A device control method and apparatus, a sound box device, and a storage medium

Abstract

The application discloses a device control method and device, a sound box device and a storage medium, belongs to the technical field of wireless communication technology, and is used for controlling intelligent devices. The device control method comprises the following steps: receiving UWB signals sent by a plurality of intelligent devices by using a UWB module; determining relative positions of the sound box device and each intelligent device according to the UWB signals, and generating a device distribution map according to the relative positions; if a voice instruction input by a user is collected by the MIC module, determining the position of the user in the device distribution map according to the voice instruction; determining distance information of the user and the intelligent devices according to the device distribution map, and determining a target device according to the distance information; and controlling the target device to perform an operation corresponding to the voice instruction. The application can improve the convenience and accuracy of intelligent device control.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to a device control method, apparatus, speaker device, and storage medium. Background Technology

[0002] Smart devices such as smart speakers, smart refrigerators, and robot vacuum cleaners have greatly improved people's lives. However, in practice, users need to use the corresponding main control device to control each smart device. This control method is rather cumbersome and prone to errors in selecting the correct control object.

[0003] Therefore, improving the convenience and accuracy of controlling smart devices is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a device control method, a device control apparatus, a speaker device, and a storage medium, which can improve the convenience and accuracy of controlling smart devices.

[0005] To address the aforementioned technical problems, this application provides a device control method applied to a speaker device including a UWB module and a MIC module. The device control method includes:

[0006] The UWB module is used to receive UWB signals sent by multiple smart devices;

[0007] The relative position of the speaker device and each of the smart devices is determined based on the UWB signal, and a device distribution map is generated based on the relative position.

[0008] If the MIC module collects a voice command input by the user, it determines the user's location on the device distribution map based on the voice command.

[0009] The distance information between the user and the smart device is determined based on the device distribution map, and the target device is determined based on the distance information;

[0010] Control the target device to execute the operation corresponding to the voice command.

[0011] Furthermore, before determining the distance information between the user and the smart device based on the device distribution map, the method further includes:

[0012] From all the aforementioned smart devices, query candidate smart devices that can respond to the voice command;

[0013] Accordingly, determining the distance information between the user and the smart device based on the device distribution map, and determining the target device based on the distance information, includes:

[0014] The distance information between the user and the candidate smart devices is determined based on the device distribution map;

[0015] Set the candidate smart device closest to the user as the target device.

[0016] Furthermore, after querying all the aforementioned smart devices for candidate smart devices capable of responding to the voice command, the process further includes:

[0017] If no candidate smart device is found, the speaker device is set as the target device.

[0018] Furthermore, the speaker device has multiple indicator lights on its side wall;

[0019] Accordingly, after determining the relative position of the speaker device and each of the smart devices based on the UWB signal, the method further includes:

[0020] Each smart device is assigned a corresponding indicator light according to its relative position, so that the smart device and its corresponding indicator light are in the same orientation relative to the center of the speaker device.

[0021] Accordingly, after determining the target device based on the distance information, the process also includes:

[0022] Turn on the indicator light corresponding to the target device.

[0023] Furthermore, determining the relative position of the speaker device and each of the smart devices based on the UWB signal includes:

[0024] The speaker device and the location and distance information of each of the smart devices are determined based on the UWB signal, and the relative position is determined based on the location and distance information.

[0025] Furthermore, after controlling the target device to execute the operation corresponding to the voice command, the method further includes:

[0026] Generate a prompt message to notify the user that the voice command has been responded to.

[0027] Furthermore, after determining the target device based on the distance information, the process also includes:

[0028] Acquire the UWB signal change information of the target device within a preset time period;

[0029] The motion trend of the target device is determined based on the UWB signal change information;

[0030] Based on the movement trend of the target device and the location of the user, an obstacle avoidance command is sent to the target device to avoid collision between the target device and the user.

[0031] This application also provides a device control apparatus for use in a speaker device including a UWB module and a MIC module, the device control apparatus comprising:

[0032] A signal receiving module is used to receive UWB signals sent by multiple smart devices using the UWB module;

[0033] A map generation module is used to determine the relative position of the speaker device and each of the smart devices based on the UWB signal, and to generate a device distribution map based on the relative positions.

