(智能音箱)
UWB标签2 IoT设备A(智能电视)
UWB标签4 IoT设备D(智能门锁)
完成绑定后，UWB标签仍旧在目标信道上发送数据帧。当接收到已绑定的UWB标签发送的数据帧时，终端设备即可从数据帧中获取到UWB标签的标签标识，进而基于映射关系确定UWB标签表征的IoT设备。
可选的，当用户触发UWB标签解码时，响应于解绑操作，终端设备只需要删除UWB标签所指示的映射关系，即可完成UWB标签与IoT设备的解绑，解绑流程简单，且不会对UWB标签的数据帧发送造成影响。
采用上述方式，UWB标签只需要发送包含标签标识的数据帧，终端设备即可基于该数据帧完成标签绑定以及后续的IoT设备控制，UWB标签的功能实现简单且成本较低。
在另一种可能的实施方式中，数据帧中包含IoT设备的设备标识，相应的，终端设备在确定目标UWB标签所表征的目标IoT设备时，可以直接从目标UWB标签发送的数据帧中获取设备标识，进而将该设备标识对应的IoT设备确定为目标IoT设备。与数据帧中包含标签标识的方案相比，由于终端设备无需存储UWB标签和IoT设备之间的映射关系，因此与IoT设备连接过的终端设备均可借助UWB标签实现对IoT设备的控制，无需预先存储上述映射关系。
为了使UWB标签能够发送包含设备标识的数据帧，在一种可能的实施方式中，响应于绑定操作，终端设备在目标信道上向处于绑定状态的UWB标签发送第一绑定信息，该第一绑定信息中包含(待绑定的) UWB标签的标签标识，以及与该UWB标签绑定的IoT设备的设备标识。
可选的，UWB标签包括两种状态，分别为绑定状态和工作状态。绑定状态下，UWB标签在目标信道上发送包含标签标识的标签标识的数据帧，并在目标信道上接收终端设备发送的第一绑定信息。当接收到的第一绑定信息中包含的标签标识与自身标签标识一致时，UWB标签即对该设备标识进行存储，并进入工作状态。工作状态下，UWB标签仅在目标信道上发送包含设备标识的数据帧，而不会接收目标信道上的数据帧。
示意性的，如图12所示，绑定状态下，终端设备1201在目标信道上接收到UWB标签1202发送的包含标签标识的数据帧后，选择与UWB标签1202绑定的智能音箱1203，从而在目标信道上发送包含标签标识以及设备标识的第一绑定信息。绑定状态下的UWB标签1202接收到第一绑定信息后，由于第一绑定信息中包含的标签标识与自身一致，因此UWB标签1202对第一绑定信息中包含的设备标识进行存储，并切换至工作状态，从而在工作状态下发送包含设备标识的数据帧。
在另一种可能的实施方式中，数据帧中除了包含IoT设备的设备标识外，还包含位置信息，该位置信息用于指示UWB标签所处的位置，或，用于指示IoT设备所处的位置。相应的，终端设备在确定目标UWB标签所表征的目标IoT设备时，可以直接从目标UWB标签发送的数据帧中获取设备标识，进而将该设备标识对应的IoT设备确定为目标IoT设备。并且，为了避免将与终端设备距离过远的IoT设备确定为目标IoT设备，终端设备可以进一步根据数据帧中包含的位置信息，确定IoT设备与终端设备之间的距离，从而在两者距离小于距离阈值(比如10m)时，将该IoT设备确定为目标IoT设备。
为了使UWB标签能够发送包含设备标识和位置信息的数据帧，在一种可能的实施方式中，响应于绑定操作，终端设备在目标信道上向处于绑定状态的UWB标签发送第二绑定信息，该第二绑定信息中包含(待绑定的)UWB标签的标签标识，与该UWB标签绑定的IoT设备的设备标识，以及位置信息。
可选的，绑定状态下，UWB标签在目标信道上发送包含标签标识的标签标识的数据帧，并在目标信道上接收终端设备发送的第二绑定信息。当接收到的第二绑定信息中包含的标签标识与自身标签标识一致时，UWB标签即对该设备标识和位置信息进行存储，并进入工作状态。工作状态下，UWB标签仅在目标信道上发送包含设备标识和位置信息的数据帧，而不会接收目标信道上的数据帧。
