Method and device for determining device location based on indoor map

Abstract

The present invention discloses a device location determination method and apparatus based on an indoor map, the method comprising: determining indoor map information of a target indoor area; determining indoor cruise signal information of a target household appliance, and determining preliminary location information of the target household appliance based on the indoor cruise signal information; obtaining a location correction instruction sent by a target user, and correcting the preliminary location information based on the location correction instruction to obtain indoor location information of the target household appliance; the indoor location information is used to indicate the location of the target household appliance in the indoor map information. It can be seen that the present invention can determine the preliminary location of a household appliance based on its indoor cruise signal information, and adjust its indoor location based on further corrections by the user, thereby achieving more accurate positioning of the household appliance, which is conducive to building a more accurate indoor household map, and further providing users with more convenient smart home services.

Description

Technical Field

[0001] The present invention relates to the field of device positioning technology, and in particular to a method and apparatus for determining a device position based on an indoor map. Background Art

[0002] With the development of smart home technology and the widespread adoption of smart home products, more and more household appliances are becoming intelligent. For example, microwave ovens, refrigerators, and even appliances that originally lacked communication capabilities are now equipped with wireless communication capabilities to meet the requirements of smart home living. Consequently, technicians are gradually beginning to leverage the intelligent features of home appliances to build more accurate indoor maps.

[0003] However, the existing technology does not take into account that the position of home appliances obtained by indoor positioning often has errors due to positioning accuracy and other reasons. Therefore, the existing technology 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 method and device for determining the location of a device based on an indoor map, which achieves more accurate positioning of home devices, is conducive to building a more accurate indoor home map, and thus provides users with more convenient smart home services.

[0005] In order to solve the above technical problems, the first aspect of the present invention discloses a method for determining a device location based on an indoor map, the method comprising:

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

[0007] Determine indoor cruise signal information of a target home appliance, and determine preliminary location information of the target home appliance based on the indoor cruise signal information;

[0008] Obtain a location correction instruction sent by the target user, and correct the preliminary location information according to the location correction instruction to obtain the indoor location information of the target home device; 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, determining the indoor cruise signal information of the target home appliance and determining the preliminary location information of the target home appliance based on the indoor cruise signal information includes:

[0010] Acquire indoor cruise signal information of a target home device collected by a first indoor cruise home device; the indoor cruise signal information includes multiple wireless signal data from the target home device collected at multiple collection locations in the target indoor area, and collection location information corresponding to each wireless signal data;

[0011] The preliminary location information of the target home appliance is determined based on the indoor cruise signal information.

[0012] As an optional implementation, in the first aspect of the present invention, the location correction instruction is used to instruct the target user to correct the location parameters of the target home device; before obtaining the location correction instruction sent by the target user, the method further includes:

[0013] Displaying a target device identifier of the target home device at a position corresponding to the preliminary position information of the indoor map information;

[0014] The indoor map information displayed with the target device identifier is pushed to the terminal corresponding to the target user for display.

[0015] As an optional embodiment, in the first aspect of the present invention, the location correction instruction is used to instruct the target user to correct the location parameters of other household devices except the target household device; and the correcting the preliminary location information according to the location correction instruction to obtain the indoor location information of the target household device includes:

[0016] Determining that the home device corresponding to the position correction instruction is a corrected home device;

[0017] Determining the corrected position information of the household device according to the position correction instruction;

[0018] According to the relative position rule between the modified home appliance and the target home appliance, and the modified position information of the modified home appliance, the preliminary position information is modified to obtain the indoor position information of the target home appliance.

[0019] As an optional implementation, in the first aspect of the present invention, after the preliminary location information is corrected according to the location correction instruction to obtain the indoor location information of the target household device, the method further includes:

[0020] Determine a working position rule of the target household appliance; the working position rule is used to indicate the position characteristics of the target household appliance when it is working;

[0021] Determining location characteristics corresponding to the indoor location information of the target home device;

[0022] Determining whether the indoor location information of the target home appliance is a reasonable location based on the location characteristics corresponding to the indoor location information of the target home appliance and the working location rule;

[0023] When the judgment result is no, a location anomaly prompt corresponding to the target home device is generated; the location anomaly prompt is used to prompt the target user to correct the indoor location information of the target home device.

[0024] As an optional implementation, in the first aspect of the present invention, after generating the abnormal location prompt corresponding to the target home device, the method further includes:

[0025] Acquire indoor cruise signal information of the target home device acquired by one or more second indoor cruise home devices other than the first indoor cruise home device;

[0026] Determining candidate location information of the corresponding target home device according to the indoor cruise signal information collected by each second indoor cruise home device;

[0027] Determine recommended location information from the candidate location information corresponding to all the second indoor cruise home devices; and push the recommended location information to the terminal corresponding to the target user for display.

[0028] As an optional embodiment, in the first aspect of the present invention, the number of the second indoor cruising home devices is greater than one, and determining the recommended candidate location information from the candidate location information corresponding to all the second indoor cruising home devices includes:

[0029] determining a historical indoor cruise route of each of the second indoor cruise home devices;

[0030] For any second indoor cruise home device, calculate the distance information between the historical indoor cruise route of the second indoor cruise home device and a set of candidate location information; the set of candidate location information includes the candidate location information corresponding to all the second indoor cruise home devices;

[0031] The candidate location information corresponding to the indoor cruising home device with the smallest distance information among all the second indoor cruising home devices is determined as the recommended candidate location information.

[0032] As an optional embodiment, in the first aspect of the present invention, the number of the second indoor cruising home devices is greater than one, and determining the recommended candidate location information from the candidate location information corresponding to all the second indoor cruising home devices includes:

[0033] Determining a historical location determination accuracy rate of each of the second indoor cruise home devices;

[0034] The candidate location information corresponding to the indoor cruise home device with the highest historical location determination accuracy among all the second indoor cruise home devices is determined as the recommended candidate location information.

[0035] A second aspect of the present invention discloses a device location determination apparatus based on an indoor map, the apparatus comprising:

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

[0037] a location determination module, configured to determine indoor cruise signal information of a target home appliance, and determine preliminary location information of the target home appliance based on the indoor cruise signal information;

[0038] A location correction module is used to obtain a location correction instruction sent by a target user, and to correct the preliminary location information according to the location correction instruction to obtain the indoor location information of the target home device; 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 location determination module determines the indoor cruise signal information of the target home device, and the specific method of determining the preliminary location information of the target home device based on the indoor cruise signal information includes:

[0040] Acquire indoor cruise signal information of a target home device collected by a first indoor cruise home device; the indoor cruise signal information includes multiple wireless signal data from the target home device collected at multiple collection locations in the target indoor area, and collection location information corresponding to each wireless signal data;

[0041] The preliminary location information of the target home appliance is determined based on the indoor cruise signal information.

