Device control method, device, electronic device and storage medium

Abstract

The embodiments of the present application provide a device control method, apparatus, electronic device and storage medium, which relate to the field of Internet of Things technology. Among them, the method includes: receiving a reflection signal formed by reflection of a target, and determining the position data of the target according to the reflection signal, wherein the position data is used to indicate the position of the target in the detection area; tracking and locating the position of the target in the detection area according to the position data of the target, and determining the trajectory distribution of the target in the detection area; performing calculations on the trajectory trend changes based on the trajectory distribution of the target in the detection area, and determining the moving direction of the target, so that if the controlled device meets the device linkage condition in the moving direction of the target, the action corresponding to the moving direction of the target is executed. The embodiments of the present application solve the problem of poor flexibility of device control in related technologies.

Description

Technical Field

[0001] The present application relates to the technical field of Internet of Things, and specifically, to a device control method, apparatus, electronic device and storage medium. Background Art

[0002] With the development of Internet of Things technology, the control of smart devices has been gradually and widely used in the field of smart homes.

[0003] In the current smart home field, the control of smart devices makes greater use of human presence detection. In order to be able to control smart devices more intelligently, the use of human movement direction recognition to control smart devices has gradually emerged. However, the currently recognized human movement direction is relatively single, resulting in poor control flexibility of smart devices and failure to meet user needs.

[0004] Therefore, how to improve the flexibility of device control remains to be solved. Summary of the invention

[0005] The embodiments of the present application provide a device control method, apparatus, electronic device and storage medium, which can solve the problem of poor flexibility of device control in related technologies. The technical solution is as follows:

[0006] According to one aspect of an embodiment of the present application, a device control method includes: receiving a reflection signal formed by reflection of a target, and determining position data of the target based on the reflection signal, the position data being used to indicate the position of the target in a detection area; tracking and locating the position of the target in the detection area based on the position data of the target, and determining the trajectory distribution of the target in the detection area; performing calculations on trajectory trend changes based on the trajectory distribution of the target in the detection area, and determining the moving direction of the target, so that if the controlled device meets the device linkage condition in the moving direction of the target, an action corresponding to the moving direction of the target is executed.

[0007] According to one aspect of an embodiment of the present application, a device control apparatus comprises: a position determination module for receiving a reflection signal formed by reflection of a target, and determining the position data of the target based on the reflection signal, the position data being used to indicate the position of the target in a detection area; a target tracking module for tracking and locating the position of the target in the detection area based on the position data of the target, and determining the trajectory distribution of the target in the detection area; and a movement determination module for performing calculations on trajectory trend changes based on the trajectory distribution of the target in the detection area, and determining the moving direction of the target, so that if the controlled device meets the device linkage condition in the moving direction of the target, an action corresponding to the moving direction of the target is executed.

[0008] According to one aspect of an embodiment of the present application, an electronic device includes: at least one processor, at least one memory, and at least one communication bus, wherein a computer program is stored in the memory, and the processor reads the computer program in the memory through the communication bus; when the computer program is executed by the processor, the device control method as described above is implemented.

[0009] According to one aspect of an embodiment of the present application, a storage medium stores a computer program thereon, and when the computer program is executed by a processor, the device control method as described above is implemented.

[0010] According to one aspect of an embodiment of the present application, a computer program product includes a computer program, the computer program is stored in a storage medium, a processor of a computer device reads the computer program from the storage medium, and the processor executes the computer program, so that the computer device implements the device control method as described above when executing the computer program.

[0011] The beneficial effects of the technical solution provided by this application are:

[0012] In the above technical scheme, the position data of the target is determined according to the reflection signal formed by the reflection of the target, so as to track and locate the position of the target in the detection area based on the position data of the target, determine the trajectory distribution of the target in the detection area, and then obtain the trajectory trend change of the target by calculating the trajectory distribution, so as to determine the moving direction of the target, so that the controlled device can execute the action corresponding to the moving direction of the target when the moving direction of the target meets the device linkage condition. That is to say, based on the trajectory trend change of the target, more moving directions of the target can be identified, avoiding the currently identified single moving direction of the human body, thereby effectively solving the problem of poor flexibility of device control existing in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in describing the embodiments of the present application are briefly introduced below.

[0014] Figure 1 It is a schematic diagram of the implementation environment involved in this application;

[0015] Figure 2 is a flow chart of a device control method according to an exemplary embodiment;

[0016] Figure 3 yes Figure 2 A flowchart of step 310 in one embodiment of the corresponding embodiment;

[0017] Figure 4 yes Figure 2A schematic diagram of the coordinate transformation involved in step 313 in the corresponding embodiment;

[0018] Figure 5 is a schematic diagram showing distribution of different trajectories according to an exemplary embodiment;

[0019] Figure 6 is a top view of a horizontal plane where a detection area is located according to an exemplary embodiment;

[0020] Figure 7 yes Figure 2 A flowchart of step 330 in one embodiment corresponding to the embodiment;

[0021] Figure 8 is a schematic diagram of a clustering process according to an exemplary embodiment;

[0022] Fig. 9 is a schematic diagram showing the formation of trajectory distribution according to an exemplary embodiment;

[0023] Fig.10 yes Figure 7 A flowchart of step 335 in one embodiment corresponding to the embodiment;

[0024] Fig.11 yes Figure 2 A flowchart of step 350 in one embodiment corresponding to the embodiment;

[0025] Fig.12 It is a specific schematic diagram of a device control method involved in an application scenario;

[0026] Fig.13 yes Fig.12 Flowchart for determining the horizontal moving direction of a target in an application scenario;

[0027] Fig.14 yes Fig.12 Flowchart for determining the vertical moving direction of a target in an application scenario;

[0028] Fig.15 is a structural block diagram of a device control apparatus according to an exemplary embodiment;

[0029] Fig.16 is a hardware structure diagram of an electronic device according to an exemplary embodiment;

[0030] Fig.17 The present invention is a structural block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0031] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be interpreted as limiting the present application.