[0034] The user positioning module is used to determine the user's location in the device distribution map based on the voice command input by the MIC module.

[0035] The device determination module is used to determine the distance information between the user and the smart device based on the device distribution map, and to determine the target device based on the distance information;

[0036] The control module is used to control the target device to perform the operation corresponding to the voice command.

[0037] This application also provides a storage medium storing a computer program thereon, which, when executed, implements the steps of the above-described device control method.

[0038] This application also provides a speaker device, including a UWB module, a MIC module, a memory, and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it implements the steps of the above-described device control method.

[0039] This application provides a device control method applied to a speaker device including a UWB module and a MIC module. The device control method includes: receiving UWB signals sent by multiple smart devices using the UWB module; determining the relative position of the speaker device and each of the smart devices based on the UWB signals, and generating a device distribution map based on the relative positions; if the MIC module collects a voice command input by a user, determining the user's position in the device distribution map based on the voice command; determining the distance information between the user and the smart devices based on the device distribution map, and determining a target device based on the distance information; and controlling the target device to execute the operation corresponding to the voice command.

[0040] This application utilizes the UWB module of a speaker device to receive UWB signals sent by multiple smart devices. The relative position of the speaker device and the smart devices affects the signal strength of the UWB signals received by the UWB module. This application determines the relative position of the speaker device and each of the smart devices based on the UWB signals, thereby generating a device distribution map. This application also utilizes the MIC module of the speaker device to collect user-inputted voice commands, determines the user's position on the device distribution map based on the voice commands, and then determines the target device to be controlled based on the distance between the user and the smart devices. The above scheme determines the distance information between the user and the smart devices based on the UWB module and the MIC module, and selects the device for control based on the distance information, eliminating the need for the user to operate the main control device corresponding to each smart device, thus improving the convenience and accuracy of smart device control. This application also provides a device control device, a storage medium, and a speaker device, which have the above-mentioned beneficial effects, and will not be elaborated further here. Attached Figure Description

[0041] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 A flowchart illustrating a device control method provided in an embodiment of this application;

[0043] Figure 2 This is a schematic diagram of the structure of a speaker device provided in an embodiment of this application;

[0044] Figure 3 This application provides a flowchart illustrating the operation of a speaker device in a practical application.

[0045] Figure 4 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0046] Figure 5 This is a schematic diagram of the structure of a device control apparatus provided in an embodiment of this application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] Please see below. Figure 1 , Figure 1 This is a flowchart of a device control method provided in an embodiment of this application.

[0049] Specific steps may include:

[0050] S101: Receive UWB signals sent by multiple smart devices using the UWB module;

[0051] This embodiment can be applied to a speaker device, which includes a UWB module and a MIC module. The UWB module is used to collect and transmit UWB signals, and the MIC module is used to collect sound signals. Multiple smart devices (such as smart curtains, smart air conditioners, robot vacuums, smart refrigerators, and other IoT devices) can be installed in the environment where the speaker device is located. These smart devices also have UWB modules, and their UWB modules send UWB signals to the speaker device's UWB module. As a feasible implementation, the UWB signals may include identification information of the smart devices, so that the speaker device can identify the smart device sending the UWB signal based on the identification information.

[0052] S102: Determine the relative position of the speaker device and each of the smart devices based on the UWB signal, and generate a device distribution map based on the relative positions;

[0053] After receiving the UWB signals sent by each smart device, the location and distance information between the speaker device and each smart device can be determined based on the UWB signals. The relative position is then determined based on the location and distance information, and a device distribution map is generated based on the relative position of the speaker device and each smart device. The device distribution map stores the positional relationships between the speaker device and the smart devices, and may also store the positional relationships between the smart devices themselves.

[0054] S103: If the MIC module collects the user's voice command, then the user's location in the device distribution map is determined based on the voice command;

[0055] The speaker device can use the MIC module to collect the user's voice commands. Based on the voice commands, the user's location and distance information can be determined. Based on the location and distance information, the relative position of the speaker device and the user can be obtained, and then the user's position on the device distribution map can be determined.