[0042] As an optional embodiment, in the second aspect of the present invention, the location correction instruction is used to instruct the target user to correct the location parameters of the target home device; the device further includes a location display module, which is used to:

[0043] Displaying a target device identifier of the target home device at a position corresponding to the preliminary position information of the indoor map information;

[0044] The indoor map information displayed with the target device identifier is pushed to the terminal corresponding to the target user for display.

[0045] As an optional embodiment, in the second aspect of the present invention, the location correction instruction is used to instruct the target user to correct the location parameters of other household devices except the target household device; the specific manner in which the location correction module corrects the preliminary location information according to the location correction instruction to obtain the indoor location information of the target household device includes:

[0046] Determining that the home device corresponding to the position correction instruction is a corrected home device;

[0047] Determining the corrected position information of the household device according to the position correction instruction;

[0048] According to the relative position rule between the modified home appliance and the target home appliance, and the modified position information of the modified home appliance, the preliminary position information is modified to obtain the indoor position information of the target home appliance.

[0049] As an optional implementation, in the second aspect of the present invention, the device further includes a position determination module, configured to:

[0050] Determine a working position rule of the target household appliance; the working position rule is used to indicate the position characteristics of the target household appliance when it is working;

[0051] Determining location characteristics corresponding to the indoor location information of the target home device;

[0052] Determining whether the indoor location information of the target home appliance is a reasonable location based on the location characteristics corresponding to the indoor location information of the target home appliance and the working location rule;

[0053] When the judgment result is no, a location anomaly prompt corresponding to the target home device is generated; the location anomaly prompt is used to prompt the target user to correct the indoor location information of the target home device.

[0054] As an optional implementation manner, in the second aspect of the present invention, the apparatus further includes a candidate position determination module, configured to:

[0055] Acquire indoor cruise signal information of the target home device acquired by one or more second indoor cruise home devices other than the first indoor cruise home device;

[0056] Determining candidate location information of the corresponding target home device according to the indoor cruise signal information collected by each second indoor cruise home device;

[0057] Determine recommended location information from the candidate location information corresponding to all the second indoor cruise home devices; and push the recommended location information to the terminal corresponding to the target user for display.

[0058] As an optional embodiment, in the second aspect of the present invention, the number of the second indoor cruising home devices is greater than one, and the candidate location determination module determines a specific method of recommending the candidate location information from the candidate location information corresponding to all the second indoor cruising home devices, including:

[0059] determining a historical indoor cruise route of each of the second indoor cruise home devices;

[0060] For any second indoor cruise home device, calculate the distance information between the historical indoor cruise route of the second indoor cruise home device and a set of candidate location information; the set of candidate location information includes the candidate location information corresponding to all the second indoor cruise home devices;

[0061] The candidate location information corresponding to the indoor cruising home device with the smallest distance information among all the second indoor cruising home devices is determined as the recommended candidate location information.

[0062] As an optional embodiment, in the second aspect of the present invention, the number of the second indoor cruising home devices is greater than one, and the candidate location determination module determines a specific method of recommending the candidate location information from the candidate location information corresponding to all the second indoor cruising home devices, including:

[0063] Determining a historical location determination accuracy rate of each of the second indoor cruise home devices;

[0064] The candidate location information corresponding to the indoor cruise home device with the highest historical location determination accuracy among all the second indoor cruise home devices is determined as the recommended candidate location information.

[0065] A third aspect of the present invention discloses another device location determination apparatus based on an indoor map, the apparatus 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 device location determination method based on indoor map disclosed in the first aspect of the embodiment of the present invention.

[0069] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0070] In an embodiment of the present invention, indoor map information of a target indoor area is determined; indoor cruise signal information of a target home appliance is determined, and preliminary location information of the target home appliance is determined based on the indoor cruise signal information; a location correction instruction sent by a target user is obtained, and the preliminary location information is corrected based on the location correction instruction to obtain indoor location information of the target home appliance; 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 determine the preliminary location of a home appliance based on its indoor cruise signal information, and adjust its indoor location based on further corrections by the user, thereby achieving more accurate positioning of the home appliance, which is conducive to building a more accurate indoor home map, and further providing users with more convenient smart home services. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] 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.

[0072] Figure 1 This is a flow chart of a method for determining a device location based on an indoor map disclosed in an embodiment of the present invention;

[0073] Figure 2 This is a flow chart of another method for determining a device location based on an indoor map disclosed in an embodiment of the present invention;

[0074] Figure 3 This is a structural diagram of a device location determination apparatus based on an indoor map disclosed in an embodiment of the present invention;

[0075] Figure 4 1 is a schematic structural diagram of another device location determination apparatus based on indoor maps disclosed in an embodiment of the present invention;

[0076] Figure 5 This is a structural diagram of another device location determination apparatus based on indoor maps disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0077] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of 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. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0078] The terms "first," "second," and so on, in the description and claims of the present invention and the accompanying drawings are used to distinguish between different items, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or end comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed therein, or may optionally include other steps or elements inherent to such process, method, product, or end.

[0079] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0080] The present invention discloses a device location determination method and apparatus based on indoor maps. These methods can determine the preliminary location of household appliances based on their indoor cruise signal information and adjust their indoor positions based on further user corrections. This achieves more accurate positioning of household appliances, facilitates the construction of more accurate indoor home maps, and provides users with more convenient smart home services. These methods are described in detail below.

[0081] Example 1

[0082] See also Figure 1 , Figure 1 This is a flow chart of a method for determining the location of a device based on an indoor map disclosed in an embodiment of the present invention. Figure 1 The described method can be applied to a corresponding determination terminal, determination device or determination 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 device location determination method based on the indoor map may include the following operations:

[0083] 101. Determine indoor map information of the target indoor area.

[0084] 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.

[0085] In the embodiment of the present invention, the indoor map information may include one or both of an indoor planar map and an indoor three-dimensional map. Specifically, the indoor planar map may be a two-dimensional map of any two dimensions of the indoor area, which is not limited in the present invention.

[0086] 102. Determine indoor cruise signal information of the target home appliance, and determine preliminary location information of the target home appliance based on the indoor cruise signal information.

[0087] In the embodiment of the present invention, the indoor cruise signal information of the target household appliance may be collected by a corresponding indoor cruise device, which is used to indicate the signal parameter characteristics of the target household appliance collected at different locations.

[0088] 103. Obtain a location correction instruction sent by the target user, and correct the preliminary location information according to the location correction instruction to obtain indoor location information of the target home device.