[0032] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0033] The following is an introduction and explanation of several terms involved in this application:

[0034] FFT, the full English name is Fast Fourier Transform, and its Chinese meaning is fast Fourier transform.

[0035] K-MEAN, stands for K-means clustering algorithm.

[0036] DBF, the full English name is Digital Beam Forming, and its Chinese meaning is digital beam forming.

[0037] DBSCAN, the full name of which is Density Based Spatial Clustering of Application with Noise, means density clustering algorithm in Chinese.

[0038] KALMAN, stands for Kalman filter.

[0039] As mentioned above, the currently recognized directions of human movement are relatively single, for example, the distance recognition and left-right recognition based on sensor technology, which results in poor control flexibility of smart devices and makes it difficult to meet user needs.

[0040] Specifically, the distance recognition based on sensor technology refers to obtaining the distance between the target and the sensor through proximity sensing recognition using ultrasonic sensor technology to determine the distance between the target and the sensor.

[0041] Left and right recognition based on sensor technology refers to the recognition of the left and right movement directions of the target based on two separately installed infrared sensors. For example, infrared sensor A is installed on the left and infrared sensor B is installed on the right. If the target blocks infrared sensor A first and then infrared sensor B, the target's movement direction is recognized to be from left to right. Otherwise, if the target blocks infrared sensor B first and then infrared sensor A, the target's movement direction is recognized to be from right to left.

[0042] In addition, the anti-interference ability of movement direction recognition based on infrared technology is weak and is easily interfered by environmental factors, such as temperature changes, or changes in ambient light, and it is difficult to accurately identify the movement of multiple people.

[0043] It can be seen from the above that the related technology still has the defect of poor flexibility in device control.

[0044] To this end, the device control method provided in the present application can effectively improve the flexibility of device control. Accordingly, the device control method is applicable to a device control device, and the device control device can be deployed in an electronic device. For example, the electronic device can be an intelligent device equipped with a millimeter wave radar, such as a human body sensor.

[0045] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0046] Figure 1 1 is a schematic diagram of an implementation environment involved in a device control method, wherein the implementation environment includes a user terminal 110 , a smart device 130 , a gateway 150 , a server 170 and a router 190 .

[0047] Specifically, the user terminal 110, which can also be considered as a user end or terminal, can deploy (also understood as install) the client associated with the smart device 130. This user terminal 110 can be an electronic device such as a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart control panel, other devices with display and control functions, etc., which are not limited here.

[0048] Among them, the client is associated with the smart device 130, which essentially means that the user registers an account in the client and configures the smart device 130 in the client. For example, the configuration includes adding a device identifier to the smart device 130, so that when the client is run in the user terminal 110, it can provide the user with functions such as device display and device control of the smart device 130. This client can be in the form of an application or a web page. Accordingly, the interface for device display on the client can be in the form of a program window or a web page, which is not limited here.

[0049] The smart device 130 is deployed in the gateway 150, and communicates with the gateway 150 through its own configured communication module, and is then controlled by the gateway 150. It should be understood that the smart device 130 generally refers to one of the multiple smart devices 130, and the embodiment of the present application only takes the smart device 130 as an example, that is, the embodiment of the present application does not limit the number and device type of smart devices deployed in the gateway 150. In an application scenario, the smart device 130 accesses the gateway 150 through a local area network, and is thus deployed in the gateway 150. The process of the smart device 130 accessing the gateway 150 through the local area network includes: the gateway 150 first establishes a local area network, and the smart device 130 joins the local area network established by the gateway 150 by connecting to the gateway 150. This local area network includes, but is not limited to: ZIGBEE or Bluetooth. Among them, the smart device 130 can be a smart printer, a smart fax machine, a smart camera, a smart air conditioner, a smart door lock, a smart light, or an electronic device equipped with a communication module, such as a human body sensor, a door and window sensor, a temperature and humidity sensor, a water immersion sensor, a natural gas alarm, a smoke alarm, a wall switch, a wall socket, a wireless switch, a wireless wall sticker switch, a magic cube controller, a curtain motor, etc.

[0050] The interaction between the user terminal 110 and the smart device 130 can be achieved through a local area network or a wide area network. In one application scenario, the user terminal 110 establishes a communication connection between the router 190 and the gateway 150 in a wired or wireless manner. For example, the wired or wireless manner includes but is not limited to WIFI, so that the user terminal 110 and the gateway 150 are deployed in the same local area network, so that the user terminal 110 can interact with the smart device 130 through the local area network path. In another application scenario, the user terminal 110 establishes a communication connection between the server 170 and the gateway 150 in a wired or wireless manner. For example, the wired or wireless manner includes but is not limited to 2G, 3G, 4G, 5G, WIFI, etc., so that the user terminal 110 and the gateway 150 are deployed in the same wide area network, so that the user terminal 110 can interact with the smart device 130 through the wide area network path.

[0051] The server 170 may be a single server, a server cluster consisting of multiple servers, or a cloud, cloud platform, cloud computing center, etc. consisting of multiple servers, so as to better provide background services to a large number of user terminals 110. For example, the background service includes a moving direction recognition service.

[0052] Taking the intelligent device 130 (i.e., the detection device) responsible for detection as a human body sensor as an example, the human body sensor receives the reflected signal, and determines the position data of the target based on the reflected signal, tracks and locates the target based on the position data of the target, determines the trajectory distribution of the target in the detection area, and calculates the trajectory trend changes of the trajectory distribution of the target in the detection area to determine the moving direction of the target and send it to the gateway 150.

[0053] The gateway 150 will receive the moving direction of the target, and when the moving direction of the target meets the device linkage condition, it will send a device control instruction to the controlled smart device 130 (ie, the controlled device).

[0054] At this time, the controlled device can receive the device control instruction sent by the gateway 150, and then execute an action corresponding to the moving direction of the target in response to the device control instruction.