在一些实施例中，UWB标签上设置有物理按键，当接收到物理按键的触发操作时，UWB标签则切换为绑定状态，并在完成设备标识(和位置信息)存储后，自动切换至工作状态。并且，当UWB标签由工作状态切换为绑定状态时，UWB标签删除存储的设备标识(和位置信息)，并重新发送包含标签标识的数据帧。
在一种可能的应用场景中，对于不同的IoT设备，终端设备控制IoT设备所执行的操作并不相同。
针对目标IoT设备为智能电视的场景，当终端设备确定出目标IoT设备为智能电视，终端设备可以控制目标IoT设备执行投屏操作，也就是说，可以将终端设备的当前显示画面传输至智能电视。
可选的，在终端设备将当前显示画面传输至智能电视之前，可以在终端设备的显示界面中显示操作确认控件，若用户需要进行投屏操作，可以点击该操作确认控件，对应的，终端设备接收到对操作确认控件的点击操作，可以将终端设备的当前显示画面传输至智能电视，以便用户可以通过智能电视继续观看显示内容。
可选的，若目标IoT设备为智能电视，在一种可能的实施方式中，终端设备中还可以显示智能电视对应的控制界面，且控制界面中还包括智能电视对应的功能控件。比如，视频进度调节控件，用户可以点击该视频进度调节控件，终端设备响应于对该视频进度调节控件的触发操作，控制智能电视调节当前视频播放进度。
针对目标IoT设备为智能家居设备的场景，在一种可能的实施方式中，当终端设备确定出目标IoT设备为智能家居设备，可以在终端设备中显示该智能家居设备对应的控制界面，其中，控制界面中包括智能家居设备对应的功能控件；用户可以根据需求点击控制界面的功能控件，终端设备响应于对控制界面中功能控件的触发操作，控制智能家居设备执行对应的设备功能。
其中，智能家居设备可以包括：智能冰箱、智能音箱、智能门锁、智能窗帘、智能灯具、智能空调等，本申请实施例对智能家居设备的种类不构成限定。
比如，目标IoT设备为智能音箱，终端设备中显示的控制界面可以包括：音量调节控件、音乐进度调节控件、播放模式调节控件等；目标IoT设备为智能门锁，终端设备中显示的控制界面可以包括：密码设置控件、开关控件等；若目标IoT设备为智能窗帘，终端设备中显示的控制界面可以包括：窗帘遮光度调节控件、窗帘开关控件等；若目标IoT设备为智能空调，终端设备中显示的控制界面可以包括：温度调节控件、模式调节控件、风速调节控件、开关控件等；若目标IoT设备为智能灯具，终端设备中显示的控制界面可以包括：灯具开关控件、亮度调节控件、色温调节控件等。
下述为本申请装置实施例，可以用于执行本申请方法实施例。对于本申请装置实施例中未披露的细节，请参照本申请方法实施例。
请参考图13，其示出了本申请一个实施例提供的IoT设备的控制装置的结构框图。该装置具有实现上述方法实施例中由UWB标签侧执行的功能，所述功能可以由硬件实现，也可以由硬件执行相应的软件实现。如图13所示，该装置可以包括：
侦听模块1301，用于工作状态下，侦听目标信道；
数据帧发送模块1302，用于响应于所述目标信道空闲，在所述目标信道上发送数据帧，以使终端设备根据所述数据帧确定UWB标签所表征IoT设备，并对所述IoT设备进行控制；
侦听模块1301，还用于响应于所述目标信道被占用，在随机延时时长后再次侦听所述目标信道。
可选的，所述装置：
第一休眠模块，用于在所述数据帧发送完毕后进入休眠状态；
侦听模块1301，还用于响应于处于休眠状态的持续时长达到休眠时长，唤醒并侦听所述目标信道。
可选的，所述装置包括：
第二休眠模块，用于响应于所述目标信道被占用，确定所述随机延时时长，并进入休眠状态；
侦听模块1301，用于响应于处于休眠状态的持续时长达到所述随机延时时长，唤醒并再次侦听所述目标信道。
可选的，所述第二休眠模块，包括：
时长确定单元，用于基于侦听次数确定所述随机延时时长，所述侦听次数用于指示发送所述数据帧前侦听所述目标信道的次数；
所述装置还包括：
更新模块，用于更新所述侦听次数。
可选的，时长确定单元，具体用于：