[0089] In this embodiment of the present invention, indoor location information is used to indicate the location of the target household device within 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. Optionally, the location correction instruction sent by the target user can be used to correct the indoor location information of the target household device or the location of household devices other than the target household device.

[0090] It can be seen that the method described in the embodiment of the present invention can determine the preliminary position of the home appliance based on the indoor cruise signal information, and adjust its indoor position based on the user's further correction, thereby achieving more accurate positioning of the home appliance, which is conducive to building a more accurate indoor home map, and thus providing users with more convenient smart home services.

[0091] In an optional embodiment, determining the indoor map information of the target indoor area in step 101 includes:

[0092] Obtain indoor scene data of the target indoor area collected by the indoor cruise home device;

[0093] Collect data based on indoor scenes and determine indoor map information of the target indoor area.

[0094] In the embodiment of the present invention, the indoor scene collected data may include one or more of electromagnetic wave reflection data, image data, and video data.

[0095] 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.

[0096] In an optional embodiment, in the above step, determining indoor map information of the target indoor area based on the indoor scene collected data includes:

[0097] Determine the indoor three-dimensional scene model of the target indoor area based on the indoor scene collection data;

[0098] Determine the indoor map information of the target indoor area based on the indoor 3D scene model.

[0099] 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 then be reconstructed into an indoor three-dimensional scene model through a three-dimensional reconstruction algorithm and a contour recognition algorithm.

[0100] Optionally, the indoor scene acquisition data may also be electromagnetic wave acquisition data, such as light reflection data or infrared reflection data. This type of electromagnetic wave acquisition data can be collected by a dedicated sensor module installed on the indoor cruise home device, and a positioning algorithm or a ranging algorithm can be used to calculate the indoor three-dimensional scene model of the target indoor area. For example, a light sensor can be used to emit light waves to the surrounding area, and the indoor three-dimensional scene model of the target indoor area can be reconstructed based on the depth information fed back by the returned light. For another example, an infrared sensor can be used to emit infrared waves to the surrounding area, and the indoor three-dimensional scene model of the target indoor area can be reconstructed based on the depth information fed back by the infrared reflection data.

[0101] 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.

[0102] 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 appliances and improving the user's life experience.

[0103] In an optional embodiment, in step 102, determining the indoor cruise signal information of the target home device and determining the preliminary location information of the target home device based on the indoor cruise signal information includes:

[0104] Acquire indoor cruise signal information of a target home appliance collected by a first indoor cruise home appliance;

[0105] Based on the indoor cruise signal information, the preliminary location information of the target home device is determined.

[0106] Optionally, the indoor cruise signal information includes multiple wireless signal data from the target home device collected at multiple collection locations in the target indoor area, and collection location information corresponding to each wireless signal data.

[0107] Optionally, the wireless signal data can be collected by a collection device on the first indoor cruise home device, and the collected location information can be obtained by a positioning device built into the first indoor cruise home device. By utilizing both the collection device and the positioning device installed on the first indoor cruise home device, the wireless signal data and the collected location information can be directly obtained for subsequent data processing.

[0108] In embodiments of the present invention, the indoor patrol home appliance may be an indoor patrol cleaning appliance, such as a sweeper, mop, or disinfectant, or an indoor patrol monitoring appliance, such as a movable surveillance camera, without limitation. Optionally, the collected location information may include one or both of two-dimensional and three-dimensional location coordinates.

[0109] Optionally, the target home device may include one or more home devices. In this case, the indoor cruise home device can simultaneously acquire wireless signal data emitted by multiple home devices and obtain the real-time location coordinates at the time of acquisition and bind them to the acquired 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, but the present invention does not limit this.

[0110] Optionally, the wireless signal data may include Bluetooth signal data, GPS signal data, Wi-Fi 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 transmitted from a household appliance may include a signal identifier for verifying the household appliance, so that the device collecting the wireless signal data can identify the device source of the wireless signal data, i.e., the household appliance.

[0111] It can be seen that the implementation of this optional implementation method can effectively utilize the cruising characteristics of indoor cruising home appliances to collect wireless signals of home appliances, and perform preliminary positioning of home appliances by analyzing wireless signal data, thereby achieving the effect of more accurate and intelligent positioning of home appliances.

[0112] In an optional embodiment, in the above step, determining the preliminary location information of the target home device based on the indoor cruise signal information includes:

[0113] At least two wireless signal data sets are selected from the plurality of wireless signal data.

[0114] Calculate a virtual perpendicular midline set corresponding to each wireless signal data set.

[0115] The preliminary position information of the target home device is determined according to the intersection of all virtual perpendicular median lines included in the set of all virtual perpendicular median lines.

[0116] 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.

[0117] Optionally, the similar signal strength condition described in the present invention can be used to refer to the difference between the signal strengths of multiple compared wireless signal data being 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 does not limit it.

[0118] 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 the multiple wireless signal data of the target home device. This setting is based on the assumption that, under ideal conditions without obstructions, the wireless signal propagation of the target home device is in the shape of concentric rings, and in the concentric ring shape, the signal strengths of multiple points with the same distance from the center (that is, the location of the target home device) are also the same. This assumption is consistent with the general free space propagation model and should therefore be considered credible. Then, in the multiple wireless signal data sets screened out above, 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.

[0119] Because the present invention does not exclude the use of three-dimensional position coordinates, the wireless signal propagation patterns of target household devices described herein can also be considered to satisfy a multi-layered nested concentric sphere shape. The acquisition points corresponding to the wireless signal data in each wireless signal data set should be considered to be located on the same sphere within this concentric sphere shape, while the acquisition points corresponding to the wireless signal data in different wireless signal data sets should be located on different concentric spheres. This is the law of extrapolating two-dimensional space to three-dimensional space and will not be further elaborated here.

[0120] In an embodiment of the present invention, the virtual median set includes a virtual median that is a virtual connection between the collection location information of any two wireless signal data in the wireless signal data set. Optionally, the virtual median 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 set only includes a virtual median that is 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 set includes multiple virtual connection lines between the collection location information of multiple wireless signal data, and multiple virtual median lines that are connected in pairs.

[0121] In an embodiment of the present invention, based on the above-mentioned description of the assumptions underlying the positioning principle, it can be seen that the collection points corresponding to the wireless signal data in each wireless signal data set are on the same ring of the concentric ring shape of the signal propagation, or on the same sphere of the concentric nested sphere shape. Then, based on the virtual perpendicular bisector calculated from the virtual connecting lines between the collection points, it can be seen from the principles 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 location of the target household device. Therefore, the intersection of at least two virtual perpendicular bisectors corresponding to at least two wireless signal data sets can determine the location of the center of the circle or the center of the sphere, that is, the location of the target household device. Accordingly, the virtual perpendicular bisector or virtual connecting line can be a two-dimensional spatial line or a three-dimensional spatial line, which is not limited here.