[0055] Of course, in other embodiments, with the interaction between the human body sensor and the server side 170, the human body sensor can send a transmission signal to the server side 170, and use the server side 170 to provide a moving direction recognition service, so as to notify the gateway 150 of the moving direction of the target, so that the gateway can send a device control instruction to the controlled device based on the moving direction of the target, so that the controlled device performs an action corresponding to the moving direction of the target according to the device control instruction.

[0056] See also Figure 2 The present application embodiment provides a method for controlling a device, which is applicable to an electronic device, which may be Figure 1 The server side 170 in the illustrated implementation environment may also be a smart device equipped with a millimeter wave radar.

[0057] In the following method embodiments, for ease of description, the execution subject of each step of the method is taken as an electronic device as an example for illustration, but this does not constitute a specific limitation.

[0058] like Figure 2 As shown, the method may include the following steps:

[0059] Step 310, receiving a reflection signal formed by reflection from a target, and determining the position data of the target according to the reflection signal.

[0060] The target refers to any object that can move within the detection area of ​​the detection device, for example, the arbitrary object can be a person, an animal, a robot, etc. It should be noted that the detection device can be any type of sensor, and accordingly, the detection area refers to the area where the detection device can effectively detect the target.

[0061] Take the human body sensor equipped with millimeter wave radar as an example. The millimeter wave radar is equipped with an antenna array, which includes a transmitting antenna and a receiving antenna. When locating a target in the detection area, the human body sensor will transmit a millimeter wave signal (i.e., a sensing signal) to the target through the transmitting antenna, and receive the echo signal (i.e., a reflection signal) formed by the millimeter wave signal reflected by the target through the receiving antenna. After relevant processing, the position of the target in the detection area can be determined. Here, the detection area refers to the area where the transmitting antenna of the millimeter wave radar can effectively transmit the millimeter wave signal.

[0062] Secondly, it is explained that the position data is used to indicate the position of the target in the detection area. In one possible implementation, the position data is represented by coordinates in a first coordinate system, which refers to a rectangular coordinate system in the horizontal plane where the detection area is located. For example, taking a human body sensor as an example, if the position data is represented by coordinates (x, y), the coordinate value x represents the horizontal distance between the target and the human body sensor in the horizontal plane where the detection area is located, and the coordinate value y represents the vertical distance between the target and the human body sensor in the horizontal plane where the detection area is located.

[0063] In one possible implementation, Figure 3 As shown, determining the position data of the target according to the reflected signal in step 310 may include the following steps:

[0064] Step 311, performing spectrum analysis based on the reflected signal to determine the movement data of the target.

[0065] Among them, the movement data of the target is different from the position data, and the position of the target in the detection area is described by the coordinates in the second coordinate system, and the second coordinate system refers to the polar coordinate system of the horizontal plane where the detection area is located. In one possible implementation, the movement data of the target includes but is not limited to: distance, speed, and angle. For example, taking the human body sensor as an example, if the movement data is represented by the coordinates (R, v, θ), the coordinate value R represents the radial distance between the target and the human body sensor in the horizontal plane where the detection area is located, the coordinate value v represents the speed of the target relative to the human body sensor, and the coordinate value θ represents the angle between the line between the target and the human body sensor and the y-axis of the horizontal plane where the detection area is located, such as Figure 4 shown.

[0066] The following takes the reflected signal as an echo signal as an example to illustrate the spectrum analysis process of the target's mobile data:

[0067] The first step is to determine the time domain signal S based on the mathematical model X=AS+N of the echo signal; wherein the time domain signal S is a signal related to distance, speed, and angle, and is expressed as f(R, v, θ).

[0068] The second step is to use the formula F(R,v,θ)=∑n={0,N-1}f(R,v,θ)e -j2πkn / N , where N represents the total number of sampling points, and n represents the nth sampling point. The time domain signal S is subjected to fast Fourier transform FFT to obtain the frequency domain signal S', which is expressed as F(R,v,θ).

[0069] The third step is to use the formula P(R,v,θ)=|F(R,v,θ)| to calculate the power spectrum of the frequency domain signal S' and obtain the power spectrum signal, which is expressed as P(R,v,θ).

[0070] The fourth step is to use the peak value of the power spectrum signal as the movement data of the target, expressed as (R, v, θ), where R represents distance, v represents speed, and θ represents angle.

[0071] Step 313: convert the movement data of the target from the second coordinate system to the first coordinate system to obtain the position data of the target.

[0072] As mentioned above, the movement data is the position of the target in the detection area represented by the coordinates in the second coordinate system, while the position data is the position of the target in the detection area represented by the coordinates in the first coordinate system. Therefore, in order to more accurately and effectively describe the trajectory distribution of the target in the detection area, the position data is obtained from the movement data, which is essentially a coordinate system conversion between the movement data and the position data. In this way, it is conducive to further improving the accuracy of moving direction recognition.

[0073] In a possible implementation, the first coordinate system is a rectangular coordinate system, and the second coordinate system is a polar coordinate system. Figure 4 , assuming that the target is located at point A, the target's movement data is represented by (R, v, θ). Figure 4 In the equation, R represents the polar radius of point A, and θ represents the polar angle of point A. Then, the position data (X, Y) of the target can be obtained by the following calculation formula:

[0074] X = R × sin(θ);

[0075] Y = R x cos(θ).

[0076] Step 330 , tracking and locating the position of the target in the detection area according to the position data of the target, and determining the trajectory distribution of the target in the detection area.

[0077] In order to avoid the current situation that the human body movement direction identified is relatively single, resulting in poor control flexibility of the smart device, in this embodiment, the identification of the target movement direction is achieved based on the trajectory distribution of the target in the detection area. Among them, the trajectory distribution is used to describe the different positions of the target in the detection area. It should be understood that if the target's movement direction is different, the position of the target in the detection area will also be different, and thus the trajectory distribution will also be different. Then, the target's movement direction can be more accurately identified based on the trajectory distribution to ensure the flexibility of the smart device control.