基于所述侦听次数确定延时时长范围，其中，所述延时时长范围与所述侦听次数呈正相关关系；
从所述延时时长范围内确定所述随机延时时长。
可选的，所述目标信道的侦听方式包括能量检测和载波检测中的至少一种。
可选的，所述数据帧中包含标签标识，所述终端设备中存储有所述UWB标签与所述IoT设备之间的映射关系，所述终端设备用于根据所述标签标识从所述映射关系中获取设备标识，并基于所述设备标识对所述IoT设备进行控制。
可选的，所述数据帧中包含所述IoT设备的设备标识，所述终端设备用于基于所述设备标识对所述IoT设备进行控制；
所述装置还包括：
第一信息接收模块，用于在绑定状态下，在所述目标信道上接收所述终端设备发送的第一绑定信息，所述第一绑定信息中包含所述UWB标签的标签标识，以及与所述UWB标签绑定的所述IoT设备的所述设备标识；
第一存储模块，用于对所述设备标识进行存储，并进入工作状态。
可选的，所述数据帧中包含所述IoT设备的设备标识以及位置信息，所述终端设备用于基于所述设备标识和所述位置信息对所述IoT设备进行控制，所述位置信息用于指示所述UWB标签所处的位置，或，用于指示所述IoT设备所处的位置；
所述装置还包括：
第二信息接收模块，用于在绑定状态下，在所述目标信道上接收所述终端设备发送的第二绑定信息，所述第二绑定信息中包含所述UWB标签的标签标识、与所述UWB标签绑定的所述IoT设备的所述设备标识，以及所述位置信息；
第二存储模块，用于对所述设备标识和所述位置信息进行存储，并进入工作状态。
综上所述，本申请实施例中，处于工作状态的UWB标签通过侦听目标信道确定目标信道的信道状态，在目标信道空闲时，在目标信道上发送数据帧，以便终端设备基于数据帧对UWB标签所表征的IoT设备进行控制，在目标信道被占用时，随机延时后再次进行目标信道侦听，避免不同UWB标签同时在目标信道上发送数据帧造成数据帧冲突，有助于提高IoT设备控制的准确性；并且，通过引入信道侦听以及随机延时机制，UWB标签在工作状态下仅发送数据帧，而无需接收其它UWB标签发送的数据帧，即无需感知其它UWB标签的存在情况，有助于提高UWB标签接入的灵活性，并降低了UWB标签的功耗。
请参考图14，其示出了本申请另一个实施例提供的IoT设备的控制装置的结构框图。该装置具有实现上述方法实施例中由终端设备侧执行的功能，所述功能可以由硬件实现，也可以由硬件执行相应的软件实现。如图14所示，该装置可以包括：
数据帧接收模块1401，用于在目标信道上接收各个UWB标签发送的数据帧，所述数据帧是所述UWB标签在所述目标信道空闲时发送的；
设备确定模块1402，用于基于所述数据帧，从各个所述UWB标签所表征的IoT设备中确定出目标IoT 设备；
控制模块1403，用于对所述目标IoT设备进行控制。
可选的，所述设备确定模块1402，包括：
位置确定单元，用于基于所述数据帧，确定所述终端设备与各个所述UWB标签之间的空间位置关系，所述空间位置关系包括水平方向角度和竖直方向角度；
标签确定单元，用于基于所述空间位置关系，将所述终端设备指向的UWB标签确定为目标UWB标签；
设备确定单元，用于将所述目标UWB标签所表征的IoT设备确定为所述目标IoT设备。
可选的，所述数据帧接收模块1401，用于：
通过第一天线组和第二天线组在所述目标信道上交替接收各个所述UWB标签发送的所述数据帧，所述第一天线组和所述第二天线组对应不同方向；
所述位置确定单元，用于：
基于所述第一天线组接收到的所述数据帧，确定所述终端设备与各个所述UWB标签之间的水平方向角度；
基于所述第二天线组接收到的所述数据帧，确定所述终端设备与各个所述UWB标签之间的竖直方向角度。
可选的，标签确定单元，用于：
将与所述终端设备之间的水平方向角度位于水平角度范围，且与所述终端设备之间的竖直方向角度位于竖直角度范围的UWB标签确定为所述目标UWB标签。
可选的，所述设备确定单元，用于：
从所述目标UWB标签发送的所述数据帧中获取标签标识；