[0122] It can be seen that the implementation of this optional implementation method can determine the preliminary location information of the target home appliance based on the intersection 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.

[0123] Optionally, in an optional embodiment, in the above step, determining the preliminary location information of the target household device according to the intersection of all virtual perpendicular medians included in the set of all virtual perpendicular medians includes:

[0124] The intersection points of all virtual perpendicular medians included in the set of all virtual perpendicular medians are calculated. When the number of the intersection point is one, the position information of the intersection point is determined as the preliminary position information of the target home device.

[0125] Optionally, in another optional embodiment, in the above step, determining the preliminary location information of the target household device according to the intersection of all virtual perpendicular medians included in the set of all virtual perpendicular medians includes:

[0126] Calculate the intersection points of all virtual perpendicular bisectors included in the set of all virtual perpendicular bisectors;

[0127] When there are multiple intersection points, calculate the geometric center position information of all intersection points;

[0128] The geometric center position information is determined as the preliminary position information of the target home device.

[0129] Optionally, in yet another optional embodiment, in the above step, screening out at least two wireless signal data sets from the plurality of wireless signal data includes:

[0130] Sort the plurality of wireless signal data by signal strength from high to low to obtain a wireless signal data sequence;

[0131] Determining a first preset number of wireless signal data in the wireless signal data sequence as a candidate wireless signal data set;

[0132] At least two wireless signal data sets are screened out from the candidate wireless signal data sets.

[0133] In an optional embodiment, the location correction instruction is used to instruct the target user to correct the location parameters of the target home device; before obtaining the location correction instruction sent by the target user in step 103, the method further includes the following steps:

[0134] Displaying a target device identifier of the target home device at a position corresponding to the preliminary position information of the indoor map information;

[0135] The indoor map information with the target device identification is pushed to the terminal corresponding to the target user for display.

[0136] Optionally, the indoor map information pushed can be a virtual visualization map, including multiple device identifiers, where the target device identifier is displayed at the location corresponding to its preliminary location information. Optionally, the terminal corresponding to the target user can be a display terminal, mobile phone, laptop, smart watch, or other terminal device.

[0137] It can be seen that the implementation of this optional implementation method can push the indoor map information displaying the target device identification to the terminal corresponding to the target user for display, so that the user can fully understand the preliminary location information of the determined target home device, and thus can obtain the position correction instruction issued by the user when the user believes that there is a problem with the preliminary location of the target home device, which is conducive to achieving more accurate positioning of the home device.

[0138] In an optional embodiment, the location correction instruction is used to instruct the target user to correct the location parameters of other household devices except the target household device; in step 103, correcting the preliminary location information according to the location correction instruction to obtain the indoor location information of the target household device includes:

[0139] Determine that the home device corresponding to the position correction instruction is the corrected home device;

[0140] Determine the corrected position information of the home device according to the position correction instruction;

[0141] According to the relative position rule between the corrected home appliance and the target home appliance, and the corrected position information of the corrected home appliance, the preliminary position information is corrected to obtain the indoor position information of the target home appliance.

[0142] Optionally, determining the corrected position information of the home device according to the position correction instruction may specifically include the following steps:

[0143] Get and correct the current location information of home devices;

[0144] The current location information may be determined by referring to the method for determining the preliminary location information, or may be a location obtained by positioning in other ways;

[0145] The current location information is corrected according to the location correction instruction to obtain the corrected location information of the home appliance.

[0146] Optionally, the above-mentioned relative position rule can be a pre-set position rule between two or more types of household appliances. Optionally, the position rule can be a position distance rule, for example, the position of a certain type of household appliance and the position of another type of household appliance need to meet a preset distance condition, such as the preset distance between the radio device and the audio line device to prevent noise, for example, the preset distance between the shower device and the washing device must be met to meet the situation of simultaneous use, for example, the lighting device and the TV device should meet the preset distance to avoid the problem of reflection on the TV screen. Optionally, the position rule can also be a position orientation rule, for example, the exhaust direction of the exhaust fan device installed in the toilet should not be aimed at other indoor areas, so it should not be set at the boundary between the toilet area and other indoor areas.

[0147] Optionally, the preliminary location information is corrected to obtain the indoor location information of the target home device according to the relative position rule between the corrected home device and the target home device, and the corrected location information of the corrected home device, which can be:

[0148] Exhaustively modify the preliminary location information to obtain several possible location information of the target home device that can meet the relative location rule;

[0149] Determine the indoor location information of the target home device based on several possible location information.

[0150] When the number of possible location information is 1, the possible location information is determined as the indoor location information. When the number of possible location information is greater than 1, multiple possible location information are pushed to the user's terminal for display, and a user selection instruction is received to determine the indoor location information. The user selection instruction is used to instruct the user to select a certain possible location information as the indoor location information.

[0151] It can be seen that the implementation of this optional implementation method can determine the corrected position information of the home appliance according to the position correction instruction, and correct the preliminary position information according to the relative position rule and the corrected position information, so as to take into account the position relationship between multiple home appliances, and use the position correction of one of the user's other home appliances to correspond to the indoor position information of the target home appliance, which is conducive to achieving more accurate positioning of home appliances.

[0152] Example 2

[0153] See also Figure 2 , Figure 2 This is a flow chart of another method for determining the location of a device based on an indoor map disclosed in an embodiment of the present invention. Figure 2 The described method is applied to a corresponding determination terminal, determination device or determination 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 2 As shown, the device location determination method based on the indoor map may include the following operations:

[0154] 201. Determine indoor map information of a target indoor area.

[0155] 202. Determine indoor cruise signal information of the target home appliance, and determine preliminary location information of the target home appliance based on the indoor cruise signal information.

[0156] 203. Obtain a location correction instruction sent by the target user, and correct the preliminary location information according to the location correction instruction to obtain indoor location information of the target home device.

[0157] In the embodiment of the present invention, the specific technical details and technical terminology of steps 201-203 can be referred to the description of steps 101-103 in the first embodiment, and will not be repeated here.

[0158] 204. Determine the working location rules of the target home appliance.

[0159] In an embodiment of the present invention, the working position rules are used to indicate the position characteristics of the target household appliance when it is working. For example, a sweeping robot works on the ground and cannot reach above high-position household appliances such as tables or sofas, or the target household appliance is set to have a working area that should not be entered. For example, a monitoring robot is generally set not to monitor private space areas such as the bathroom.

