Home positioning method and device based on indoor cruise and indoor cruise home equipment

Abstract

The present invention discloses a home positioning method, device and indoor cruise home equipment based on indoor cruise, the method comprising: determining indoor map information of a target indoor area; obtaining multiple wireless signal data from a target home equipment collected by an indoor cruise home equipment at multiple collection positions in the target indoor area, and collection position information corresponding to each of the wireless signal data; determining the indoor location information of the target home equipment according to the multiple wireless signal data and the collection position information corresponding to each of the wireless signal data, as well as the indoor map information. It can be seen that the present invention can effectively utilize the cruise characteristics of the indoor cruise home equipment to collect wireless signals of the home equipment, and locate the home equipment by analyzing the wireless signal data and the indoor map, thereby achieving the effect of more accurate and intelligent positioning of the home equipment.

Description

Technical Field

[0001] The present invention relates to the field of smart home technology, and in particular to a home positioning method and device based on indoor cruise, and indoor cruise home equipment. Background Art

[0002] With the development of smart home technology and the popularization of products, more and more household appliances in family life are becoming more intelligent. For example, microwave ovens, refrigerators and even household appliances that originally did not have communication properties have wireless communication functions to meet the requirements of smart home life. Among them, indoor cruise home devices, such as sweeping robots or indoor monitoring robots, have also become essential smart home devices in home life.

[0003] However, the prior art does not take into account that when indoor cruising home appliances are cruising indoors, they have the characteristic of traversing the indoor environment, which can provide a data basis for the positioning of indoor home appliances. Therefore, the prior art has certain defects that need to be solved urgently. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a home positioning method, device and indoor cruise home equipment based on indoor cruise, which can effectively utilize the cruise characteristics of the indoor cruise home equipment to collect wireless signals of the home equipment, and locate the home equipment by analyzing the wireless signal data and indoor maps, thereby achieving the effect of more accurate and intelligent positioning of the home equipment, thereby improving the intelligence level of smart home equipment and improving the user's life experience.

[0005] In order to solve the above technical problems, the first aspect of the present invention discloses a home positioning method based on indoor cruising, the method comprising:

[0006] Determine indoor map information of the target indoor area;

[0007] Acquire multiple wireless signal data from the target home device collected by the indoor cruise home device at multiple collection locations in the target indoor area, and collection location information corresponding to each of the wireless signal data;

[0008] The indoor location information of the target home device is determined based on the multiple wireless signal data and the collection location information corresponding to each of the wireless signal data, as well as the indoor map information; the indoor location information is used to indicate the location of the target home device in the indoor map information.

[0009] As an optional embodiment, in the first aspect of the present invention, the target home device includes one or more home devices, and / or the indoor map information includes one or both of an indoor plan map and an indoor three-dimensional map, and / or the collection location information includes one or both of two-dimensional collection location coordinates and three-dimensional collection location coordinates, and / or the indoor location information includes one or more of indoor two-dimensional location coordinates, indoor three-dimensional location coordinates and indoor area information.

[0010] As an optional implementation manner, in the first aspect of the present invention, determining the indoor map information of the target indoor area includes:

[0011] Acquire indoor scene acquisition data of the target indoor area collected by the indoor cruise home device; the indoor scene acquisition data includes one or more of electromagnetic wave reflection data, image data and video data;

[0012] Determining indoor map information of the target indoor area according to the indoor scene collection data;

[0013] Wherein, determining the indoor map information of the target indoor area according to the indoor scene collection data includes:

[0014] Determining an indoor three-dimensional scene model of the target indoor area according to the indoor scene collection data;

[0015] Indoor map information of the target indoor area is determined according to the indoor three-dimensional scene model.

[0016] As an optional implementation, in the first aspect of the present invention, determining the indoor location information of the target home device according to the multiple wireless signal data and the collection location information corresponding to each of the wireless signal data, and the indoor map information, includes:

[0017] At least two wireless signal data sets are selected from the plurality of wireless signal data; each of the wireless signal data sets includes at least two wireless signal data; all the wireless signal data in each of the wireless signal data sets satisfy a condition of similar signal strength;

[0018] Calculate a virtual perpendicular midline set corresponding to each of the wireless signal data sets; the virtual perpendicular midline set includes a virtual perpendicular midline of a virtual connection between collection location information of any two of the wireless signal data in the wireless signal data set;

[0019] Determine the location information of the target home device according to the intersection points of all the virtual perpendicular midlines included in the set of all the virtual perpendicular midlines;

[0020] The indoor location information of the target home device is determined according to the location information of the target home device and the indoor map information.

[0021] As an optional implementation, in the first aspect of the present invention, determining the location information of the target home device according to the intersection of all the virtual perpendicular midlines included in the set of all the virtual perpendicular midlines includes:

[0022] Calculating the intersection points of all the virtual perpendicular midlines included in the set of all the virtual perpendicular midlines, and when the number of the intersection points is one, determining the position information of the intersection points as the position information of the target home device;

[0023] and / or,

[0024] Calculate the intersection points of all the virtual perpendicular bisectors included in the set of all the virtual perpendicular bisectors;

[0025] When there are multiple intersection points, calculating the geometric center position information of all the intersection points;

[0026] The geometric center position information is determined as the position information of the target home device.

[0027] As an optional implementation manner, in the first aspect of the present invention, the filtering out at least two wireless signal data sets from the multiple wireless signal data includes:

[0028] Sort the plurality of wireless signal data by signal strength from high to low to obtain a wireless signal data sequence;

[0029] Determine a first preset number of wireless signal data in the wireless signal data sequence as a candidate wireless signal data set;

[0030] At least two wireless signal data sets are screened out from the candidate wireless signal data sets.

[0031] As an optional implementation, in the first aspect of the present invention, after determining the indoor location information of the target home device according to the multiple wireless signal data and the collection location information corresponding to each of the wireless signal data, and the indoor map information, the method further includes:

[0032] Determine whether the indoor location information of the target home appliance is located at a region boundary in the indoor map information; the region boundary is a separation boundary between at least two to-be-determined regions;

[0033] When the judgment result is yes, at least two candidate wireless signal data are determined from the multiple wireless signal data; the collection location information of different candidate wireless signal data is located in different areas to be determined; the collection location information of all candidate wireless signal data is located at the same relative topological position in the corresponding area to be determined;

[0034] The target candidate wireless signal data with the highest signal strength is screened out from the at least two candidate wireless signal data, and the undetermined area where the collection location information of the target candidate wireless signal data is located is determined as the area location information corresponding to the target home device.