基于所述标签标识，从UWB标签与IoT设备之间的映射关系中确定所述目标IoT设备。
可选的，所述装置还包括第一绑定模块，用于：
响应于绑定操作，获取待绑定UWB标签的标签标识；
响应于对所述IoT设备的选择操作，建立所述标签标识与所述IoT设备对应设备标识之间的映射关系。
可选的，所述装置还包括：
解绑模块，用于响应于解绑操作，删除所述UWB标签所指示的映射关系。
可选的，所述设备确定单元，用于：
从所述目标UWB标签发送的所述数据帧中获取设备标识；
将所述设备标识对应的IoT设备确定为所述目标IoT设备。
可选的，所述装置还包括：
第二绑定模块，用于响应于绑定操作，在所述目标信道上向处于绑定状态的UWB标签发送第一绑定信息，所述第一绑定信息中包含所述UWB标签的标签标识，以及与所述UWB标签绑定的所述IoT设备的设备标识，以使所述UWB标签对所述设备标识进行存储；
或，
第三绑定模块，用于响应于绑定操作，在所述目标信道上向处于绑定状态的UWB标签发送第二绑定信息，所述第二绑定信息中包含所述UWB标签的标签标识、与所述UWB标签绑定的所述IoT设备的设备标识，以及位置信息，以使所述UWB标签对所述设备标识和所述位置信息进行存储，所述位置信息用于指示所述UWB标签所处的位置，或，用于指示所述IoT设备所处的位置。
综上所述，本申请实施例中，通过设置可以表征IoT设备的UWB标签，终端设备可以通过与UWB标签进行UWB通信，实现与该UWB标签所表征的IoT设备建立数据通信连接，并对IoT设备进行控制。整个控制过程中，用户无需手动建立终端设备与IoT设备之间的连接，提高了IoT设备控制的便捷性以及自动化程度。此外，在控制IoT设备过程中，终端设备只需要在目标信道上接收数据帧，而无需向UWB标签发送数据(只收不发，与UWB标签的只发不收相对应)，有助于降低终端设备控制IoT设备时的功耗。
需要说明的是：上述实施例提供的装置在实现其功能时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的装置与方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
请参考图15，其示出了本申请一个示例性实施例提供的终端设备1500的结构方框图。本申请中的终端设备1500可以包括一个或多个如下部件：处理器1510、存储器1520和UWB组件1530，其中，处理器1510分别与存储器1520和UWB组件1530电性相连。
处理器1510可以包括一个或者多个处理核心。处理器1510利用各种接口和线路连接整个终端设备1500内的各个部分，通过运行或执行存储在存储器1520内的指令、程序、代码集或指令集，以及调用存 储在存储器1520内的数据，执行终端设备1500的各种功能和处理数据。可选地，处理器1510可以采用数字信号处理(Digital Signal Processing，DSP)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)、可编程逻辑阵列(Programmable Logic Array，PLA)中的至少一种硬件形式来实现。处理器1510可集成CPU、图像处理器(Graphics Processing Unit，GPU)和调制解调器等中的一种或几种的组合。其中，CPU主要处理操作***、用户界面和应用程序等；GPU用于负责触摸显示屏所需要显示的内容的渲染和绘制；调制解调器用于处理无线通信。可以理解的是，上述调制解调器也可以不集成到处理器1510中，单独通过一块通信芯片进行实现。