[0078] In a possible implementation, the algorithm for implementing trajectory tracking includes at least various types of filtering algorithms, such as the KALMAN algorithm, to find different positions of the target in the detection area.

[0079] Therefore, through the trajectory tracking algorithm, the different positions of the target in the detection area can be determined from the position data of the target, and then the different positions of the target in the detection area are connected to form the trajectory distribution of the target in the detection area.

[0080] Step 350 , performing a calculation of trajectory trend changes based on the trajectory distribution of the target in the detection area to determine the moving direction of the target.

[0081] First of all, it should be noted that the trajectory trend change actually reflects the change trend between different positions of the target in the detection area.

[0082] Figure 5 A schematic diagram showing the distribution of different trajectories of the target in the detection area. Figure 5 In , the horizontal plane where the detection area is located corresponds to a rectangular coordinate system, namely the first coordinate system, the X-axis of the first coordinate system represents the horizontal direction of the horizontal plane where the detection area is located, and the Y-axis represents the vertical direction of the horizontal plane where the detection area is located, wherein both the trajectory distribution a and the trajectory distribution b are curves pointing from the -X axis to the +X axis and upward to the Y axis, but the upward trend of the trajectory distribution a is more obvious, indicating that the target is more inclined to move upward, while the leftward trend of the trajectory distribution b is more obvious, indicating that the target is more inclined to move left.

[0083] That is to say, the moving tendency of the target does not depend on the trajectory distribution, but is closely related to the trajectory trend change. Therefore, in this embodiment, before determining the moving direction of the target, it is necessary to first determine the trajectory trend change corresponding to the trajectory distribution.

[0084] In one possible implementation, the algorithm for trajectory trend change includes at least a difference method, a difference sum method, etc. Then, through the algorithm for trajectory trend change, the trajectory trend change corresponding to the trajectory distribution can be determined, and then the moving direction of the target can be accurately reflected through the trajectory trend change.

[0085] Figure 6 The top view of the horizontal plane where the detection area is located is shown. Figure 6 In the figure, the X-axis represents the horizontal direction of the horizontal plane where the detection area is located, and the Y-axis represents the vertical direction of the horizontal plane where the detection area is located. At this time, the target can move from left to right and from right to left in the horizontal direction, and can also move from top to bottom and from bottom to top in the vertical direction.

[0086] Thus, in a possible implementation, the moving direction of the target includes: a first moving direction for indicating that the target moves from left to right in the horizontal direction, a second moving direction for indicating that the target moves from right to left in the horizontal direction, a third moving direction for indicating that the target moves from bottom to top in the vertical direction, and a fourth moving direction for indicating that the target moves from top to bottom in the vertical direction. Of course, in other embodiments, the moving direction of the target can also be any combination of the above moving directions, for example, from left to right in the horizontal direction and from top to bottom in the vertical direction, from right to left in the horizontal direction and from top to bottom in the vertical direction, from left to right in the horizontal direction and from bottom to top in the vertical direction, and from right to left in the horizontal direction and from bottom to top in the vertical direction, which does not constitute a specific limitation here.

[0087] Continue reading Figure 6 The inventors realize that the detection device (such as a sensor) usually uses the center vertical line as the dividing line. For example, the left side of the center vertical line of the detection device is defined as the left, and the right side of the center vertical line is defined as the right. It can be understood that the target may pass through the center vertical line or not during the horizontal movement. It can also be understood that it may pass through the detection device or may always move left and right within a quadrant of the first coordinate system. Therefore, in a possible implementation method, the target can be further distinguished whether it passes through the detection device for the horizontal movement process, that is, for the first moving direction / second moving direction, it can be further distinguished whether the target passes through the detection device. For example, the moving direction of the target is the first moving direction and the target passes through the detection device, or the moving direction of the target is the second moving direction and the target does not pass through the detection device. In this way, the accuracy of moving direction recognition is further improved.

[0088] After obtaining the moving direction of the target, the detection device can send the moving direction to the gateway, and the gateway determines whether the moving direction meets the device linkage condition. If the gateway determines that the moving direction meets the device linkage condition, it can further control the controlled device to perform the action corresponding to the moving direction.

[0089] Through the above process, based on the change of the target's trajectory trend, more moving directions of the target can be identified, that is, more moving directions of the target can be identified, avoiding the currently identified relatively single moving direction of the human body, thereby effectively solving the problem of poor flexibility of equipment control existing in related technologies.

[0090] See also Figure 7 In an exemplary embodiment, step 330 may include the following steps:

[0091] Step 331, determining multiple location data of the target.

[0092] Wherein, each position data is determined according to the reflection signal received in a current time period.

[0093] Still taking the human body sensor as an example, as mentioned above, one millimeter wave signal corresponds to one echo signal. After relevant processing, it is possible to determine a position of the target in the detection area. Then, based on multiple echo signals received within a time period, it is possible to determine multiple positions of the target in the detection area. Specifically, for the millimeter wave radar configured in the human body sensor, the transmitting antenna of the millimeter wave radar can transmit multiple millimeter wave signals to the target in each time period. Correspondingly, the millimeter wave radar can receive the echo signals formed by the multiple millimeter wave signals reflected by the target through the receiving antenna. After relevant processing, it can further determine multiple positions of the target in the detection area, that is, obtain multiple position data of the target. It is explained here that the time period refers to the time period in which the detection device receives multiple reflection signals, and can also be considered as the time period in which the detection device sends multiple sensing signals. The time period can be flexibly adjusted according to the actual needs of the application scenario. For example, if the time period is 10 minutes, then the millimeter wave radar will send multiple millimeter wave signals every 10 minutes. Of course, in other embodiments, the duration of the time period is not limited to a fixed time period, but is determined by a fixed number of reflection signals / sensor signals. For example, the fixed number of reflection signals / sensor signals is 10, then the millimeter-wave radar sends 10 millimeter-wave signals in each time period. This embodiment does not constitute a specific limitation on this.