[0160] 205. Determine the location characteristics corresponding to the indoor location information of the target home appliance.

[0161] 206. Determine whether the indoor location information of the target home appliance is a reasonable location based on the location characteristics corresponding to the indoor location information of the target home appliance and the working location rules.

[0162] In an embodiment of the present invention, whether the indoor location information of the target household appliance is a reasonable location is determined by determining whether the location characteristics corresponding to the indoor location information of the target household appliance conform to the working location rules of the target household appliance. For example, if a sweeping robot is determined to be above a sofa, or a monitoring robot is determined to be set in a bathroom, the indoor location information of the target household appliance may be considered unreasonable.

[0163] 207. When the judgment result is no, generate a location abnormality prompt corresponding to the target home device.

[0164] In the embodiment of the present invention, the location anomaly prompt is used to prompt the target user to correct the indoor location information of the target home device.

[0165] It can be seen that the embodiments of the present invention can judge whether the indoor location information of the target home appliance is reasonable based on the location characteristics corresponding to the indoor location information and the working location rules of the target home appliance, and generate a prompt when it is unreasonable, thereby combining the working rules of the target home appliance to further judge its location information, which is conducive to achieving more accurate positioning of the home appliance.

[0166] In an optional embodiment, after step 207, the method may further include:

[0167] Acquire indoor cruise signal information of a target home device acquired by one or more second indoor cruise home devices other than the first indoor cruise home device;

[0168] Determine candidate location information of the corresponding target home device based on the indoor cruise signal information collected by each second indoor cruise home device;

[0169] Recommended position information to be selected is determined from the candidate position information corresponding to all second indoor cruise home devices, wherein the recommended position information to be selected is used to be pushed to a terminal corresponding to a target user for display.

[0170] Optionally, the method for determining the candidate location information of the corresponding target home device based on the indoor cruise signal information collected by each second indoor cruise home device can refer to the specific implementation method of determining the preliminary location information of the target home device based on the indoor cruise signal information disclosed in Example 1, which will not be repeated here.

[0171] It can be seen that by implementing this optional implementation method, the recommended candidate location information can be determined from the candidate location information corresponding to all second indoor cruise home devices, thereby taking into account the differences between the positioning accuracy of multiple different indoor cruise home devices, and using the positioning results of the candidate indoor cruise home devices to correct the location information of the target device to achieve a more accurate positioning effect.

[0172] In an optional embodiment, the number of the second indoor cruising home devices is greater than one, and in the above step, determining the recommended candidate location information from the candidate location information corresponding to all the second indoor cruising home devices includes:

[0173] determining a historical indoor cruise route for each second indoor cruise home device;

[0174] For any second indoor cruise home device, calculate the distance information between the historical indoor cruise route of the second indoor cruise home device and the candidate location information set, wherein the candidate location information set includes the candidate location information corresponding to all second indoor cruise home devices;

[0175] The candidate location information corresponding to the indoor cruise home device with the smallest distance information among all the second indoor cruise home devices is determined as the recommended candidate location information.

[0176] Optionally, the distance information may be the sum / average / median of the nearest vertical distances between all candidate location information included in the candidate location information set and the historical indoor cruise route, which may be used to indicate the proximity information between the historical indoor cruise route and multiple candidate location information. Since the positioning effect based on the signal positioning principle is related to the distance between the positioning device and the device to be positioned, this distance information may be used to characterize the positioning accuracy of different second indoor cruise home devices.

[0177] It can be seen that by implementing this optional implementation method, the candidate location information corresponding to the indoor cruise home device with the smallest distance information among all the second indoor cruise home devices can be determined as the recommended candidate location information, so as to determine the device with the highest possibility of accurate positioning based on the cruise route of the indoor cruise home device, and then determine the location information with a higher possibility of accuracy, so as to achieve a more accurate positioning effect.

[0178] In an optional embodiment, the number of the second indoor cruising home devices is greater than one, and in the above step, determining the recommended candidate location information from the candidate location information corresponding to all the second indoor cruising home devices includes:

[0179] Determine the historical location accuracy of each second indoor cruise home device;

[0180] The candidate location information corresponding to the indoor cruise home device with the highest historical location determination accuracy among all the second indoor cruise home devices is determined as the recommended candidate location information.

[0181] Optionally, the accuracy of historical location determination can be determined through cross-validation, for example, by obtaining the historical positioning information of the second indoor cruise home device and cross-validating its accuracy using the positioning information of other devices that performed positioning during the same period. Optionally, the accuracy of historical location determination can be determined by user selection, for example, by obtaining the number of times the historical location information of the second indoor cruise home device was selected as the corrected location by the user, and using this number to represent the historical location determination accuracy of the device.

[0182] It can be seen that by implementing this optional implementation method, the candidate location information corresponding to the indoor cruise home device with the highest historical location determination accuracy among all second indoor cruise home devices can be determined as the recommended candidate location information, thereby determining the device with the highest possibility of accurate positioning based on the historical location determination accuracy of the indoor cruise home device, and then determining location information with a higher possibility of accuracy to achieve a more accurate positioning effect.

[0183] Example 3

[0184] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a device location determination apparatus based on an indoor map disclosed in an embodiment of the present invention. Figure 3 The described apparatus can be applied to a corresponding determination terminal, determination device or determination 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:

[0185] The map determination module 301 is used to determine indoor map information of the target indoor area.

[0186] 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.

[0187] In the embodiment of the present invention, the indoor map information may include one or both of an indoor planar map and an indoor three-dimensional map. Specifically, the indoor planar map may be a two-dimensional map of any two dimensions of the indoor area, which is not limited in the present invention.

[0188] The location determination module 302 is configured to determine the indoor cruise signal information of the target home appliance and determine the preliminary location information of the target home appliance based on the indoor cruise signal information.

[0189] In the embodiment of the present invention, the indoor cruise signal information of the target household appliance may be collected by a corresponding indoor cruise device, which is used to indicate the signal parameter characteristics of the target household appliance collected at different locations.

[0190] The location correction module 303 is used to obtain a location correction instruction sent by the target user, and correct the preliminary location information according to the location correction instruction to obtain the indoor location information of the target home device.

[0191] In this embodiment of the present invention, indoor location information is used to indicate the location of the target household device within 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. Optionally, the location correction instruction sent by the target user can be used to correct the indoor location information of the target household device or the location of household devices other than the target household device.

[0192] In an optional embodiment, the specific manner in which the map determination module 301 determines the indoor map information of the target indoor area includes:

[0193] Obtain indoor scene data of the target indoor area collected by the indoor cruise home device;

[0194] Collect data based on indoor scenes and determine indoor map information of the target indoor area.