存储器1520可以包括随机存储器(Random Access Memory，RAM)，也可以包括只读存储器(Read-Only Memory，ROM)。可选地，该存储器1520包括非瞬时性计算机可读介质(non-transitory computer-readable storage medium)。存储器1520可用于存储指令、程序、代码、代码集或指令集。存储器1520可包括存储程序区和存储数据区，其中，存储程序区可存储用于实现操作***的指令、用于实现至少一个功能的指令(比如触控功能、声音播放功能、图像播放功能等)、用于实现上述各个方法实施例的指令等，该操作***可以是安卓(Android)***(包括基于Android***深度开发的***)、苹果公司开发的IOS***(包括基于IOS***深度开发的***)或其它***。存储数据区还可以存储终端设备1300在使用中所创建的数据(比如电话本、音视频数据、聊天记录数据)等。本申请实施例中，存储器1520中存储有至少一条指令，该至少一条指令用于被处理器1510执行以执行如上述实施例中所示的IoT设备的控制方法。
UWB组件1530用于接收外部UWB组件广播的数据帧，使得终端设备1500可以通过处理器对数据帧进行处理，实现根据该数据帧确定IoT设备空间位置的目的。
在一种可能的设计，UWB组件可以封装为终端设备的内部天线组件，该UWB组件通过内部电路板与终端设备电性相连，终端设备可以通过该UWB组件接收UWB标签广播的数据帧。
在另一种可能的设计中，UWB组件可以封装为终端配件，该终端配件独立于终端设备，当终端设备装备有该终端配件时，终端设备与终端配件之间通过接口电路电性连接，使得终端设备可以具备空间位置感知能力；当终端设备未装备有该终端配件时，终端设备不具备空间位置感知能力。
以终端配件为终端保护壳为例进行示例性说明，该终端配件包括UWB组件和接口电路，UWB组件通过接口电路向终端设备传输数据帧；可选的，终端配件还包括通用串行总线集线器(Universal Serial Bus Hub，USB Hub)，当终端设备佩戴有该终端配件时，终端配件可以通过该USB Hub与终端通信。
可选的，该UWB组件1530中可以包含两个天线组，比如，第一天线组和第二天线组，通过第一天线组和第二天线组在目标信道上交替接收数据帧，以分别确定UWB标签的水平方向角度，以及UWB标签的竖直方向角度。
可选的，第一天线组和第二天线组可以包含不同的天线，也就是说，第一天线组包含第一天线和第二天线，而第二天线组包含第三天线和第四天线；可选的，为了降低成本，第一天线组和第二天线组可以共用部分天线，比如，第一天线组包含第一天线和第二天线，而第二天线组包含第一天线和第三天线，则第一天线组和第二天线组共用第一天线。
可选的，终端设备1500还可以包括触摸显示屏，其可以为电容式触摸显示屏，该电容式触摸显示屏用于接收用户使用手指、触摸笔等任何适合的物体在其上或附近的触摸操作，以及显示各个应用程序的用户界面。触摸显示屏通常设置在终端设备1500的前面板。触摸显示屏可被设计成为全面屏、曲面屏或异型屏。触摸显示屏还可被设计成为全面屏与曲面屏的结合，异型屏与曲面屏的结合，本申请实施例对此不加以限定。
除此之外，本领域技术人员可以理解，上述附图所示出的终端设备1500的结构并不构成对终端设备1500的限定，终端可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。比如，终端设备1500中还包括射频电路、拍摄组件、传感器(不包括温度传感器)、音频电路、无线保真(Wireless Fidelity，WiFi)组件、电源、蓝牙组件等部件，在此不再赘述。
请参考图16，其示出了本申请一个示例性实施例提供的UWB标签的结构方框图。UWB标签1600包括：微处理器1610和UWB收发器1620。
其中，微处理器1610与UWB收发器1620电性相连，且UWB收发器1620用于在微处理器1610的控制下执行上述实施例中UWB标签侧的IoT设备的控制方法。
请参考图17，其示出了本申请一个示例性实施例提供的IoT设备控制***1700的结构方框图。该控制***包括中终端设备1701、UWB标签1702和IoT设备1703。