[0094] That is, for each time period, multiple locations of the target in the detection area can be determined.

[0095] Step 333: cluster the multiple position data to determine the centroid position of the target in the current time period.

[0096] In this embodiment, clustering refers to the process of dividing multiple locations of the target in the detection area within the same time period into the same category. Then, through clustering, multiple locations of the target in the detection area within different time periods can be divided into multiple categories. Among them, one category corresponds to the centroid position of a time period. It can also be considered that multiple locations of the target in the detection area within the same time period are divided to form the centroid position of the time period. In this way, it is helpful to reduce the calculation amount of tracking and positioning, and then it is helpful to improve the recognition speed of moving direction recognition.

[0097] In a possible implementation, the clustering algorithm includes but is not limited to: K-MEAN algorithm, DBSCAN algorithm, etc.

[0098] Figure 8 A schematic diagram showing the clustering of multiple locations within the same time period, such as Figure 8 As shown, for a time period T, before clustering, multiple positions 301 of the target can be determined in the detection area, and after clustering, the centroid position 302 of the time period T can be determined in the detection area.

[0099] Step 335 , forming a trajectory distribution of the target in the detection area based on the centroid position of the target in different time periods.

[0100] Fig. 9 The schematic diagram showing the distribution of the trajectory of the centroid position in different time periods is shown, e.g. Fig. 9 As shown, in the time period T n-1 , the centroid position of the target in the detection area is 303, expressed as (X n-1 ,Y n-1 ), in the time period T n As the target moves in the detection area, the centroid position of the target in the detection area is 304, which is expressed as (X n ,Y n ), then, through the centroid position 303 and the centroid position 304, the trajectory distribution 305 of the target in the detection area can be connected.

[0101] In a possible implementation, the trajectory distribution is implemented through a trajectory set, which can also be considered as storing the centroid position of the target in different time periods in the trajectory set, describing the trajectory distribution of the target in the detection area. The trajectory set can be a first-in-first-out queue, an array, a stack, etc.

[0102] In a possible implementation, the trajectory set is a trajectory queue that follows a first-in-first-out principle.

[0103] Specifically, if Fig.10As shown, through steps 3351 to 3355, after the target enters the detection area, when the centroid position of the current time period is obtained, if the trajectory queue is not full, the centroid position of the target in the current time period can be directly stored at the end of the trajectory queue; conversely, if the trajectory queue is full, the centroid position at the head of the trajectory queue is deleted, and the centroid position of the target in the current time period is stored at the end of the trajectory queue.

[0104] Through the coordination of the above embodiments, the trajectory distribution of the target in the detection area can be accurately obtained, which can be used as the basis for calculating the trajectory trend change, so that the accurate determination of the target's moving direction can be achieved, which is beneficial to improving the flexibility of equipment control.

[0105] See also Fig.11 In an exemplary embodiment, step 350 may include the following steps:

[0106] Step 351, calculating the first trend data and / or the second trend data according to the centroid position of the target in the trajectory distribution in different time periods.

[0107] Among them, the first trend data is used to indicate the moving trend of the target in the first direction, and the second trend data is used to indicate the moving trend of the target in the second direction. It is explained here that the first direction refers to the direction of the first coordinate axis of the first coordinate system, and the second direction refers to the direction of the second coordinate axis of the first coordinate system. For the rectangular coordinate system corresponding to the horizontal plane where the detection area is located (i.e., the first coordinate system), the first direction refers to the horizontal direction where the X axis of the rectangular coordinate system is located, and the second direction refers to the vertical direction where the Y axis of the rectangular coordinate system is located. Then, the first trend data reflects the moving trend of the target in the horizontal direction, and the second trend data reflects the moving trend of the target in the vertical direction.

[0108] Still taking the trajectory distribution as an example, the trajectory queue description following the first-in-first-out principle is used to illustrate the calculation process of the first trend data and / or the second trend data:

[0109] Please refer to Fig.10 , step 430, calculating the first trend data and / or the second trend data according to the centroid positions of different time periods in the trajectory queue. The calculation formula is as follows:

[0110]

[0111]

[0112] Among them, XR represents the first trend data, and YR represents the second trend data;

[0113] XT n+1Indicates the coordinate value of the center of mass position on the X-axis of the n+1th time period T, XT n Indicates the coordinate value of the center of mass position of the nth time period T on the X-axis;

[0114] YT n+1 Indicates the coordinate value of the center of mass position on the Y axis of the n+1th time period T, YT n+1 Indicates the coordinate value of the center of mass position on the Y axis of the nth time period T;

[0115] N represents the length of the trajectory queue.

[0116] Furthermore, the inventors realize that when the target is a non-rigid mobile target, such as a person, the movement of the target will cause the position data obtained by the detection device to be unstable, which will eventually affect the accuracy of the calculation of the first trend data and / or the second trend data. Fig.10 In this embodiment, before step 430, the method may further include the following steps:

[0117] Step 410, smoothing the centroid positions of the targets in the trajectory queue at different time periods. Specifically, the smoothing is performed according to the following calculation formula:

[0118] XT n =αXT n +(1-α)XT n-1 ;

[0119] YT n =αYT n +(1-α)YT n-1 .

[0120] Among them, XT n+1 Indicates the coordinate value of the center of mass position on the X-axis of the n+1th time period T, XT n Indicates the coordinate value of the center of mass position of the nth time period T on the X-axis;

[0121] YT n+1 Indicates the coordinate value of the center of mass position on the Y axis of the n+1th time period T, YT n+1 Indicates the coordinate value of the center of mass position on the Y axis of the nth time period T;

[0122] α is a filter coefficient, which can be flexibly adjusted according to the actual needs of the application scenario. For example, α is 0.3.