[0056] S104: Determine the distance information between the user and the smart device based on the device distribution map, and determine the target device based on the distance information;

[0057] After determining the location of the user and smart devices in the device distribution map, the distance information between the user and each smart device can be determined based on the device distribution map, and then the target device to be controlled can be determined based on the distance information.

[0058] Based on user habits, users typically stand close to the device they want to control when using voice commands. Therefore, this application can utilize distance information to determine the target device, such as setting the smart device closest to the user as the target device. As another feasible implementation, this embodiment can also determine the target device based on a combination of voice commands and distance information.

[0059] S105: Control the target device to execute the operation corresponding to the voice command.

[0060] After identifying the target device, the speaker can transmit instruction information to the target device to cause the target device to execute the operation corresponding to the voice command. After controlling the target device to execute the operation corresponding to the voice command, a prompt message can also be generated to notify the user that the voice command has been responded to.

[0061] This embodiment utilizes the UWB module of a speaker device to receive UWB signals sent by multiple smart devices. The relative position of the speaker device and the smart devices affects the signal strength of the UWB signals received by the UWB module. This embodiment determines the relative position of the speaker device and each of the smart devices based on the UWB signals, thereby generating a device distribution map. This embodiment also utilizes the microphone module of the speaker device to collect user-input voice commands, determines the user's position in the device distribution map based on the voice commands, and then determines the target device to be controlled based on the distance between the user and the smart devices. The above scheme determines the distance information between the user and the smart devices based on the UWB module and the microphone module, and selects the device for control based on the distance information. This eliminates the need for the user to operate the main control device corresponding to each smart device, improving the convenience and accuracy of smart device control.

[0062] UWB modules are based on UWB (Ultra Wide Band) technology, a wireless carrier communication technology that uses nanosecond-level non-sinusoidal narrow pulses to transmit data, thus occupying a wide spectrum. UWB technology has advantages such as low system complexity, low transmitted signal power spectral density, insensitivity to channel fading, low interception capability, and high positioning accuracy, making it particularly suitable for high-speed wireless access in dense, multipath environments such as indoors. UWB technology applications can be broadly divided into two categories based on communication distance: one is short-range, high-speed applications, with data transmission rates reaching hundreds of megabits per second, mainly used for building short-range high-speed WPANs, home wireless multimedia networks, and replacing high-speed short-range wired connections, such as wireless USB and DVDs, with a typical communication distance of 10 meters. The other category is medium-to-long-range (tens of meters and above) low-speed applications, typically with a data transmission rate of 1 Mbit / s, mainly used in wireless sensor networks and low-speed connections. Furthermore, UWB technology can achieve high-speed data transmission using low-power, low-complexity transceivers. UWB technology transmits data using low-power pulses over a very wide spectrum without causing significant interference to conventional narrowband wireless communication systems, and it makes full use of spectrum resources. High-speed data transceivers built based on UWB technology have a wider range of applications. The above embodiment, which uses a speaker to control other devices, is a popular control method in smart homes. This embodiment adds a UWB module to the speaker device, enabling it to locate smart devices and obtain the user's current location based on voice commands. This allows for location-based control of the corresponding smart devices, improving the user experience.

[0063] As for Figure 1 As further described in the corresponding embodiment, before determining the distance information between the user and the smart device based on the device distribution map, candidate smart devices capable of responding to the voice command can be queried from all the smart devices. Specifically, being able to respond to a voice command means having the function corresponding to the voice command. For example, if the voice command is "play music," then the candidate smart device should have music playback functionality; as another example, if the voice command is "receive email," then the candidate smart device should have network functionality.

[0064] Furthermore, based on the identified candidate smart devices, a target device to be controlled can be determined from among them. Specifically, the distance information between the user and the candidate smart devices can be determined according to the device distribution map; the candidate smart device closest to the user is set as the target device.