[0035] The second aspect of the present invention discloses a home positioning device based on indoor cruising, the device comprising:

[0036] A first determination module is used to determine indoor map information of a target indoor area;

[0037] An acquisition module, used to acquire multiple wireless signal data from the target home device collected by the indoor cruise home device at multiple collection positions in the target indoor area, and collection position information corresponding to each of the wireless signal data;

[0038] The second determination module is used to determine the indoor location information of the target home device based on the multiple wireless signal data and the collection location information corresponding to each of the wireless signal data, and the indoor map information; the indoor location information is used to indicate the location of the target home device in the indoor map information.

[0039] As an optional embodiment, in the second aspect of the present invention, the target home device includes one or more home devices, and / or the indoor map information includes one or both of an indoor plan map and an indoor three-dimensional map, and / or the collection location information includes one or both of two-dimensional collection location coordinates and three-dimensional collection location coordinates, and / or the indoor location information includes one or more of indoor two-dimensional location coordinates, indoor three-dimensional location coordinates and indoor area information.

[0040] As an optional implementation, in the second aspect of the present invention, the specific manner in which the first determination module determines the indoor map information of the target indoor area includes:

[0041] Acquire indoor scene acquisition data of the target indoor area collected by the indoor cruise home device; the indoor scene acquisition data includes one or more of electromagnetic wave reflection data, image data and video data;

[0042] Determining indoor map information of the target indoor area according to the indoor scene collection data;

[0043] The specific manner in which the first determination module determines the indoor map information of the target indoor area according to the indoor scene collection data includes:

[0044] Determining an indoor three-dimensional scene model of the target indoor area according to the indoor scene collection data;

[0045] Indoor map information of the target indoor area is determined according to the indoor three-dimensional scene model.

[0046] As an optional implementation, in the second aspect of the present invention, the second determining module includes:

[0047] A screening unit, configured to screen out at least two wireless signal data sets from the plurality of wireless signal data; each of the wireless signal data sets includes at least two wireless signal data; and all the wireless signal data in each of the wireless signal data sets satisfy a condition of similar signal strength;

[0048] A calculation unit, configured to calculate a virtual perpendicular midline set corresponding to each of the wireless signal data sets; the virtual perpendicular midline set includes a virtual perpendicular midline of a virtual connection between collection location information of any two of the wireless signal data in the wireless signal data set;

[0049] A first determining unit, configured to determine the location information of the target home device according to the intersection points of all the virtual perpendicular midlines included in the set of all the virtual perpendicular midlines;

[0050] The second determining unit is used to determine the indoor location information of the target home device according to the location information of the target home device and the indoor map information.

[0051] As an optional implementation, in the second aspect of the present invention, the first determination unit determines the specific manner of the location information of the target home device according to the intersection of all the virtual perpendicular midline included in all the virtual perpendicular midline sets, including:

[0052] Calculating the intersection points of all the virtual perpendicular midlines included in the set of all the virtual perpendicular midlines, and when the number of the intersection points is one, determining the position information of the intersection points as the position information of the target home device;

[0053] and / or,

[0054] Calculate the intersection points of all the virtual perpendicular bisectors included in the set of all the virtual perpendicular bisectors;

[0055] When there are multiple intersection points, calculating the geometric center position information of all the intersection points;

[0056] The geometric center position information is determined as the position information of the target home device.

[0057] As an optional implementation manner, in the second aspect of the present invention, the specific manner in which the screening unit screens out at least two wireless signal data sets from the multiple wireless signal data includes:

[0058] Sort the plurality of wireless signal data by signal strength from high to low to obtain a wireless signal data sequence;

[0059] Determine a first preset number of wireless signal data in the wireless signal data sequence as a candidate wireless signal data set;

[0060] At least two wireless signal data sets are screened out from the candidate wireless signal data sets.

[0061] As an optional implementation, in the second aspect of the present invention, the device further includes:

[0062] A determination module, used to determine whether the indoor location information of the target home appliance is located at a region boundary in the indoor map information; the region boundary is a separation boundary between at least two to-be-determined regions;

[0063] The second determination module is further configured to determine at least two candidate wireless signal data from the multiple wireless signal data when the determination result of the determination module is yes; the collection location information of different candidate wireless signal data is located in different areas to be determined; the collection location information of all candidate wireless signal data is located in the same relative topological position in the corresponding area to be determined;

[0064] The second determination module is also used to filter out the target candidate wireless signal data with the highest signal strength from the at least two candidate wireless signal data, and determine the undetermined area where the collection location information of the target candidate wireless signal data is located as the area location information corresponding to the target home device.

[0065] The third aspect of the present invention discloses another home positioning device based on indoor cruising, the device comprising:

[0066] A memory storing executable program code;

[0067] a processor coupled to the memory;

[0068] The processor calls the executable program code stored in the memory to execute part or all of the steps in the home positioning method based on indoor cruise disclosed in the first aspect of the embodiment of the present invention.

[0069] A fourth aspect of an embodiment of the present invention discloses an indoor cruise home device, which is used to execute part or all of the steps in the home positioning method based on indoor cruise disclosed in the first aspect of an embodiment of the present invention.

[0070] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0071] In an embodiment of the present invention, indoor map information of a target indoor area is determined; multiple wireless signal data from a target home appliance collected by an indoor cruise home appliance at multiple collection locations in the target indoor area, and collection location information corresponding to each of the wireless signal data are obtained; the indoor location information of the target home appliance is determined based on the multiple wireless signal data and the collection location information corresponding to each of the wireless signal data, as well as the indoor map information; the indoor location information is used to indicate the location of the target home appliance in the indoor map information. It can be seen that the present invention can effectively utilize the cruising characteristics of the indoor cruise home appliance to collect wireless signals from the home appliance, and locate the home appliance by analyzing the wireless signal data and the indoor map, thereby achieving the effect of more accurately and intelligently locating the home appliance, thereby improving the intelligence level of smart home appliances and improving the user's life experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0073] Figure 1 It is a flowchart of a home positioning method based on indoor cruising disclosed in an embodiment of the present invention;

[0074] Figure 2 is a flow chart of another method for home positioning based on indoor cruising disclosed in an embodiment of the present invention;

[0075] Figure 3 It is a structural schematic diagram of a home positioning device based on indoor cruising disclosed in an embodiment of the present invention;

[0076] Figure 4 is a structural schematic diagram of another home positioning device based on indoor cruising disclosed in an embodiment of the present invention;

[0077] Figure 5 is a structural schematic diagram of another home positioning device based on indoor cruising disclosed in an embodiment of the present invention;

[0078] Figure 6 The figure is a calculation diagram of a virtual perpendicular median line calculation example of a home positioning method disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0079] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0080] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or ends.