[0123] Based on the above process, outliers can be eliminated by smoothing the centroid positions of different time periods, thereby ensuring that the centroid positions in the trajectory queue are as smooth and accurate as possible, which is beneficial to improving the accuracy of calculating the first trend data and / or the second trend data.

[0124] It is worth mentioning that in the process of forming trajectory distribution, if the target continues to move after entering the detection area, then the centroid position of the target in different time periods will be continuously obtained through clustering. At this time, the centroid position of the different time periods will be stored in the trajectory queue in sequence according to the first-in-first-out principle until the trajectory queue is full, which triggers the calculation of the first trend data and / or the second trend data, such as Fig.10 As shown, the execution of step 410 is jumped from step 3355. However, the inventors also realize that once the target stops moving in the detection area or leaves the detection area, no new centroid position will be obtained, that is, there is no centroid position of the next time period relative to the current time period. At this time, if the trajectory queue is not full, it is likely that the calculation of the first trend data and / or the second trend data cannot be triggered. For this reason, continue to refer to Fig.10 In this embodiment, after step 3351, the method may further include the following steps: if the centroid position of the next time period does not exist, jump to execute step 410; otherwise, if the centroid position of the next time period exists, jump to execute step 3353.

[0125] Based on the above process, the real-time calculation of the first trend data and / or the second trend data is fully guaranteed, thereby ensuring that the continuous recognition of the moving direction of the target can be achieved in real time and accurately.

[0126] Step 353: Determine the moving direction of the target according to the first trend data and / or the second trend data.

[0127] In one aspect, the moving direction of the target is determined based on the comparison between the first trend data and the first threshold.

[0128] Specifically, if the first trend data is greater than the first threshold, the target's moving direction is the first moving direction, which is used to indicate that the target moves from left to right in the first direction; if the first trend data is not greater than the first threshold, the target's moving direction is the second moving direction, which is used to indicate that the target moves from right to left in the first direction.

[0129] As mentioned above, when the target moves left and right in the first direction, it is possible that the target passes through the detection device, or it is possible that the target always moves left and right in a certain quadrant of the first coordinate system. Therefore, for the first moving direction / second moving direction, it is possible to further distinguish whether the target passes through the detection device. In a possible implementation, whether the target passes through the detection device is realized by performing zero-crossing detection on the first trend data.

[0130] Specifically, the following calculation formula is used to perform zero-crossing detection on the first trend data:

[0131]

[0132] Among them, Z represents the zero-crossing detection result, 1 represents that the target passes through the detection device, and 0 represents that the target does not pass through the detection device;

[0133] XT n+1 Represents the time period T in the trajectory distribution n+1 The horizontal coordinate value of the centroid position, XT n Time period T in trajectory distribution n The vertical coordinate value of the center of mass.

[0134] On the other hand, the moving direction of the target is determined based on the comparison between the second trend data and the second threshold.

[0135] Specifically, if the second trend data is greater than the second threshold, the target's moving direction is the third moving direction, which is used to indicate that the target moves from bottom to top in the second direction; if the second trend data is not greater than the second threshold, the target's moving direction is the fourth moving direction, which is used to indicate that the target moves from top to bottom in the second direction.

[0136] Through the above process, the trajectory trend change is calculated based on the trajectory distribution of the target in the detection area, so that the moving direction of the target can be accurately determined, which is conducive to flexibly controlling the device to perform actions corresponding to the moving direction of the target.

[0137] Fig.14 This is a schematic diagram of a specific implementation of a device control method in an application scenario. This application scenario is suitable for Figure 1 In the implementation environment shown, in this application scenario, the smart device equipped with the millimeter-wave radar is a human body sensor, and accordingly, the target is a person.

[0138] Taking the human body sensor as an example, the process of determining the moving direction of the target is described as follows:

[0139] Step 801, based on the millimeter wave radar configured by the human body sensor, the transmitting antenna of the millimeter wave radar transmits a millimeter wave signal to the person entering the detection area, so that the receiving antenna of the millimeter wave radar receives the echo signal formed by the reflection of the person.

[0140] Step 802: After receiving the echo signal, the human body sensor performs relevant processing to obtain the movement data of the person, and the movement data at least includes distance, speed, angle, etc.

[0141] Step 803 , converting the movement data of the person from the polar coordinate system to the rectangular coordinate system to obtain the position data of the person, and the position data is used to indicate the position of the person in the detection area.

[0142] Step 804, in the same time period, by clustering, the centroid position of the person in the detection area in the time period is obtained from multiple positions of the person in the detection area.

[0143] Step 805: As the person moves in the detection area, multiple centroid positions of the person in the detection area at different time periods are obtained accordingly, and the multiple centroid positions are stored in a trajectory queue.

[0144] Step 806, smoothing the centroid position in the trajectory queue to form a trajectory distribution of the target in the detection area.

[0145] Step 807 , performing trajectory trend change calculation on the smoothed trajectory queue to obtain first trend data XR and second trend data YR.

[0146] Step 808: Determine the moving direction of the person in the detection area according to the first trend data XR and the second trend data YR.

[0147] like Fig.13 As shown, taking the first threshold value of 0 as an example, if the first trend data XR is greater than 0 and the zero-crossing detection result = 0, it is determined that the person's moving direction is from left to right and has not passed the human body sensor; if the first trend data XR is greater than 0 and the zero-crossing detection result = 1, it is determined that the person's moving direction is from left to right and has passed the human body sensor; if the first trend data XR is less than 0 and the zero-crossing detection result = 0, it is determined that the person's moving direction is from right to left and has not passed the human body sensor; if the first trend data XR is less than 0 and the zero-crossing detection result = 1, it is determined that the person's moving direction is from right to left and has passed the human body sensor.

[0148] like Fig.14 As shown, taking the second threshold value as 0 as an example, if the second trend data YR is greater than 0, it is determined that the person's moving direction is from bottom to top, that is, the person is moving away from the human sensor; if the second trend data YR is less than 0, it is determined that the person's moving direction is from top to bottom, that is, the person is moving towards the human sensor.