本申请实施例中，终端设备1701与UWB标签1702建立UWB通信，UWB标签1702用于表征待连接的IoT设备1703，且UWB标签1702独立于IoT设备1703；
UWB标签1702向终端设备1701发送数据帧；
终端设备1701根据UWB标签1702发送的数据帧，确定UWB标签1702所表征IoT设备1703的设备信息，根据设备信息与IoT设备1703建立数据通信连接，并对IoT设备1703进行控制。
本申请实施例还提供了一种计算机可读存储介质，该计算机可读存储介质存储有至少一条程序代码，所述程序代码由处理器加载并执行以实现如上各个实施例所述的IoT设备的控制方法。
根据本申请的一个方面，提供了一种计算机程序产品或计算机程序，该计算机程序产品或计算机程序包括计算机指令，该计算机指令存储在计算机可读存储介质中。终端设备或UWB标签的处理器从计算机可读存储介质读取该计算机指令，处理器执行该计算机指令，使得该终端设备或UWB标签执行上述方面的各种可选实现方式中提供的IoT设备的控制方法。
应当理解的是，在本文中提及的“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。另外，本文中描述的步骤编号，仅示例性示出了步骤间的一种可能的执行先后顺序，在一些其它实施例中，上述步骤也可以不按照编号顺序来执行，如两个不同编号的步骤同时执行，或者两个不同编号的步骤按照与图示相反的顺序执行，本申请实施例对此不作限定。
以上所述仅为本申请的可选实施例，并不用以限制本申请，凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (27)

  1. 一种IoT设备的控制方法，所述方法用于UWB标签，所述方法包括：
    工作状态下，侦听目标信道；
    响应于所述目标信道空闲，在所述目标信道上发送数据帧，以使终端设备根据所述数据帧确定所述UWB标签所表征IoT设备，并对所述IoT设备进行控制；或
    响应于所述目标信道被占用，在随机延时时长后再次侦听所述目标信道。
  2. 根据权利要求1所述的方法，其中，所述响应于所述目标信道空闲，在所述目标信道上发送数据帧之后，所述方法还包括：
    在所述数据帧发送完毕后进入休眠状态；
    响应于处于休眠状态的持续时长达到休眠时长，唤醒并侦听所述目标信道。
  3. 根据权利要求1所述的方法，其中，所述响应于所述目标信道被占用，在随机延时时长后再次侦听所述目标信道，包括：
    响应于所述目标信道被占用，确定所述随机延时时长，并进入休眠状态；
    响应于处于休眠状态的持续时长达到所述随机延时时长，唤醒并再次侦听所述目标信道。
  4. 根据权利要求3所述的方法，其中，所述确定所述随机延时时长，包括：
    基于侦听次数确定所述随机延时时长，所述侦听次数用于指示发送所述数据帧前侦听所述目标信道的次数；
    所述唤醒并再次侦听所述目标信道之后，所述方法包括：
    更新所述侦听次数。
  5. 根据权利要求4所述的方法，其中，所述基于侦听次数确定所述随机延时时长，包括：
    基于所述侦听次数确定延时时长范围，其中，所述延时时长范围与所述侦听次数呈正相关关系；
    从所述延时时长范围内确定所述随机延时时长。
  6. 根据权利要求1至5任一所述的方法，其中，所述目标信道的侦听方式包括能量检测和载波检测中的至少一种。
  7. 根据权利要求1至5任一所述的方法，其中，所述数据帧中包含标签标识，所述终端设备中存储有所述UWB标签与所述IoT设备之间的映射关系，所述终端设备用于根据所述标签标识从所述映射关系中获取设备标识，并基于所述设备标识对所述IoT设备进行控制。
  8. 根据权利要求1至5任一所述的方法，其中，所述数据帧中包含所述IoT设备的设备标识，所述终端设备用于基于所述设备标识对所述IoT设备进行控制。