[0081] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0082] The present invention discloses a home positioning method, device and indoor cruise home equipment based on indoor cruise, which can effectively utilize the cruise characteristics of indoor cruise home equipment to collect wireless signals of home equipment, and locate home equipment by analyzing wireless signal data and indoor maps, thereby achieving the effect of more accurate and intelligent positioning of home equipment, thereby improving the intelligence level of smart home equipment and improving the user's life experience. The following are detailed descriptions.

[0083] Embodiment 1

[0084] See also Figure 1 , Figure 1 is a flow chart of a method for home positioning based on indoor cruising disclosed in an embodiment of the present invention. Figure 1The described method can be applied to a corresponding positioning terminal, positioning device or server, and the server can be a local server or a cloud server, which is not limited in the embodiment of the present invention. Figure 1 As shown, the home positioning method based on indoor cruise may include the following operations:

[0085] 101. Determine indoor map information of the target indoor area.

[0086] In the embodiment of the present invention, the target indoor area may be an indoor area of ​​a commercial entertainment venue, an indoor area of ​​a civilian residence, or an indoor area of ​​a military facility, and may be the interior area of ​​any closed or semi-closed venue, and the present invention is not limited thereto.

[0087] In the embodiment of the present invention, the indoor map information may include one or both of an indoor flat map and an indoor three-dimensional map. Specifically, the indoor flat map may be a two-dimensional map of any two dimensions of the indoor area, which is not limited in the present invention.

[0088] 102. Acquire multiple wireless signal data from the target home device collected by the indoor cruise home device at multiple collection positions in the target indoor area, and collection position information corresponding to each wireless signal data.

[0089] In the embodiment of the present invention, the wireless signal data can be collected by the collection device on the indoor cruise home device, and the collection location information can be obtained by the positioning device built into the indoor cruise home device. By utilizing the collection device and the positioning device simultaneously set on the indoor cruise home device, the wireless signal data and the collection location information can be directly obtained for subsequent data processing.

[0090] In an embodiment of the present invention, the indoor cruise home appliance may be an indoor cruise cleaning appliance, such as a sweeping appliance, a mopping appliance or a disinfection appliance, or an indoor cruise monitoring appliance, such as a movable monitoring camera, which is not limited in the present invention. Optionally, the collected position information may include one or both of a two-dimensional collected position coordinate and a three-dimensional collected position coordinate.

[0091] Optionally, the target home device may include one or more home devices. In the case where the target home device includes multiple home devices, the indoor cruise home device can simultaneously obtain the wireless signal data emitted by multiple home devices, and obtain the real-time location coordinates during the acquisition and bind them with the collected wireless signal data. Optionally, it is obvious that the target home device or home device referred to in the present invention is a home device with wireless communication function or wireless signal transmission function, such as a microwave oven or table lamp that can be connected to Bluetooth, and the present invention does not limit it.

[0092] In the embodiment of the present invention, the wireless signal data may include Bluetooth signal data, GPS signal data, WIFI signal data, Zigbee signal data or other wireless signal data of any frequency band or type, which is not limited in the present invention. Specifically, the wireless signal data sent from a certain household device may carry a signal identifier for verifying the household device, so that the device that collects the wireless signal data can identify the device source of the wireless signal data, that is, the household device.

[0093] 103. Determine indoor location information of the target home appliance based on multiple wireless signal data and collection location information corresponding to each wireless signal data, as well as indoor map information.

[0094] In the embodiment of the present invention, the indoor location information is used to indicate the location of the target home device in the indoor map information. Optionally, the indoor location information includes one or more of indoor two-dimensional location coordinates, indoor three-dimensional location coordinates and indoor area information.

[0095] It can be seen that the implementation of the method described in the embodiment of the present invention can effectively utilize the cruising characteristics of indoor cruising home appliances to collect wireless signals of home appliances, and locate home appliances by analyzing wireless signal data and indoor maps, thereby achieving the effect of more accurate and intelligent positioning of home appliances, thereby improving the intelligence level of smart home appliances and improving the user's life experience.

[0096] In an optional implementation, determining the indoor map information of the target indoor area in step 101 above includes:

[0097] Acquire indoor scene collection data of the target indoor area collected by the indoor cruise home device;

[0098] Collect data based on indoor scenes and determine indoor map information of the target indoor area.

[0099] In the embodiment of the present invention, the indoor scene acquisition data may include one or more of electromagnetic wave reflection data, image data and video data.

[0100] It can be seen that the implementation of this optional implementation method can determine the indoor map information of the target indoor area based on the indoor scene collection data of the target indoor area collected by the indoor cruise home device, thereby more accurately determining the indoor map information of the target indoor area, which is conducive to improving the accuracy of the subsequently determined home device location information, thereby improving the intelligence level of smart home devices and improving the user's life experience.

[0101] In another optional implementation, in the above step, determining indoor map information of the target indoor area according to the indoor scene collection data includes:

[0102] According to the indoor scene collection data, determine the indoor three-dimensional scene model of the target indoor area;

[0103] According to the indoor three-dimensional scene model, the indoor map information of the target indoor area is determined.

[0104] Optionally, the indoor scene acquisition data may be visual acquisition data, such as image data of a target indoor area acquired by an image acquisition device provided on an indoor cruise home device. The image data may subsequently be reconstructed into an indoor three-dimensional scene model through a three-dimensional reconstruction algorithm and a contour recognition algorithm.