[0149] Therefore, for the human body sensor, the direction of movement of the person in the detection area can be accurately determined.

[0150] Combination Figure 1 In the implementation environment shown, the human body sensor sends the determined moving direction to the gateway, so that the gateway determines whether the moving direction satisfies the device linkage condition, and when the moving direction satisfies the device linkage condition, the corresponding device control instruction is sent to the controlled device, so that the controlled device can respond to the device control instruction and perform the action corresponding to the person's moving direction, that is, execute step 809.

[0151] For example, if it is determined that a person is gradually approaching the human body sensor, the gateway controls the light to gradually brighten, or, if it is determined that the person is gradually moving away from the human body sensor, the gateway controls the light to gradually dim. For example, for a human body sensor set in the aisle, if it is determined that a person passes by the human body sensor from left to right, the gateway determines that the user has entered the away mode, and then controls the switches, air conditioners, lights, etc. in the living room to be turned off. Conversely, if it is determined that a person passes by the human body sensor from right to left, the gateway determines that the user has entered the home mode, and then controls the switches, air conditioners, lights, etc. in the living room to be turned on.

[0152] In the above application scenarios, the millimeter-wave radar positioning technology for the human body, combined with the statistics of trajectory trend changes, can accurately identify multiple moving directions of the target in real time, such as from left to right, from right to left, from top to bottom, from bottom to top, and whether it has passed through the detection equipment, thereby achieving more personalized and intelligent device control, thereby providing users with a richer smart home experience.

[0153] The following is an embodiment of the device of the present application, which can be used to perform the device control involved in the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the device control method involved in the present application.

[0154] See also Fig.15 In the embodiment of the present application, a device control apparatus 1100 is provided, including but not limited to:

[0155] The position determination module 1110 is used to receive the reflection signal and determine the position data of the target according to the reflection signal. The reflection signal is generated by the sensing signal being reflected by the target. The position data is used to indicate the position of the target in the detection area.

[0156] The target tracking module 1130 is used to track and locate the target according to the position data of the target, and determine the trajectory distribution of the target in the detection area.

[0157] The movement determination module 1150 is used to calculate the trajectory trend change based on the trajectory distribution of the target in the detection area and determine the moving direction of the target, so that if the controlled device meets the device linkage condition in the moving direction of the target, it will execute the action corresponding to the moving direction of the target.

[0158] It should be noted that the device control device provided in the above embodiment only uses the division of the above-mentioned functional modules as an example when performing device control. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device control device will be divided into different functional modules to complete all or part of the functions described above.

[0159] In addition, the device control apparatus and the device control method provided in the above embodiments belong to the same concept, wherein the specific manner in which each module performs operations has been described in detail in the method embodiments and will not be repeated here.

[0160] Fig.16 A schematic diagram of the structure of an electronic device according to an exemplary embodiment. The electronic device is suitable for Figure 1 The server side 170 in an implementation environment is shown.

[0161] It should be noted that the electronic device is only an example adapted to the present application and cannot be considered to provide any limitation on the scope of use of the present application. The hardware structure of the electronic device 2000 may vary greatly due to different configurations or performances, such as Fig.16 As shown, the electronic device 2000 includes: a power supply 210 , an interface 230 , at least one memory 250 , and at least one central processing unit (CPU) 270 .

[0162] Specifically, the power supply 210 is used to provide operating voltage for each hardware device on the electronic device 2000 .

[0163] The interface 230 includes at least one wired or wireless network interface for interacting with external devices. Figure 1 The interaction between the smart device 130 and the server 170 in the implementation environment is shown.

[0164] Of course, in other examples adapted by the present application, the interface 230 may further include at least one serial-to-parallel conversion interface 233, at least one input-output interface 235, and at least one USB interface 237, etc. Fig.10 As shown, this is not intended to be a specific limitation.

[0165] The memory 250 is a carrier for storing resources, which may be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon include an operating system 251, an application 253 and data 255, etc. The storage method may be temporary storage or permanent storage.

[0166] The operating system 251 is used to manage and control the hardware devices and application programs 253 on the electronic device 2000 to enable the central processor 270 to calculate and process the massive data 255 in the memory 250. It can be Windows Server TM, Mac OS X TM, Unix TM, Linux TM, Free BSD TM, etc.

[0167] The application program 253 is a computer program that performs at least one specific task based on the operating system 251, and may include at least one module ( Fig.16 (not shown), each module may respectively include a computer program for the electronic device 2000. For example, the device control apparatus may be regarded as an application 253 deployed on the electronic device 2000.

[0168] The data 255 may be photos, pictures, etc. stored in a disk, or may be reflection signals, position data, etc. stored in the memory 250 .

[0169] The central processor 270 may include one or more processors and is configured to communicate with the memory 250 through at least one communication bus to read the computer program stored in the memory 250, thereby realizing the operation and processing of the mass data 255 in the memory 250. For example, the device control method is completed in the form of the central processor 270 reading a series of computer programs stored in the memory 250.

[0170] In addition, the present application can also be implemented through hardware circuits or hardware circuits combined with software. Therefore, the implementation of the present application is not limited to any specific hardware circuits, software, or a combination of the two.

[0171] See also Fig.17 In an embodiment of the present application, an electronic device 4000 is provided, and the electronic device 4000 may include: a smart device configured with a millimeter wave radar, a server, etc.

[0172] exist Fig.17 In the embodiment, the electronic device 4000 includes at least one processor 4001, at least one communication bus 4002 and at least one memory 4003.

[0173] The processor 4001 and the memory 4003 are connected, such as through a communication bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present application.

[0174] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0175] The communication bus 4002 may include a path to transmit information between the above components. The communication bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The communication bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.17 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0176] The memory 4003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0177] The memory 4003 stores a computer program, and the processor 4001 reads the computer program stored in the memory 4003 through the communication bus 4002 .