[0195] In the embodiment of the present invention, the indoor scene collected data may include one or more of electromagnetic wave reflection data, image data, and video data.

[0196] In an optional embodiment, the above-mentioned collecting data based on the indoor scene to determine the indoor map information of the target indoor area includes:

[0197] Determine the indoor three-dimensional scene model of the target indoor area based on the indoor scene collection data;

[0198] Determine the indoor map information of the target indoor area based on the indoor 3D scene model.

[0199] 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 then be reconstructed into an indoor three-dimensional scene model through a three-dimensional reconstruction algorithm and a contour recognition algorithm.

[0200] Optionally, the indoor scene acquisition data may also be electromagnetic wave acquisition data, such as light reflection data or infrared reflection data. This type of electromagnetic wave acquisition data can be collected by a dedicated sensor module installed on the indoor cruise home device, and a positioning algorithm or a ranging algorithm can be used to calculate the indoor three-dimensional scene model of the target indoor area. For example, a light sensor can be used to emit light waves to the surrounding area, and the indoor three-dimensional scene model of the target indoor area can be reconstructed based on the depth information fed back by the returned light. For another example, an infrared sensor can be used to emit infrared waves to the surrounding area, and the indoor three-dimensional scene model of the target indoor area can be reconstructed based on the depth information fed back by the infrared reflection data.

[0201] 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.

[0202] As an optional implementation, the location determination module 302 determines the indoor cruise signal information of the target home device. The specific method of determining the preliminary location information of the target home device based on the indoor cruise signal information includes:

[0203] Acquire indoor cruise signal information of a target home appliance collected by a first indoor cruise home appliance;

[0204] Based on the indoor cruise signal information, the preliminary location information of the target home device is determined.

[0205] Optionally, the indoor cruise signal information includes multiple wireless signal data from the target home device collected at multiple collection locations in the target indoor area, and collection location information corresponding to each wireless signal data.

[0206] Optionally, the wireless signal data can be collected by a collection device on the first indoor cruise home device, and the collected location information can be obtained by a positioning device built into the first indoor cruise home device. By utilizing both the collection device and the positioning device installed on the first indoor cruise home device, the wireless signal data and the collected location information can be directly obtained for subsequent data processing.

[0207] In embodiments of the present invention, the indoor patrol home appliance may be an indoor patrol cleaning appliance, such as a sweeper, mop, or disinfectant, or an indoor patrol monitoring appliance, such as a movable surveillance camera, without limitation. Optionally, the collected location information may include one or both of two-dimensional and three-dimensional location coordinates.

[0208] Optionally, the target home device may include one or more home devices. In this case, the indoor cruise home device can simultaneously acquire wireless signal data emitted by multiple home devices and obtain the real-time location coordinates at the time of acquisition and bind them to the acquired 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, but the present invention does not limit this.

[0209] Optionally, the wireless signal data may include Bluetooth signal data, GPS signal data, Wi-Fi 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 transmitted from a household appliance may include a signal identifier for verifying the household appliance, so that the device collecting the wireless signal data can identify the device source of the wireless signal data, i.e., the household appliance.

[0210] In an optional embodiment, the above-mentioned determining the preliminary location information of the target home device based on the indoor cruise signal information includes:

[0211] At least two wireless signal data sets are selected from the plurality of wireless signal data.

[0212] Calculate a virtual perpendicular midline set corresponding to each wireless signal data set.

[0213] The preliminary position information of the target home device is determined according to the intersection of all virtual perpendicular median lines included in the set of all virtual perpendicular median lines.

[0214] 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.

[0215] Optionally, the similar signal strength condition described in the present invention can be used to refer to the difference between the signal strengths of multiple compared wireless signal data being 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 does not limit it.

[0216] 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 the multiple wireless signal data of the target home device. This setting is based on the assumption that, under ideal conditions without obstructions, the wireless signal propagation of the target home device is in the shape of concentric rings, and in the concentric ring shape, the signal strengths of multiple points with the same distance from the center (that is, the location of the target home device) are also the same. This assumption is consistent with the general free space propagation model and should therefore be considered credible. Then, in the multiple wireless signal data sets screened out above, 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.

[0217] Because the present invention does not exclude the use of three-dimensional position coordinates, the wireless signal propagation patterns of target household devices described herein can also be considered to satisfy a multi-layered nested concentric sphere shape. The acquisition points corresponding to the wireless signal data in each wireless signal data set should be considered to be located on the same sphere within this concentric sphere shape, while the acquisition points corresponding to the wireless signal data in different wireless signal data sets should be located on different concentric spheres. This is the law of extrapolating two-dimensional space to three-dimensional space and will not be further elaborated here.

[0218] In an embodiment of the present invention, the virtual median set includes a virtual median that is a virtual connection between the collection location information of any two wireless signal data in the wireless signal data set. Optionally, the virtual median 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 set only includes a virtual median that is 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 set includes multiple virtual connection lines between the collection location information of multiple wireless signal data, and multiple virtual median lines that are connected in pairs.

[0219] In an embodiment of the present invention, based on the above-mentioned description of the assumptions underlying the positioning principle, it can be seen that the collection points corresponding to the wireless signal data in each wireless signal data set are on the same ring of the concentric ring shape of the signal propagation, or on the same sphere of the concentric nested sphere shape. Then, based on the virtual perpendicular bisector calculated from the virtual connecting lines between the collection points, it can be seen from the principles 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 location of the target household device. Therefore, the intersection of at least two virtual perpendicular bisectors corresponding to at least two wireless signal data sets can determine the location of the center of the circle or the center of the sphere, that is, the location of the target household device. Accordingly, the virtual perpendicular bisector or virtual connecting line can be a two-dimensional spatial line or a three-dimensional spatial line, which is not limited here.

[0220] Optionally, in an optional embodiment, determining the preliminary location information of the target household device according to the intersection of all virtual perpendicular medians included in the set of all virtual perpendicular medians includes:

[0221] The intersection points of all virtual perpendicular medians included in the set of all virtual perpendicular medians are calculated. When the number of the intersection point is one, the position information of the intersection point is determined as the preliminary position information of the target home device.

[0222] Optionally, in another optional embodiment, determining the preliminary location information of the target household device based on the intersection of all virtual perpendicular medians included in the set of all virtual perpendicular medians includes:

[0223] Calculate the intersection points of all virtual perpendicular bisectors included in the set of all virtual perpendicular bisectors;

[0224] When there are multiple intersection points, calculate the geometric center position information of all intersection points;

[0225] The geometric center position information is determined as the preliminary position information of the target home device.