[0105] Optionally, the indoor scene acquisition data may also be electromagnetic wave acquisition data, such as light reflection data or infrared reflection data. Such electromagnetic wave acquisition data may be acquired by a special sensor module provided on the indoor cruise home device, and a positioning algorithm or a ranging algorithm may be used to calculate the indoor three-dimensional scene model of the target indoor area. For example, a light sensor may be used to emit light waves to the surroundings, and the indoor three-dimensional scene model of the target indoor area may be reconstructed based on the depth information fed back by the returned light. For another example, an infrared sensor may be used to emit infrared waves to the surroundings, and the indoor three-dimensional scene model of the target indoor area may be reconstructed based on the depth information fed back by the infrared reflection data.

[0106] Optionally, the indoor 3D map of the target indoor area can be directly determined based on the indoor 3D scene model, or a cross-section of the indoor 3D scene model in any two dimensions can be determined as the indoor 2D map of the target indoor area, which is not limited in the present invention.

[0107] It can be seen that by implementing this optional implementation method, the indoor three-dimensional scene model of the target indoor area can be determined, and the indoor map information of the target indoor area can be determined based on the indoor three-dimensional scene model, so as to more accurately determine the indoor map information of the target indoor area, which is conducive to improving the accuracy of the subsequently determined home appliance location information, thereby improving the intelligence level of smart home devices and improving the user's life experience.

[0108] Embodiment 2

[0109] See also Figure 2 , Figure 2 is a flow chart of another method for home positioning based on indoor cruising disclosed in an embodiment of the present invention. Figure 2 The described method is applied to a corresponding positioning terminal, positioning device or server, and the server may be a local server or a cloud server, which is not limited in the embodiments of the present invention. Figure 2 As shown, the home positioning method based on indoor cruise may include the following operations:

[0110] 201. Determine indoor map information of a target indoor area.

[0111] 202. Acquire multiple wireless signal data from target home devices collected by the indoor cruise home device at multiple collection locations in the target indoor area, and collection location information corresponding to each wireless signal data.

[0112] In the embodiment of the present invention, the specific technical details and technical terminology of steps 201-202 can refer to the description of steps 101-102 in the first embodiment, and will not be repeated here.

[0113] 203. Filter out at least two wireless signal data sets from the multiple wireless signal data.

[0114] In the embodiment of the present invention, each wireless signal data set may include at least two wireless signal data, and all wireless signal data in each wireless signal data set meet a condition of similar signal strength.

[0115] Optionally, the similar signal strength condition described in the present invention can be used to refer to that the difference between the signal strengths of multiple compared wireless signal data is less than a preset strength difference threshold. Optionally, the strength difference threshold can be formulated by technical personnel based on technical experience or experimental data, and the present invention is not limited thereto.

[0116] In an ideal embodiment, the condition of similar signal strength can be used to refer to the same signal strength of multiple wireless signal data being compared. Through the limitation of the above-mentioned similar signal strength condition, multiple groups of wireless signal data with similar signal strength can be screened out from multiple wireless signal data of the target home appliance. This setting is based on the assumption that, under ideal conditions without obstructions, the wireless signal propagation of the target home appliance is in the shape of concentric rings, and in the concentric ring shape, the signal strengths of multiple points at the same distance from the center of the circle (that is, the location of the target home appliance) are also the same. This assumption is consistent with the general free space propagation model and should therefore be considered credible. Then, in the above-mentioned multiple wireless signal data sets screened out, the collection points corresponding to the wireless signal data in each wireless signal data set should be considered to be on the same ring on the concentric ring shape of the signal propagation, while the collection points corresponding to the wireless signal data of different wireless signal data sets should be on different concentric rings.

[0117] Since the present invention does not exclude the situation of three-dimensional position coordinates, the wireless signal propagation law of the target household equipment described in the present invention can also be regarded as satisfying the multi-layer nested concentric sphere shape, and the collection points corresponding to the wireless signal data in each wireless signal data set should be considered to be on the same sphere on the signal propagation concentric sphere shape, while the collection points corresponding to the wireless signal data of different wireless signal data sets are on different concentric spheres. This is the law of deriving two-dimensional space from three-dimensional space, which will not be repeated here.

[0118] 204. Calculate a virtual perpendicular midline set corresponding to each wireless signal data set.

[0119] In an embodiment of the present invention, the virtual median perpendicular line set includes a virtual median perpendicular line of a virtual connection between the collection location information of any two wireless signal data in the wireless signal data set. Optionally, the virtual median perpendicular line should have the possibility of infinite extension to satisfy the subsequent intersection calculation. In some cases, if there are only two wireless signal data in the wireless signal data set, the virtual median perpendicular line set only includes one virtual median perpendicular line of a virtual connection between the collection location information of the two wireless signal data. In other cases, if there are more than two wireless signal data in the wireless signal data set, the virtual median perpendicular line set includes multiple virtual connection lines, which are connected in pairs, between the collection location information of multiple wireless signal data.

[0120] 205. Determine the location information of the target home appliance according to the intersection points of all virtual perpendicular midlines included in the set of all virtual perpendicular midlines.

[0121] In the embodiment of the present invention, based on the above description of the assumptions based on the positioning principle, it can be known that the collection points corresponding to the wireless signal data in each wireless signal data set are on the same ring on the concentric ring shape of the signal propagation, or on the same sphere in the concentric nested sphere shape. Then, according to the virtual perpendicular midline calculated from the virtual connecting line between the collection points, it can be known from the principle of geometry that it must pass through the center of the circle corresponding to the ring, or the center of the sphere corresponding to the sphere, that is, the position of the target household device. Therefore, the position of the center of the circle or the center of the sphere, that is, the position of the target household device, can be determined through the intersection of at least two virtual perpendicular midlines corresponding to at least two wireless signal data sets. Correspondingly, the virtual perpendicular midline or virtual connecting line can be a two-dimensional space line or a three-dimensional space line, which is not limited here.

[0122] 206. Determine the indoor location information of the target home appliance according to the location information of the target home appliance and the indoor map information.

[0123] In an embodiment of the present invention, optionally, a map position corresponding to the location information of the home appliance can be determined in the indoor map information, and the map position can be determined as the indoor location information of the home appliance. Optionally, when presenting the indoor location information to the user, the indoor location information can be expressed as a location point in the indoor map information, so that the user can more intuitively know the location information of the home appliance.

[0124] It can be seen that the embodiments of the present invention can determine the location information of the target home appliance according to the intersection points of all virtual perpendicular medians included in the set of all virtual perpendicular medians, thereby more accurately determining the location information of the home appliance, thereby improving the intelligence level of the smart home appliance, and is conducive to improving the user's life experience.