[0065] As one possible scenario, after querying all the smart devices for candidate smart devices capable of responding to the voice command, if no candidate smart device is found (i.e., all smart devices are unable to respond to the voice command), it indicates that the voice command is a control command from the user to the speaker device. In this case, the speaker device can be set as the target device so that the speaker device can execute the operation corresponding to the voice command. Through this method, users can control any device among the smart devices and speaker devices using voice commands, improving the flexibility of device control.

[0066] As for Figure 1 In a further description of the corresponding embodiment, multiple indicator lights are provided on the side wall of the speaker device; these indicator lights can be distributed along the side wall of the speaker device. Accordingly, after determining the relative position of the speaker device and each of the smart devices based on the UWB signal, this embodiment can assign a corresponding indicator light to each smart device according to the relative position of the speaker device and each smart device, so that the smart device and the corresponding indicator light are in the same orientation relative to the center of the speaker device. After determining the target device based on the distance information, the indicator light corresponding to the target device can be illuminated. In this way, the location of the currently controlled target device can be indicated to the user by illuminating the indicator lights, so that the user can determine whether the currently controlled target device meets the actual needs.

[0067] As for Figure 1 In a further description of the corresponding embodiment, after determining the target device based on the distance information, UWB signal change information of the target device within a preset time period can be obtained; the movement trend of the target device can be determined based on the UWB signal change information; and an obstacle avoidance command can be sent to the target device based on the movement trend of the target device and the user's position to avoid collision between the target device and the user. When the target device executes the operation corresponding to the voice command, the target device may move along a preset trajectory (such as a robot vacuum cleaner or a food delivery robot moving within a space). Through the above method, the target device can be controlled to avoid obstacles based on the user's position and the movement trend of the target device, thus preventing collisions.

[0068] The process described in the above embodiments is illustrated below through examples in practical applications.

[0069] Please see Figure 2 , Figure 2This is a schematic diagram of a speaker device provided in an embodiment of this application. The speaker device includes a main control chip, a UWB module, and a microphone module. The UWB module can communicate with external smart devices and acquire UWB signals sent by the smart devices. The main control chip determines the location of the smart devices based on the UWB signals, and the microphone module can acquire voice commands issued by the user and locate the user's current location. When multiple smart devices are present in the area, the speaker device can establish UWB connections with multiple external devices and can control the corresponding smart devices by combining the user's voice commands and the user's location information.

[0070] The main control chip controls the UWB module to monitor signals. If multiple smart devices exist in the current area, the location and UWB signal strength of each smart device can be obtained separately via UWB wireless connection. The main control chip can then construct a device distribution map based on the location information of each smart device. When a user controls the speaker device via voice, the speaker device can parse the user's voice command and determine which smart devices can execute the command based on the parsing results. It also obtains the user's current location information and compares it with the locations of the smart devices to determine the smart device that needs to be controlled.

[0071] Please see Figure 3 , Figure 3 A flowchart illustrating the operation of a speaker device in a practical application, provided as an embodiment of this application, is shown below:

[0072] After the speaker device is powered on, it receives UWB signals using the UWB module. The main control chip determines the location of the smart devices based on the UWB signals. Internally, the main control chip creates a virtual map, adding the locations Xa, Xb, and Xc of smart devices A, B, and C to the virtual map to obtain a device distribution map. The main control chip acquires the user's voice commands through the MIC module and determines the user's current location X. The main control chip parses the voice commands and searches for candidate smart devices that can respond. It compares the user's position with the candidate smart devices and controls the candidate smart device closest to the user. If smart devices A, B, and C are all candidate smart devices, if |X-Xa| is minimized, smart device A is controlled; if |X-Xb| is minimized, smart device B is controlled; and if |X-Xc| is minimized, smart device C is controlled.

[0073] The speaker device can connect to smart devices via a UWB module, allowing it to locate external devices through UWB signals. When a user interacts with the speaker device via voice, the device can parse the voice commands and identify the nearest responding smart device. The speaker device can also determine the user's location, calculate the nearest smart device, and control that device using commands. Please see [link to relevant documentation]. Figure 4 , Figure 4 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. In the diagram, A, B, C, D, and E represent smart devices, and P represents a speaker device. Smart devices A, B, and C can respond to voice commands input by the user, and the user is closest to smart device C, thus allowing the user to control smart device C to execute the operation corresponding to the voice command.