  9. 根据权利要求8所述的方法，其中，所述方法还包括：
    绑定状态下，在所述目标信道上接收所述终端设备发送的第一绑定信息，所述第一绑定信息中包含所述UWB标签的标签标识，以及与所述UWB标签绑定的所述IoT设备的所述设备标识；
    对所述设备标识进行存储，并进入工作状态。
  10. 根据权利要求1至5任一所述的方法，其中，所述数据帧中包含所述IoT设备的设备标识以及位置信息，所述终端设备用于基于所述设备标识和所述位置信息对所述IoT设备进行控制，所述位置信息用于指示所述UWB标签所处的位置，或，用于指示所述IoT设备所处的位置。
  11. 根据权利要求10所述的方法，其中，所述方法还包括：
    绑定状态下，在所述目标信道上接收所述终端设备发送的第二绑定信息，所述第二绑定信息中包含所述UWB标签的标签标识、与所述UWB标签绑定的所述IoT设备的所述设备标识，以及所述位置信息；
    对所述设备标识和所述位置信息进行存储，并进入工作状态。
  12. 一种IoT设备的控制方法，所述方法用于终端设备，所述方法包括：
    在目标信道上接收各个UWB标签发送的数据帧，所述数据帧是所述UWB标签在所述目标信道空闲时发送的；
    基于所述数据帧，从各个所述UWB标签所表征的IoT设备中确定出目标IoT设备；
    对所述目标IoT设备进行控制。
  13. 根据权利要求12所述的方法，其中，所述基于所述数据帧，从各个所述UWB标签所表征的IoT设备中确定出目标IoT设备，包括：
    基于所述数据帧，确定所述终端设备与各个所述UWB标签之间的空间位置关系，所述空间位置关系包括水平方向角度和竖直方向角度；
    基于所述空间位置关系，将所述终端设备指向的UWB标签确定为目标UWB标签；
    将所述目标UWB标签所表征的IoT设备确定为所述目标IoT设备。
  14. 根据权利要求13所述的方法，其中，所述在目标信道上接收各个UWB标签发送的数据帧，包括：
    通过第一天线组和第二天线组在所述目标信道上交替接收各个所述UWB标签发送的所述数据帧，所述第一天线组和所述第二天线组对应不同方向；
    所述基于所述数据帧，确定所述终端设备与各个所述UWB标签之间的空间位置关系，包括：
    基于所述第一天线组接收到的所述数据帧，确定所述终端设备与各个所述UWB标签之间的水平方向角度；
    基于所述第二天线组接收到的所述数据帧，确定所述终端设备与各个所述UWB标签之间的竖直方向角度。
  15. 根据权利要求13所述的方法，其中，所述基于所述空间位置关系，将所述终端设备指向的UWB标签确定为目标UWB标签，包括：
    将与所述终端设备之间的水平方向角度位于水平角度范围，且与所述终端设备之间的竖直方向角度位于竖直角度范围的UWB标签确定为所述目标UWB标签。
  16. 根据权利要求13所述的方法，其中，所述将所述目标UWB标签所表征的IoT设备确定为所述目标IoT设备，包括：
    从所述目标UWB标签发送的所述数据帧中获取标签标识；
    基于所述标签标识，从UWB标签与IoT设备之间的映射关系中确定所述目标IoT设备。
  17. 根据权利要求16所述的方法，其中，所述方法还包括：
    响应于绑定操作，获取待绑定UWB标签的标签标识；
    响应于对所述IoT设备的选择操作，建立所述标签标识与所述IoT设备对应设备标识之间的映射关系。
  18. 根据权利要求16所述的方法，其中，所述方法还包括：
    响应于解绑操作，删除所述UWB标签所指示的映射关系。
  19. 根据权利要求13所述的方法，其中，所述将所述目标UWB标签所表征的IoT设备确定为所述目标IoT设备，包括：
    从所述目标UWB标签发送的所述数据帧中获取设备标识；
    将所述设备标识对应的IoT设备确定为所述目标IoT设备。
  20. 根据权利要求19所述的方法，其中，所述方法还包括：