[0125] In an optional implementation, in the above step 205, determining the location information of the target home device according to the intersection of all virtual perpendicular midlines included in the set of all virtual perpendicular midlines includes:

[0126] The intersection points of all virtual perpendicular medians included in the set of all virtual perpendicular medians are calculated, and when the number of the intersection points is one, the position information of the intersection points is determined as the position information of the target home device.

[0127] The schematic diagram of this optional embodiment can be referred to Figure 6 , Figure 6 FIG. 1 is a calculation diagram of the home positioning method of the present invention. Figure 6 As shown in a, the cruise device cruises in the indoor area in order to locate the home appliance. The wireless signal transmission and propagation of the home appliance are as follows: Figure 6 As shown in the concentric ring pattern with the home device as the center, the cruise device obtains four corresponding wireless signal data D1, D2, D3, and D4 from the home device at four collection positions in the indoor area, collection points S1, S2, S3, and S4, respectively. Among them, the signal strengths of D1 and D2 are the same or similar, and the signal strengths of D3 and D4 are the same or similar. It can be seen that, Figure 6 In the figure, S1 and S2 are located on the same ring, and S3 and S4 are located on another ring. Figure 6 As shown in b, the position S of the home equipment is calculated target First, connect S1 and S2, and calculate the virtual perpendicular bisector L1 between the virtual line between S1 and S2. Similarly, calculate the virtual perpendicular bisector L2 between the virtual line between S3 and S4. Calculate the intersection of L1 and L2 to determine the position S. target. The above example discloses a solution for calculating the planar position of a household appliance through the intersection of two virtual perpendicular medians. Those skilled in the art will appreciate that if there are more virtual perpendicular medians, it is only necessary to calculate their unified intersection point, and the position of the household appliance can be derived in the same way. The solution for calculating the three-dimensional position is similar, and it is only necessary to calculate the intersection point of the three-dimensional virtual perpendicular medians. Therefore, more examples will not be described in detail here, and other alternative examples should also be included in the scope of protection of the present invention.

[0128] It can be seen that by implementing this optional implementation method, the unique intersection of all virtual perpendicular medians included in the set of all virtual perpendicular medians can be calculated, so as to more accurately determine the location information of home appliances, thereby improving the intelligence level of smart home appliances and helping to improve the user's life experience.

[0129] In another optional implementation, in the above step 205, determining the location information of the target home device according to the intersection of all virtual perpendicular midlines included in the set of all virtual perpendicular midlines includes:

[0130] Calculate the intersection points of all virtual perpendicular bisectors included in the set of all virtual perpendicular bisectors;

[0131] When there are multiple intersection points, calculate the geometric center position information of all intersection points;

[0132] The geometric center position information is determined as the position information of the target home device.

[0133] This technical idea is to deal with undesirable situations. It can be seen from the above implementation that the set of virtual perpendicular bisectors may include two or more virtual perpendicular bisectors. When calculating the intersection of these virtual perpendicular bisectors, multiple intersections may be calculated. In this case, by calculating the geometric center positions of multiple intersections, a more accurate position of the center of the circle or the center of the sphere, that is, the location information of the target home appliance, can be obtained.

[0134] It can be seen that by implementing this optional implementation, the geometric center positions of multiple intersection points can be calculated when there are multiple virtual perpendicular midline intersection points, and the calculated geometric center positions can be determined as the position information of the home appliance, thereby more accurately determining the position information of the home appliance, thereby improving the intelligence level of smart home appliances, and helping to improve the user's life experience.

[0135] In yet another optional implementation, in step 203, selecting at least two wireless signal data sets from the plurality of wireless signal data includes:

[0136] Sort the plurality of wireless signal data by signal strength from high to low to obtain a wireless signal data sequence;

[0137] Determine a first preset number of wireless signal data in the wireless signal data sequence as a candidate wireless signal data set;

[0138] At least two wireless signal data sets are screened out from the candidate wireless signal data sets.

[0139] In the embodiment of the present invention, the data characteristics of the wireless signal data in the wireless signal data set can be described above and will not be repeated here. This optional implementation is intended to improve the credibility and accuracy of the original data source of the wireless signal data set. In combination with the principle of free space signal propagation, it can be seen that the higher the signal strength of the collection point, the closer it is to the signal transmission source. Therefore, through the screening in this optional implementation, the wireless signal data with higher signal strength, that is, closer to the target home appliance, can be screened out as the basis for subsequent calculations. In addition, this technical improvement can also solve the problem of blocked signal propagation. According to the principle of free space propagation, the concentric rings or concentric nested spheres of signal propagation will be changed by the presence of obstacles. Therefore, determining the wireless signal data closer to the target home appliance can effectively improve the accuracy of the data and avoid the problem of inaccurate positioning due to the presence of obstacles.

[0140] It can be seen that this optional implementation method can filter out wireless signal data with higher signal strength, that is, closer to the target home device, so that the location information of the home device can be determined more accurately in the future, thereby improving the intelligence level of smart home devices and helping to improve the user's life experience.

[0141] In yet another optional implementation, in the above steps, after determining the indoor location information of the target home device, the method further includes:

[0142] Determine whether the indoor location information of the target home device is located at a region boundary in the indoor map information; wherein the region boundary is a separation boundary between at least two to-be-determined regions;

[0143] When the judgment result is yes, at least two candidate wireless signal data are determined from the multiple wireless signal data; wherein the collection location information of different candidate wireless signal data is located in different pending areas, and the collection location information of all candidate wireless signal data is located in the same relative topological position in the corresponding pending area;

[0144] Target candidate wireless signal data with the highest signal strength is selected from at least two candidate wireless signal data, and the undetermined area where the collection location information of the target candidate wireless signal data is located is determined as the area location information corresponding to the target home device.

[0145] In the embodiment of the present invention, the same relative topological position is used to indicate that the collection points corresponding to the collection location information of all candidate wireless signal data are at the same position of the corresponding pending area, for example, the vertical distances of the collection points from the boundaries of the pending area are the same, or the collection points are at the same partition of the pending area. Optionally, the regional location information corresponding to the target home device is used to indicate the area where the target home device is located.