[0074] The above embodiments propose a UWB-based device control method. This solution enables the location of smart devices via a UWB module. The speaker device parses the user's voice commands to determine the location information of the smart device capable of executing the voice command and the user, thus controlling IoT devices more intelligently. This embodiment is easy to operate, flexible in mechanism, and can improve the user experience.

[0075] Please see Figure 5 , Figure 5 This is a schematic diagram of a device control apparatus provided in an embodiment of this application; the apparatus can be applied to speaker devices including a UWB module and a MIC module, and the device control apparatus includes:

[0076] The signal receiving module 501 is used to receive UWB signals sent by multiple smart devices using the UWB module;

[0077] The map generation module 502 is used to determine the relative position of the speaker device and each of the smart devices based on the UWB signal, and to generate a device distribution map based on the relative positions.

[0078] User positioning module 503 is used to determine the user's location in the device distribution map based on the voice command input by the MIC module if the MIC module collects the voice command input by the user.

[0079] The device determination module 504 is used to determine the distance information between the user and the smart device based on the device distribution map, and to determine the target device based on the distance information;

[0080] The control module 505 is used to control the target device to perform the operation corresponding to the voice command.

[0081] This embodiment utilizes the UWB module of a speaker device to receive UWB signals sent by multiple smart devices. The relative position of the speaker device and the smart devices affects the signal strength of the UWB signals received by the UWB module. This embodiment determines the relative position of the speaker device and each of the smart devices based on the UWB signals, thereby generating a device distribution map. This embodiment also utilizes the microphone module of the speaker device to collect user-input voice commands, determines the user's position in the device distribution map based on the voice commands, and then determines the target device to be controlled based on the distance between the user and the smart devices. The above scheme determines the distance information between the user and the smart devices based on the UWB module and the microphone module, and selects the device for control based on the distance information. This eliminates the need for the user to operate the main control device corresponding to each smart device, improving the convenience and accuracy of smart device control.

[0082] Furthermore, it also includes:

[0083] The candidate device determination module is used to query candidate smart devices that can respond to the voice command from all the smart devices before determining the distance information between the user and the smart device according to the device distribution map;

[0084] Accordingly, the device determination module 504 is used to determine the distance information between the user and the candidate smart devices according to the device distribution map; and is also used to set the candidate smart device closest to the user as the target device.

[0085] Furthermore, the device determination module 504 is also configured to, after querying from all the smart devices for candidate smart devices capable of responding to the voice command, set the speaker device as the target device if no candidate smart device exists.

[0086] Furthermore, the speaker device has multiple indicator lights on its side wall;

[0087] Correspondingly, it also includes:

[0088] The indicator module is configured to, after determining the relative position between the speaker device and each of the smart devices based on the UWB signal, assign a corresponding indicator light to each of the smart devices based on the relative position, so that the smart devices and the corresponding indicator lights are in the same orientation relative to the center of the speaker device; and is also configured to, after determining the target device based on the distance information, illuminate the indicator light corresponding to the target device.

[0089] Furthermore, the map generation module 502 is used to determine the orientation and distance information between the speaker device and each of the smart devices based on the UWB signal, and to determine the relative position based on the orientation and distance information.

[0090] Furthermore, it also includes:

[0091] The feedback module is used to generate a prompt message after controlling the target device to execute the operation corresponding to the voice command, so as to notify the user that the voice command has been responded to.

[0092] Furthermore, after determining the target device based on the distance information, the process also includes:

[0093] The anti-collision module is used to acquire UWB signal change information of the target device within a preset time period; it is also used to determine the motion trend of the target device based on the UWB signal change information; and it is also used to send an obstacle avoidance command to the target device based on the motion trend of the target device and the user's position, so as to avoid collision between the target device and the user.

[0094] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0095] This application also provides a storage medium on which a computer program is stored, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0096] This application also provides a speaker device, which may include a UWB module, a microphone module, a memory, and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the speaker device may also include various network interfaces, power supplies, and other components.