[0178] When the computer program is executed by the processor 4001, the device control method in the above-mentioned embodiments is implemented.

[0179] In addition, a storage medium is provided in an embodiment of the present application, on which a computer program is stored. When the computer program is executed by a processor, the device control method in the above embodiments is implemented.

[0180] A computer program product is provided in an embodiment of the present application, the computer program product includes a computer program, and the computer program is stored in a storage medium. A processor of a computer device reads the computer program from the storage medium, and the processor executes the computer program, so that the computer device executes the device control method in each of the above embodiments.

[0181] Compared with related technologies, the present application can accurately judge multiple moving directions of the target, so that the controlled device can execute actions corresponding to the moving direction of the target when the moving direction of the target meets the device linkage conditions, which can significantly improve the flexibility of device control.

[0182] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0183] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A device control method, characterized in that: The method comprises: receiving a reflection signal formed by reflection of a target, and determining position data of the target according to the reflection signal, wherein the position data is used to indicate the position of the target in a detection area; Tracking and locating the position of the target in the detection area according to the position data of the target, and determining the trajectory distribution of the target in the detection area; Performing a trajectory trend change calculation based on the trajectory distribution of the target in the detection area to obtain first trend data and / or second trend data, wherein the first trend data is used to indicate the movement trend of the target in a first direction, and the second trend data is used to indicate the movement trend of the target in a second direction; Based on the comparison between the first trend data and the first threshold, or based on the comparison between the second trend data and the second threshold, the moving direction of the target is determined, so that if the controlled device meets the device linkage condition in the moving direction of the target, the action corresponding to the moving direction of the target is performed; the moving direction refers to the direction in which the target moves between different positions in the detection area.

2. The method according to claim 1, characterized in that Tracking and locating the target according to the position data of the target to determine the trajectory distribution of the target in the detection area includes: Determine a plurality of position data of the target, each of the position data being determined according to the reflection signal received in a current time period; the time period refers to a time period for receiving a plurality of the reflection signals; Clustering the plurality of position data to determine the centroid position of the target in the current time period; The trajectory distribution of the target in the detection area is formed by the centroid position of the target in different time periods.

3. The method according to claim 2, characterized in that The forming of the trajectory distribution of the target in the detection area based on the centroid position of the target in different time periods includes: If the trajectory queue is not full, the centroid position of the target in the current time period is stored at the end of the trajectory queue, and the trajectory queue is used to indicate the trajectory distribution of the target in the detection area; or If the trajectory queue is full, the centroid position at the head of the trajectory queue is deleted, and the centroid position of the target in the current time period is stored at the end of the trajectory queue.

4. The method according to claim 1, characterized in that The calculating of trajectory trend change based on the trajectory distribution of the target in the detection area to obtain the first trend data and / or the second trend data includes: The first trend data and / or the second trend data are calculated according to the centroid position of the target in the trajectory distribution at different time periods.

5. The method according to claim 4, characterized in that Before calculating the first trend data and / or the second trend data according to the centroid position of the target in the trajectory distribution at different time periods, the method further includes: The centroid position of the target in the trajectory distribution at different time periods is smoothed so that the calculation of trajectory trend change is performed based on the processed centroid position.

6. The method according to claim 1, characterized in that Determining the moving direction of the target according to the comparison between the first trend data and the first threshold value includes: If the first trend data is greater than the first threshold, the moving direction of the target is a first moving direction, and the first moving direction is used to indicate that the target moves from left to right in the first direction; or If the first trend data is not greater than the first threshold, the moving direction of the target is a second moving direction, and the second moving direction is used to indicate that the target moves from right to left in the first direction.

7. The method according to claim 6, characterized in that The determining the moving direction of the target according to the comparison between the first trend data and the first threshold value further includes: Performing a zero-crossing detection on the first trend data to obtain a zero-crossing detection result; According to the zero-crossing detection result, it is determined whether the target passes through a detection device during the process of moving left and right in the first direction.

8. The method according to claim 1, characterized in that Determining the moving direction of the target according to the comparison between the second trend data and the second threshold value includes: If the second trend data is greater than the second threshold, the moving direction of the target is a third moving direction, and the third moving direction is used to indicate that the target moves from bottom to top in the second direction; or If the second trend data is not greater than the second threshold, the moving direction of the target is a fourth moving direction, and the fourth moving direction is used to indicate that the target moves from top to bottom in the second direction.

9. The method according to any one of claims 1 to 8, characterized in that The step of determining the position data of the target according to the reflected signal comprises: Determining movement data of the target based on spectrum analysis of the reflected signal; The movement data of the target is converted from the second coordinate system to the first coordinate system to obtain the position data of the target.

10. A device control device, characterized in that: The device comprises: A position determination module, used for receiving a reflection signal formed by reflection of a target, and determining the position data of the target according to the reflection signal, wherein the position data is used for indicating the position of the target in a detection area; A target tracking module, used to track and locate the position of the target in the detection area according to the position data of the target, and determine the trajectory distribution of the target in the detection area; A movement determination module, used to calculate the trajectory trend change based on the trajectory distribution of the target in the detection area to obtain first trend data and / or second trend data, wherein the first trend data is used to indicate the movement trend of the target in a first direction, and the second trend data is used to indicate the movement trend of the target in a second direction; based on the comparison between the first trend data and a first threshold, or based on the comparison between the second trend data and a second threshold, the moving direction of the target is determined, so that if the controlled device meets the device linkage condition in the moving direction of the target, the action corresponding to the moving direction of the target is executed; the moving direction refers to the direction in which the target moves between different positions in the detection area.

11. An electronic device, characterized in that: include: at least one processor, at least one memory, and at least one communication bus, wherein: The memory stores a computer program, and the processor reads the computer program in the memory through the communication bus; When the computer program is executed by the processor, the device control method according to any one of claims 1 to 9 is implemented.

12. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the device control method according to any one of claims 1 to 9 is implemented.

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