    响应于绑定操作，在所述目标信道上向处于绑定状态的UWB标签发送第一绑定信息，所述第一绑定信息中包含所述UWB标签的标签标识，以及与所述UWB标签绑定的所述IoT设备的设备标识，以使所述UWB标签对所述设备标识进行存储；
    或，
    响应于绑定操作，在所述目标信道上向处于绑定状态的UWB标签发送第二绑定信息，所述第二绑定信息中包含所述UWB标签的标签标识、与所述UWB标签绑定的所述IoT设备的设备标识，以及位置信息，以使所述UWB标签对所述设备标识和所述位置信息进行存储，所述位置信息用于指示所述UWB标签所处的位置，或，用于指示所述IoT设备所处的位置。
  21. 一种IoT设备的控制装置，所述装置包括：
    侦听模块，用于工作状态下，侦听目标信道；
    数据帧发送模块，用于响应于所述目标信道空闲，在所述目标信道上发送数据帧，以使终端设备根据所述数据帧确定UWB标签所表征IoT设备，并对所述IoT设备进行控制；
    所述侦听模块，还用于响应于所述目标信道被占用，在随机延时时长后再次侦听所述目标信道。
  22. 一种IoT设备的控制装置，所述装置包括：
    数据帧接收模块，用于在目标信道上接收各个UWB标签发送的数据帧，所述数据帧是所述UWB标签在所述目标信道空闲时发送的；
    设备确定模块，用于基于所述数据帧，从各个所述UWB标签所表征的IoT设备中确定出目标IoT设备；
    控制模块，用于对所述目标IoT设备进行控制。
  23. 一种UWB标签，所述UWB标签包括：微处理器和UWB收发器；
    所述微处理器与所述UWB收发器电性相连；
    所述UWB收发器用于在所述微处理器的控制下执行如下步骤：
    工作状态下，侦听目标信道；
    响应于所述目标信道空闲，在所述目标信道上发送数据帧，以使终端设备根据所述数据帧确定所述UWB标签所表征IoT设备，并对所述IoT设备进行控制；
    响应于所述目标信道被占用，在随机延时时长后再次侦听所述目标信道。
  24. 一种终端设备，所述终端设备包括：处理器、存储器和UWB组件；
    所述处理器分别与所述存储器和所述UWB组件电性相连；
    所述UWB组件用于在目标信道上进行数据收发；
    所述存储器存储有至少一条指令，所述至少一条指令用于被所述处理器执行以执行如下步骤：
    在所述目标信道上接收各个UWB标签发送的数据帧，所述数据帧是所述UWB标签在所述目标信道空闲时发送的；
    基于所述数据帧，从各个所述UWB标签所表征的IoT设备中确定出目标IoT设备；
    对所述目标IoT设备进行控制。
  25. 一种IoT设备控制***，所述***包括：终端设备、UWB标签和IoT设备；
    所述终端设备用于实现如权利要求12至20任一所述的IoT设备的控制方法；
    所述UWB标签用于实现如权利要求1至11任一所述的IoT设备的控制方法。
  26. 一种计算机可读存储介质，所述计算机可读存储介质中存储有至少一条程序代码，所述程序代码由处理器加载并执行以实现如权利要求1至11任一所述的IoT设备的控制方法，或，实现如权利要求12至20任一所述的IoT设备的控制方法。
  27. 一种计算机程序产品或计算机程序，所述计算机程序产品或计算机程序包括计算机指令，所述计算机指令存储在计算机可读存储介质中，处理器从所述计算机可读存储介质读取并执行所述计算机指令，以实现如权利要求1至11任一所述的IoT设备的控制方法，或，实现如权利要求12至20任一所述的IoT设备的控制方法。
PCT/CN2021/130923 2021-01-18 2021-11-16 IoT设备的控制方法、装置、UWB标签及终端设备 WO2022151832A1 (zh)

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