[0146] This optional implementation is intended to determine the location of the target home appliance by comparing the signal strength of the collection points at the same topological position in different to-be-determined areas when the location of the target home appliance is at the boundary of different to-be-determined areas and thus its location cannot be distinguished. Optionally, after determining the regional location information corresponding to the target home appliance, the determined indoor location information of the target home appliance can be corrected, for example, the indoor location information can be moved a preset distance in the direction toward the corresponding area, so that the location of the target home appliance is more clearly within a certain to-be-determined area.

[0147] Embodiment 3

[0148] See also Figure 3 , Figure 3 : is a schematic diagram of a structure of a home positioning device based on indoor cruising disclosed in an embodiment of the present invention. Figure 3 The described apparatus can be applied to a corresponding positioning terminal, positioning device or server, and the server can be a local server or a cloud server, which is not limited in the embodiment of the present invention. Figure 3 As shown, the device may include:

[0149] The first determining module 301 is used to determine indoor map information of a target indoor area.

[0150] In the embodiment of the present invention, the target indoor area may be an indoor area of ​​a commercial entertainment venue, an indoor area of ​​a civilian residence, or an indoor area of ​​a military facility, and may be the interior area of ​​any closed or semi-closed venue, and the present invention is not limited thereto.

[0151] In the embodiment of the present invention, the indoor map information may include one or both of an indoor flat map and an indoor three-dimensional map. Specifically, the indoor flat map may be a two-dimensional map of any two dimensions of the indoor area, which is not limited in the present invention.

[0152] The acquisition module 302 is used to acquire multiple wireless signal data from the target home device collected by the indoor cruise home device at multiple collection positions in the target indoor area, and the collection position information corresponding to each wireless signal data.

[0153] In the embodiment of the present invention, the wireless signal data can be collected by the collection device on the indoor cruise home device, and the collection location information can be obtained by the positioning device built into the indoor cruise home device. By utilizing the collection device and the positioning device simultaneously set on the indoor cruise home device, the wireless signal data and the collection location information can be directly obtained for subsequent data processing.

[0154] In an embodiment of the present invention, the indoor cruise home appliance may be an indoor cruise cleaning appliance, such as a sweeping appliance, a mopping appliance or a disinfection appliance, or an indoor cruise monitoring appliance, such as a movable monitoring camera, which is not limited in the present invention. Optionally, the collected position information may include one or both of a two-dimensional collected position coordinate and a three-dimensional collected position coordinate.

[0155] Optionally, the target home device may include one or more home devices. In the case where the target home device includes multiple home devices, the indoor cruise home device can simultaneously obtain the wireless signal data emitted by multiple home devices, and obtain the real-time location coordinates during the acquisition and bind them with the collected wireless signal data. Optionally, it is obvious that the target home device or home device referred to in the present invention is a home device with wireless communication function or wireless signal transmission function, such as a microwave oven or table lamp that can be connected to Bluetooth, and the present invention does not limit it.

[0156] In the embodiment of the present invention, the wireless signal data may include Bluetooth signal data, GPS signal data, WIFI signal data, Zigbee signal data or other wireless signal data of any frequency band or type, which is not limited in the present invention. Specifically, the wireless signal data sent from a certain household device may carry a signal identifier for verifying the household device, so that the device that collects the wireless signal data can identify the device source of the wireless signal data, that is, the household device.

[0157] The second determination module 303 is used to determine the indoor location information of the target home device according to the multiple wireless signal data and the collection location information corresponding to each wireless signal data, and the indoor map information.

[0158] In the embodiment of the present invention, the indoor location information is used to indicate the location of the target home device in the indoor map information. Optionally, the indoor location information includes one or more of indoor two-dimensional location coordinates, indoor three-dimensional location coordinates and indoor area information.

[0159] It can be seen that the device described in the embodiment of the present invention can effectively utilize the cruising characteristics of indoor cruising home appliances to collect wireless signals of home appliances, and locate home appliances by analyzing wireless signal data and indoor maps, thereby achieving the effect of more accurate and intelligent positioning of home appliances, thereby improving the intelligence level of smart home appliances and improving the user's life experience.

[0160] As an optional implementation manner, the specific manner in which the first determining module 301 determines the indoor map information of the target indoor area includes:

[0161] Acquire indoor scene acquisition data of the target indoor area collected by the indoor cruise home device; the indoor scene acquisition data includes one or more of electromagnetic wave reflection data, image data and video data;

[0162] Collect data based on indoor scenes and determine indoor map information of the target indoor area;

[0163] The specific manner in which the first determination module 301 determines the indoor map information of the target indoor area according to the indoor scene collection data includes:

[0164] According to the indoor scene collection data, determine the indoor three-dimensional scene model of the target indoor area;

[0165] According to the indoor three-dimensional scene model, the indoor map information of the target indoor area is determined.

[0166] Optionally, the indoor scene acquisition data may be visual acquisition data, such as image data of a target indoor area acquired by an image acquisition device provided on an indoor cruise home device. The image data may subsequently be reconstructed into an indoor three-dimensional scene model through a three-dimensional reconstruction algorithm and a contour recognition algorithm.

[0167] Optionally, the indoor scene acquisition data may also be electromagnetic wave acquisition data, such as light reflection data or infrared reflection data. Such electromagnetic wave acquisition data may be acquired by a special sensor module provided on the indoor cruise home device, and a positioning algorithm or a ranging algorithm may be used to calculate the indoor three-dimensional scene model of the target indoor area. For example, a light sensor may be used to emit light waves to the surroundings, and the indoor three-dimensional scene model of the target indoor area may be reconstructed based on the depth information fed back by the returned light. For another example, an infrared sensor may be used to emit infrared waves to the surroundings, and the indoor three-dimensional scene model of the target indoor area may be reconstructed based on the depth information fed back by the infrared reflection data.

[0168] Optionally, the indoor 3D map of the target indoor area can be directly determined based on the indoor 3D scene model, or a cross-section of the indoor 3D scene model in any two dimensions can be determined as the indoor 2D map of the target indoor area, which is not limited in the present invention.

[0169] As an optional implementation, the second determining module 303 includes:

[0170] A screening unit 3031 is configured to screen out at least two wireless signal data sets from the plurality of wireless signal data; each wireless signal data set includes at least two wireless signal data; and all wireless signal data in each wireless signal data set satisfy a condition that signal strengths are similar;

[0171] Optionally, the similar signal strength condition described in the present invention can be used to refer to that the difference between the signal strengths of multiple compared wireless signal data is less than a preset strength difference threshold. Optionally, the strength difference threshold can be formulated by technical personnel based on technical experience or experimental data, and the present invention is not limited thereto.