[0226] Optionally, in yet another optional embodiment, the step of filtering out at least two wireless signal data sets from the plurality of wireless signal data includes:

[0227] Sort the plurality of wireless signal data by signal strength from high to low to obtain a wireless signal data sequence;

[0228] Determining a first preset number of wireless signal data in the wireless signal data sequence as a candidate wireless signal data set;

[0229] At least two wireless signal data sets are screened out from the candidate wireless signal data sets.

[0230] As an optional implementation, the location correction instruction is used to instruct the target user to correct the location parameters of the target home device; Figure 4 As shown, the device also includes a location display module 304, which is used to display the target device identifier of the target home device at a position corresponding to the preliminary location information of the indoor map information, and push the indoor map information displayed with the target device identifier to the terminal corresponding to the target user for display.

[0231] Optionally, the indoor map information pushed can be a virtual visualization map, including multiple device identifiers, where the target device identifier is displayed at the location corresponding to its preliminary location information. Optionally, the terminal corresponding to the target user can be a display terminal, mobile phone, laptop, smart watch, or other terminal device.

[0232] As an optional implementation, the location correction instruction is used to instruct the target user to correct the location parameters of other household devices except the target household device; the specific manner in which the location correction module 303 corrects the preliminary location information according to the location correction instruction to obtain the indoor location information of the target household device includes:

[0233] Determine that the home device corresponding to the position correction instruction is the corrected home device;

[0234] Determine the corrected position information of the home device according to the position correction instruction;

[0235] According to the relative position rule between the corrected home appliance and the target home appliance, and the corrected position information of the corrected home appliance, the preliminary position information is corrected to obtain the indoor position information of the target home appliance.

[0236] Optionally, determining the corrected position information of the home device according to the position correction instruction may specifically include the following steps:

[0237] Get and correct the current location information of home devices;

[0238] The current location information may be determined by referring to the method for determining the preliminary location information, or may be a location obtained by positioning in other ways;

[0239] The current location information is corrected according to the location correction instruction to obtain the corrected location information of the home appliance.

[0240] Optionally, the above-mentioned relative position rule can be a pre-set position rule between two or more types of household appliances. Optionally, the position rule can be a position distance rule, for example, the position of a certain type of household appliance and the position of another type of household appliance need to meet a preset distance condition, such as the preset distance between the radio device and the audio line device to prevent noise, for example, the preset distance between the shower device and the washing device must be met to meet the situation of simultaneous use, for example, the lighting device and the TV device should meet the preset distance to avoid the problem of reflection on the TV screen. Optionally, the position rule can also be a position orientation rule, for example, the exhaust direction of the exhaust fan device installed in the toilet should not be aimed at other indoor areas, so it should not be set at the boundary between the toilet area and other indoor areas.

[0241] Optionally, the preliminary location information is corrected to obtain the indoor location information of the target home device according to the relative position rule between the corrected home device and the target home device, and the corrected location information of the corrected home device, which can be:

[0242] Exhaustively modify the preliminary location information to obtain several possible location information of the target home device that can meet the relative location rule;

[0243] Determine the indoor location information of the target home device based on several possible location information.

[0244] When the number of possible location information is 1, the possible location information is determined as the indoor location information. When the number of possible location information is greater than 1, multiple possible location information are pushed to the user's terminal for display, and a user selection instruction is received to determine the indoor location information. The user selection instruction is used to instruct the user to select a certain possible location information as the indoor location information.

[0245] As an optional implementation, Figure 4 As shown, the device further includes a position determination module 305, which is used to:

[0246] Determine the operating location rules for target home devices;

[0247] Determine the location characteristics corresponding to the indoor location information of the target home device;

[0248] Determine whether the indoor location information of the target home device is a reasonable location based on the location characteristics corresponding to the indoor location information of the target home device and the working location rules;

[0249] When the judgment result is no, a location anomaly prompt corresponding to the target home device is generated; the location anomaly prompt is used to prompt the target user to correct the indoor location information of the target home device.

[0250] In an embodiment of the present invention, the working position rules are used to indicate the position characteristics of the target household appliance when it is working. For example, a sweeping robot works on the ground and cannot reach above high-position household appliances such as tables or sofas, or the target household appliance is set to have a working area that should not be entered. For example, a monitoring robot is generally set not to monitor private space areas such as the bathroom.

[0251] In an embodiment of the present invention, whether the indoor location information of the target household appliance is a reasonable location is determined by determining whether the location characteristics corresponding to the indoor location information of the target household appliance conform to the working location rules of the target household appliance. For example, if a sweeping robot is determined to be above a sofa, or a monitoring robot is determined to be set in a bathroom, the indoor location information of the target household appliance may be considered unreasonable.

[0252] As an optional implementation, Figure 4 As shown, the apparatus further includes a candidate location determination module 306, configured to:

[0253] Acquire indoor cruise signal information of a target home device acquired by one or more second indoor cruise home devices other than the first indoor cruise home device;

[0254] Determine candidate location information of the corresponding target home device based on the indoor cruise signal information collected by each second indoor cruise home device;

[0255] Determine recommended candidate location information from the candidate location information corresponding to all second indoor cruise home devices; and push the recommended candidate location information to a terminal corresponding to a target user for display.

[0256] Optionally, the method for determining the candidate location information of the corresponding target home device based on the indoor cruise signal information collected by each second indoor cruise home device can refer to the specific implementation method of determining the preliminary location information of the target home device based on the indoor cruise signal information disclosed in Example 1, which will not be repeated here.

[0257] As an optional implementation, the number of second indoor cruising home devices is greater than one, and the candidate location determination module 306 determines a specific method of recommending candidate location information from the candidate location information corresponding to all second indoor cruising home devices, including:

[0258] determining a historical indoor cruise route for each second indoor cruise home device;

[0259] For any second indoor cruise home device, calculate the distance information between the historical indoor cruise route of the second indoor cruise home device and the candidate location information set; the candidate location information set includes the candidate location information corresponding to all second indoor cruise home devices;

[0260] The candidate location information corresponding to the indoor cruise home device with the smallest distance information among all the second indoor cruise home devices is determined as the recommended candidate location information.

[0261] Optionally, the distance information may be the sum / average / median of the nearest vertical distances between all candidate location information included in the candidate location information set and the historical indoor cruise route, which may be used to indicate the proximity information between the historical indoor cruise route and multiple candidate location information. Since the positioning effect based on the signal positioning principle is related to the distance between the positioning device and the device to be positioned, this distance information may be used to characterize the positioning accuracy of different second indoor cruise home devices.