[0097] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0098] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A device control method, characterized in that, The device control method, applicable to speaker devices including UWB modules and MIC modules, includes: The UWB module is used to receive UWB signals sent by multiple smart devices; The relative position of the speaker device and each of the smart devices is determined based on the UWB signal, and a device distribution map is generated based on the relative position. If the MIC module collects a voice command input by the user, it determines the user's location on the device distribution map based on the voice command. From all the smart devices, query for candidate smart devices that can respond to the voice command. If no candidate smart device exists, set the speaker device as the target device. Otherwise, the distance information between the user and the smart device is determined based on the device distribution map, and the target device is determined based on the distance information; Control the target device to execute the operation corresponding to the voice command; After determining the target device based on the distance information, the method further includes: Acquire the UWB signal change information of the target device within a preset time period; The motion trend of the target device is determined based on the UWB signal change information; Based on the movement trend of the target device and the location of the user, an obstacle avoidance command is sent to the target device in order to avoid a collision between the target device and the user; The speaker device has multiple indicator lights on its side wall; Accordingly, after determining the relative position of the speaker device and each of the smart devices based on the UWB signal, the method further includes: Each smart device is assigned a corresponding indicator light according to its relative position, so that the smart device and its corresponding indicator light are in the same orientation relative to the center of the speaker device. Accordingly, after determining the target device based on the distance information, the process also includes: Turn on the indicator light corresponding to the target device.

2. The equipment control method according to claim 1, characterized in that, Determining the distance information between the user and the smart device based on the device distribution map, and determining the target device based on the distance information, including: The distance information between the user and the candidate smart devices is determined based on the device distribution map; Set the candidate smart device closest to the user as the target device.

3. The equipment control method according to claim 1, characterized in that, Determining the relative position of the speaker device and each of the smart devices based on the UWB signal includes: The speaker device and the location and distance information of each of the smart devices are determined based on the UWB signal, and the relative position is determined based on the location and distance information.

4. The equipment control method according to claim 1, characterized in that, After controlling the target device to execute the operation corresponding to the voice command, the method further includes: Generate a prompt message to notify the user that the voice command has been responded to.

5. A device control system, characterized in that, The device control unit is applied to speaker devices including UWB modules and MIC modules, and includes: A signal receiving module is used to receive UWB signals sent by multiple smart devices using the UWB module; A map generation module is used to determine the relative position of the speaker device and each of the smart devices based on the UWB signal, and to generate a device distribution map based on the relative positions. The user positioning module is used to determine the user's location in the device distribution map based on the voice command input by the MIC module. The device determination module is used to query candidate smart devices that can respond to the voice command from all the smart devices. If no candidate smart device exists, the speaker device is set as the target device; otherwise, the distance information between the user and the smart device is determined according to the device distribution map, and the target device is determined according to the distance information. The control module is used to control the target device to execute the operation corresponding to the voice command; The anti-collision module is used to acquire UWB signal change information of the target device within a preset time period; it is also used to determine the motion trend of the target device based on the UWB signal change information; and it is also used to send an obstacle avoidance command to the target device based on the motion trend of the target device and the position of the user, so as to avoid collision between the target device and the user. The speaker device has multiple indicator lights on its side wall; Correspondingly, it also includes: The indicator module is configured to, after determining the relative position between the speaker device and each of the smart devices based on the UWB signal, assign a corresponding indicator light to each of the smart devices based on the relative position, so that the smart devices and the corresponding indicator lights are in the same orientation relative to the center of the speaker device; and is also configured to, after determining the target device based on the distance information, illuminate the indicator light corresponding to the target device.

6. A speaker device, characterized in that, It includes a UWB module, a MIC module, a memory, and a processor, wherein the memory stores a computer program, and the processor implements the steps of the device control method as described in any one of claims 1 to 4 when it invokes the computer program in the memory.

7. A storage medium, characterized in that, The storage medium stores computer-executable instructions, which, when loaded and executed by a processor, implement the steps of the device control method as described in any one of claims 1 to 4.

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