[0172] The calculation unit 3032 is used to calculate a virtual perpendicular midline set corresponding to each wireless signal data set; the virtual perpendicular midline set includes a virtual perpendicular midline of a virtual connection between collection location information of any two wireless signal data in the wireless signal data set;

[0173] Optionally, the virtual median perpendicular line should have the possibility of being infinitely extended to satisfy the subsequent intersection calculation. In some cases, if there are only two wireless signal data in the wireless signal data set, the virtual median perpendicular line set only includes one virtual median perpendicular line that is a virtual connection line between the collection location information of the two wireless signal data. In other cases, if there are more than two wireless signal data in the wireless signal data set, the virtual median perpendicular line set includes multiple virtual connection lines that are connected in pairs between the collection location information of multiple wireless signal data.

[0174] The first determining unit 3033 is used to determine the location information of the target home device according to the intersection points of all virtual perpendicular midlines included in the set of all virtual perpendicular midlines;

[0175] In the embodiment of the present invention, based on the above description of the assumptions based on the positioning principle, it can be known that the collection points corresponding to the wireless signal data in each wireless signal data set are on the same ring on the concentric ring shape of the signal propagation, or on the same sphere in the concentric nested sphere shape. Then, according to the virtual perpendicular midline calculated from the virtual connecting line between the collection points, it can be known from the principle of geometry that it must pass through the center of the circle corresponding to the ring, or the center of the sphere corresponding to the sphere, that is, the position of the target household device. Therefore, the position of the center of the circle or the center of the sphere, that is, the position of the target household device, can be determined through the intersection of at least two virtual perpendicular midlines corresponding to at least two wireless signal data sets. Correspondingly, the virtual perpendicular midline or virtual connecting line can be a two-dimensional line or a three-dimensional line, which is not limited here.

[0176] The second determining unit 3034 is used to determine the indoor location information of the target home appliance according to the location information of the target home appliance and the indoor map information.

[0177] In an embodiment of the present invention, optionally, a map position corresponding to the location information of the home appliance can be determined in the indoor map information, and the map position can be determined as the indoor location information of the home appliance. Optionally, when presenting the indoor location information to the user, the indoor location information can be expressed as a location point in the indoor map information, so that the user can more intuitively know the location information of the home appliance.

[0178] As an optional implementation manner, the first determining unit 3033 determines the specific manner of the location information of the target home device according to the intersection points of all virtual perpendicular midlines included in the set of all virtual perpendicular midlines, including:

[0179] The intersection points of all virtual perpendicular medians included in the set of all virtual perpendicular medians are calculated, and when the number of the intersection points is one, the position information of the intersection points is determined as the position information of the target home device.

[0180] As an optional implementation manner, the first determining unit 3033 determines the specific manner of the location information of the target home device according to the intersection points of all virtual perpendicular midlines included in the set of all virtual perpendicular midlines, including:

[0181] Calculate the intersection points of all virtual perpendicular bisectors included in the set of all virtual perpendicular bisectors;

[0182] When there are multiple intersection points, calculate the geometric center position information of all intersection points;

[0183] The geometric center position information is determined as the position information of the target home device.

[0184] As an optional implementation manner, the specific manner in which the screening unit 3031 screens out at least two wireless signal data sets from the multiple wireless signal data includes:

[0185] Sort the plurality of wireless signal data by signal strength from high to low to obtain a wireless signal data sequence;

[0186] Determine a first preset number of wireless signal data in the wireless signal data sequence as a candidate wireless signal data set;

[0187] At least two wireless signal data sets are screened out from the candidate wireless signal data sets.

[0188] As an optional implementation, Figure 4 As shown, the device also includes:

[0189] The determination module 304 is used to determine whether the indoor location information of the target home device is located at a region boundary in the indoor map information; the region boundary is a separation boundary between at least two to-be-determined regions;

[0190] The second determination module 303 is also used to determine at least two candidate wireless signal data from the multiple wireless signal data when the determination result of the determination module is yes; the collection location information of different candidate wireless signal data is located in different pending areas; the collection location information of all candidate wireless signal data is located in the same relative topological position in the corresponding pending area;

[0191] The second determination module 303 is further used to select the target candidate wireless signal data with the highest signal strength from at least two candidate wireless signal data, and determine the undetermined area where the collection location information of the target candidate wireless signal data is located as the area location information corresponding to the target home device.

[0192] In the embodiment of the present invention, the same relative topological position is used to indicate that the collection points corresponding to the collection location information of all candidate wireless signal data are at the same position of the corresponding pending area, for example, the vertical distances of the collection points from the boundaries of the pending area are the same, or the collection points are at the same partition of the pending area. Optionally, the regional location information corresponding to the target home device is used to indicate the area where the target home device is located.

[0193] This optional implementation is intended to determine the location of the target home appliance by comparing the signal strength of the collection points at the same topological position in different to-be-determined areas when the location of the target home appliance is at the boundary of different to-be-determined areas and thus its location cannot be distinguished. Optionally, after determining the regional location information corresponding to the target home appliance, the determined indoor location information of the target home appliance can be corrected, for example, the indoor location information can be moved a preset distance in the direction toward the corresponding area, so that the location of the target home appliance is more clearly within a certain to-be-determined area.

[0194] Embodiment 4

[0195] See also Figure 5 , Figure 5 FIG. 1 is a schematic diagram of the structure of another home positioning device based on indoor cruising disclosed in an embodiment of the present invention. Figure 5 As shown, the device may include:

[0196] A memory 401 storing executable program codes;

[0197] a processor 402 coupled to the memory 401;

[0198] The processor 402 calls the executable program code stored in the memory 401 to execute part or all of the steps in the home positioning method based on indoor cruise disclosed in the first or second embodiment of the present invention.

[0199] Embodiment 5

[0200] An embodiment of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute some or all steps of the home positioning method based on indoor cruise disclosed in embodiment 1 or embodiment 2 of the present invention.

[0201] Embodiment 6

[0202] An embodiment of the present invention discloses an indoor cruise home device, which is used to execute part or all of the steps in the home positioning method based on indoor cruise disclosed in the first or second embodiment of the present invention.