[0262] As an optional implementation, the number of second indoor cruising home devices is greater than one, and the candidate location determination module 306 determines a specific method of recommending candidate location information from the candidate location information corresponding to all second indoor cruising home devices, including:

[0263] Determine the historical location accuracy of each second indoor cruise home device;

[0264] The candidate location information corresponding to the indoor cruise home device with the highest historical location determination accuracy among all the second indoor cruise home devices is determined as the recommended candidate location information.

[0265] Optionally, the accuracy of historical location determination can be determined through cross-validation, for example, by obtaining the historical positioning information of the second indoor cruise home device and cross-validating its accuracy using the positioning information of other devices that performed positioning during the same period. Optionally, the accuracy of historical location determination can be determined by user selection, for example, by obtaining the number of times the historical location information of the second indoor cruise home device was selected as the corrected location by the user, and using this number to represent the historical location determination accuracy of the device.

[0266] Example 4

[0267] See also Figure 5 , Figure 5 This is a structural diagram of another device location determination apparatus based on indoor maps disclosed in an embodiment of the present invention. Figure 5 As shown, the device may include:

[0268] A memory 401 storing executable program code;

[0269] a processor 402 coupled to the memory 401;

[0270] The processor 402 calls the executable program code stored in the memory 401 to execute part or all of the steps in the device location determination method based on the indoor map disclosed in the first or second embodiment of the present invention.

[0271] Example 5

[0272] An embodiment of the present invention discloses a computer storage medium storing computer instructions. When the computer instructions are called, they are used to execute some or all of the steps in the device location determination method based on indoor maps disclosed in Embodiment 1 or Embodiment 2 of the present invention.

[0273] The device embodiments described above are merely illustrative, wherein the modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Those skilled in the art can understand and implement the present invention without inventive effort.

[0274] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus the necessary general hardware platform, or of course, by means of hardware. Based on this understanding, the above technical solution, in essence, or the portion that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, including 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 programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0275] Finally, it should be noted that the method and apparatus for determining the location of a device based on an indoor map disclosed in the embodiments of the present invention are only preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, rather than to limit them. 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 may still be modified, or some of the technical features thereof may 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 method for determining device location based on indoor maps, characterized in that: The method comprises: Determine indoor map information of the target indoor area; Determine indoor cruise signal information of a target home appliance, and determine preliminary location information of the target home appliance based on the indoor cruise signal information; Obtaining a location correction instruction sent by a target user, and correcting the preliminary location information according to the location correction instruction to obtain indoor location information of the target home device; the indoor location information is used to indicate the location of the target home device in the indoor map information; Determining a working location rule for the target home appliance, the working location rule being used to indicate the location characteristics of the target home appliance when in operation; determining the location characteristics corresponding to the indoor location information of the target home appliance; judging whether the indoor location information of the target home appliance is a reasonable location based on the location characteristics corresponding to the indoor location information of the target home appliance and the working location rule; and generating a location anomaly prompt corresponding to the target home appliance when the judgment result is negative; the location anomaly prompt being used to prompt the target user to correct the indoor location information of the target home appliance; Obtain indoor cruise signal information of the target home device obtained by one or more second indoor cruise home devices other than the first indoor cruise home device; determine candidate location information of the corresponding target home device based on the indoor cruise signal information collected by each second indoor cruise home device; determine recommended candidate location information from the candidate location information corresponding to all the second indoor cruise home devices; the recommended candidate location information is used to be pushed to the terminal corresponding to the target user for display.

2. The device location determination method based on indoor map according to claim 1, characterized in that: The step of determining the indoor cruise signal information of the target home appliance and determining the preliminary location information of the target home appliance based on the indoor cruise signal information includes: Acquire indoor cruise signal information of a target home device collected by a first indoor cruise home device; the indoor cruise signal information includes multiple wireless signal data from the target home device collected at multiple collection locations in the target indoor area, and collection location information corresponding to each wireless signal data; The preliminary location information of the target home appliance is determined based on the indoor cruise signal information.

3. The device location determination method based on indoor map according to claim 1, characterized in that: The position correction instruction is used to instruct the target user to correct the position parameters of the target home device; Before obtaining the location correction instruction sent by the target user, the method further includes: Displaying a target device identifier of the target home device at a position corresponding to the preliminary position information of the indoor map information; The indoor map information displayed with the target device identifier is pushed to the terminal corresponding to the target user for display.

4. The device location determination method based on indoor map according to claim 1, characterized in that: The position correction instruction is used to instruct the target user to correct the position parameters of other household devices except the target household device; and the correcting the preliminary position information according to the position correction instruction to obtain the indoor position information of the target household device includes: Determining that the home device corresponding to the position correction instruction is a corrected home device; Determining the corrected position information of the household device according to the position correction instruction; According to the relative position rule between the modified home appliance and the target home appliance, and the modified position information of the modified home appliance, the preliminary position information is modified to obtain the indoor position information of the target home appliance.

5. The method for determining device location based on indoor map according to claim 1, characterized in that: The number of the second indoor cruise home devices is greater than 1, and determining the recommended candidate location information from the candidate location information corresponding to all the second indoor cruise home devices includes: determining a historical indoor cruise route of each of the second indoor cruise home devices; For any second indoor cruise home device, calculate the distance information between the historical indoor cruise route of the second indoor cruise home device and a set of candidate location information; the set of candidate location information includes the candidate location information corresponding to all the second indoor cruise home devices; The candidate location information corresponding to the indoor cruising home device with the smallest distance information among all the second indoor cruising home devices is determined as the recommended candidate location information.

6. The method for determining device location based on indoor map according to claim 1, characterized in that: The number of the second indoor cruise home devices is greater than 1, and determining the recommended candidate location information from the candidate location information corresponding to all the second indoor cruise home devices includes: Determining a historical location determination accuracy rate of each of the second indoor cruise home devices; The candidate location information corresponding to the indoor cruise home device with the highest historical location determination accuracy among all the second indoor cruise home devices is determined as the recommended candidate location information.

7. A device location determination device based on indoor maps, characterized in that: The device is used to implement the device location determination method based on indoor map according to any one of claims 1 to 6, and the device includes: A map determination module, used to determine indoor map information of a target indoor area; a location determination module, configured to determine indoor cruise signal information of a target home appliance, and determine preliminary location information of the target home appliance based on the indoor cruise signal information; A location correction module is used to obtain a location correction instruction sent by a target user, and to correct the preliminary location information according to the location correction instruction to obtain the indoor location information of the target home device; the indoor location information is used to indicate the location of the target home device in the indoor map information.

8. A device location determination device based on an indoor map, 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 device location determination method based on indoor map according to any one of claims 1 to 6.

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