[0203] In an embodiment of the present invention, the indoor patrol home appliance may be an indoor patrol cleaning appliance, such as a sweeping appliance, a mopping appliance or a disinfection appliance, or may be an indoor patrol monitoring appliance, such as a movable monitoring camera, which is not limited in the present invention.

[0204] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0205] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0206] Finally, it should be noted that the indoor cruise-based home positioning method, device, and indoor cruise home equipment disclosed in the embodiments of the present invention are only preferred embodiments of the present invention, which are only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A home positioning method based on indoor cruising, characterized in that: The method comprises: Determine indoor map information of the target indoor area; Acquire multiple wireless signal data from the target home device collected by the indoor cruise home device at multiple collection locations in the target indoor area, and collection location information corresponding to each of the wireless signal data; Determine the indoor location information of the target home device according to the multiple wireless signal data and the collection location information corresponding to each of the wireless signal data, and the indoor map information; the indoor location information is used to indicate the location of the target home device in the indoor map information; And, determining the indoor location information of the target home device according to the plurality of wireless signal data and the collection location information corresponding to each of the wireless signal data, and the indoor map information, comprises: At least two wireless signal data sets are selected from the plurality of wireless signal data; each of the wireless signal data sets includes at least two wireless signal data; all the wireless signal data in each of the wireless signal data sets satisfy a condition of similar signal strength; Calculate a virtual perpendicular midline set corresponding to each of the wireless signal data sets; the virtual perpendicular midline set includes a virtual perpendicular midline of a virtual connection between collection location information of any two of the wireless signal data in the wireless signal data set; Determine the location information of the target home device according to the intersection points of all the virtual perpendicular midlines included in the set of all the virtual perpendicular midlines; The indoor location information of the target home device is determined according to the location information of the target home device and the indoor map information.

2. The method for home positioning based on indoor cruising according to claim 1, characterized in that: The target home device includes one or more home devices, and / or the indoor map information includes one or both of an indoor plan map and an indoor three-dimensional map, and / or the collection location information includes one or both of two-dimensional collection location coordinates and three-dimensional collection location coordinates, and / or the indoor location information includes one or more of indoor two-dimensional location coordinates, indoor three-dimensional location coordinates and indoor area information.

3. The method for home positioning based on indoor cruising according to claim 1, characterized in that: The determining of indoor map information of the target indoor area includes: Acquire indoor scene acquisition data of the target indoor area collected by the indoor cruise home device; the indoor scene acquisition data includes one or more of electromagnetic wave reflection data, image data and video data; Determining indoor map information of the target indoor area based on the indoor scene collection data; Wherein, determining the indoor map information of the target indoor area according to the indoor scene collection data includes: Determining an indoor three-dimensional scene model of the target indoor area according to the indoor scene collection data; Indoor map information of the target indoor area is determined according to the indoor three-dimensional scene model.

4. The method for home positioning based on indoor cruising according to claim 1, characterized in that: The determining the location information of the target home device according to the intersection points of all the virtual perpendicular midlines included in the set of all the virtual perpendicular midlines includes: Calculating the intersection points of all the virtual perpendicular midlines included in the set of all the virtual perpendicular midlines, and when the number of the intersection points is one, determining the position information of the intersection points as the position information of the target home device; and / or, Calculate the intersection points of all the virtual perpendicular bisectors included in the set of all the virtual perpendicular bisectors; When there are multiple intersection points, calculating the geometric center position information of all the intersection points; The geometric center position information is determined as the position information of the target home device.

5. The method for home positioning based on indoor cruising according to claim 1, characterized in that: The step of selecting at least two wireless signal data sets from the plurality of wireless signal data includes: Sort the plurality of wireless signal data by signal strength from high to low to obtain a wireless signal data sequence; Determine a first preset number of wireless signal data in the wireless signal data sequence as a candidate wireless signal data set; At least two wireless signal data sets are screened out from the candidate wireless signal data sets.

6. The method for home positioning based on indoor cruising according to claim 1, characterized in that: After determining the indoor location information of the target home device according to the plurality of wireless signal data and the collection location information corresponding to each of the wireless signal data, and the indoor map information, the method further includes: Determine whether the indoor location information of the target home appliance is located at a region boundary in the indoor map information; the region boundary is a separation boundary between at least two to-be-determined regions; When the judgment result is yes, at least two candidate wireless signal data are determined from the multiple wireless signal data; the collection location information of different candidate wireless signal data is located in different areas to be determined; the collection location information of all candidate wireless signal data is located at the same relative topological position in the corresponding area to be determined; The target candidate wireless signal data with the highest signal strength is screened out from the at least two candidate wireless signal data, and the undetermined area where the collection location information of the target candidate wireless signal data is located is determined as the area location information corresponding to the target home device.

7. A home positioning device based on indoor cruising, characterized in that: The device comprises: A first determination module is used to determine indoor map information of a target indoor area; An acquisition module, used to acquire multiple wireless signal data from the target home device collected by the indoor cruise home device at multiple collection positions in the target indoor area, and collection position information corresponding to each of the wireless signal data; A second determination module is used to determine the indoor location information of the target home device according to the multiple wireless signal data and the collection location information corresponding to each of the wireless signal data, and the indoor map information; the indoor location information is used to indicate the location of the target home device in the indoor map information; And, the second determining module includes: A screening unit, configured to screen out at least two wireless signal data sets from the plurality of wireless signal data; each of the wireless signal data sets includes at least two wireless signal data; and all the wireless signal data in each of the wireless signal data sets satisfy a condition of similar signal strength; A calculation unit, configured to calculate a virtual perpendicular midline set corresponding to each of the wireless signal data sets; the virtual perpendicular midline set includes a virtual perpendicular midline of a virtual connection between collection location information of any two of the wireless signal data in the wireless signal data set; A first determining unit, configured to determine the location information of the target home device according to the intersection points of all the virtual perpendicular midlines included in the set of all the virtual perpendicular midlines; The second determining unit is used to determine the indoor location information of the target home device according to the location information of the target home device and the indoor map information.

8. A home positioning device based on indoor cruising, characterized in that: The device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the home positioning method based on indoor cruise as described in any one of claims 1-6.

9. An indoor cruising home appliance, characterized in that: The indoor cruising home appliance comprises the home positioning device according to claim 8, and the indoor cruising home appliance executes the home positioning method based on indoor cruising according to any one of claims 1-6 through the home positioning device.

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