An automatic control method, first electronic device, and system based on human perception

Abstract

This application provides an automatic control method, a first electronic device, and a system based on human perception, relating to the field of automatic control. The system includes a first electronic device and a second electronic device. The first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. Based on the position measurement of the second electronic device by the first electronic device, and the measurement and conversion of the human body's position, the location information of the second electronic device and the user's location information are obtained. According to the user's location information and the location information of the second electronic device, at least one of the second electronic devices automatically executes a preset operation. This application eliminates the need for the user to carry the device, enabling automatic control of IoT devices conveniently and quickly.

Description

Technical Field

[0001] This application relates to the field of automatic control, and more particularly to an automatic control method, a first electronic device, and a system based on human perception. Background Technology

[0002] With the rapid development of smart homes, more and more users are installing Internet of Things (IoT) devices (also known as IoT devices, smart devices, etc.) in places such as homes or offices, and even installing IoT devices throughout the entire house (also known as whole-house smart home, smart home system, smart home system, etc.). Users can experience the convenience brought by IoT devices. However, in current technologies, automatic control of IoT devices requires users to carry mobile devices (such as smartphones, wearable devices, etc.) and achieve automatic control through communication and sensing between the mobile device and the IoT device. Sometimes, users forget to bring their mobile devices when they are at home or in the office, making it impossible to achieve automatic control of IoT devices, which causes inconvenience to users and affects the user experience. Summary of the Invention

[0003] Based on the aforementioned background technology, how to make it more convenient for users to automatically control IoT devices and further improve the user experience has become a problem we need to consider.

[0004] To address the aforementioned technical problems, this application provides an automatic control method, a first electronic device, and a system based on human perception. The technical solution of this application enables the IoT device to automatically perform a certain operation when the user approaches or moves away, without requiring any user intervention or the user carrying any electronic devices, significantly improving the user experience. Furthermore, the IoT device requires no hardware modifications. For example, smart speakers generally do not have cameras and do not require additional camera installation.

[0005] In a first aspect, this application provides a communication system based on human perception, the system comprising a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device comprises a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices comprise a routing device and a terminal device; R is a positive integer greater than or equal to 1.

[0006] Based on the position measurement of R second electronic devices by the first electronic device, the measurement and conversion of human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the R second electronic devices and the user's position information in the whole-house coordinate system provided by the central device; the central device sends a first message to the routing device; the routing device receives the first message and adjusts the beam according to the location of the routing device and the user's position, so that the maximum gain point of the adjusted beam points to the user.

[0007] In this method, based on the user's location, the location of the routing device, and the location of the terminal device, the routing device automatically adjusts its beam (e.g., according to beamforming algorithms), ultimately enabling the terminal device to receive the narrow beam provided by the routing device 300a. This allows the terminal device to obtain a signal with high gain and accurate coverage provided by the routing device. No manual operation or carrying of any equipment by the user is required; the routing device automatically adjusts according to the user's location.

[0008] According to the first aspect, if the central device detects that the distance between the user and the terminal device is less than a preset error range, it sends a first message to the routing device. A distance between the user and the terminal device that is less than the preset error range indicates that the user and the terminal device are in the same location, meaning it can be assumed that the user is using the terminal device. In other words, if it is determined that the user is using the terminal device, the beam of the routing device is adjusted.

[0009] According to the first aspect, or any implementation of the first aspect above, if the central device obtains that the user's position change is greater than a first preset range; or, if the central device obtains that the terminal device's position change is greater than a second preset range; then the central device obtains the position information of R second electronic devices and the user's position information in the whole-house coordinate system provided by the central device.

[0010] In this method, if the user's or terminal device's location is determined to have moved, the routing device is triggered to adjust its beam, thus aligning the routing device's beam with the user.

[0011] Secondly, this application provides a communication system based on human perception, which includes a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a routing device and N terminal devices; R and N are positive integers greater than or equal to 1.

[0012] Based on the position measurement of R second electronic devices by the first electronic device, the measurement and conversion of human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of R second electronic devices and M users in the whole-house coordinate system provided by the central device; the number of M users and N terminal devices whose distances are within a preset error range is M1, M1>0; the central device sends a first message to the routing device; the routing device receives the first message and adjusts the beam according to the location of the routing device and the locations of M1 users; so that the maximum gain point of the beam points to the locations of M1 users in turn in a time-division multiplexing manner.

[0013] In this method, for the case of M users, the locations of the M users and N terminal devices can be obtained. Then, M1 locations can be found where the locations of the N terminal devices are the same as or within the preset range of the locations of the M users. Then, the routing device can be controlled to automatically adjust the beam (for example, according to the beamforming algorithm). The routing device provides narrow pulse signals to the M1 locations through time division multiplexing. Since the time slots of the time division are short, the users cannot perceive them. Ultimately, the maximum gain point of the beam provided by the routing device is pointed to the terminal devices at the M1 locations through time division multiplexing. The terminal devices at the M1 locations can all receive the narrow beam provided by the routing device.

[0014] According to the second aspect, if the central device obtains that the position change of at least one of the M users is greater than the first preset range; or, if the central device obtains that the position change of at least one of the N terminal devices is greater than the second preset range; then the central device obtains the position information of R second electronic devices and the position information of M users in the whole-house coordinate system provided by the central device.

[0015] In this method, if at least one user's location is determined to have moved, or at least one terminal device's location is determined to have moved, the routing device is triggered to adjust its beam. This allows the routing device's beam to be aligned with each user in turn.

[0016] Thirdly, this application provides a human perception-based communication system, which includes a central device, a first electronic device, and R second electronic devices. Any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication. The first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include one first device and one mobile device, the mobile device including a second ultra-wideband module. R is a positive integer greater than or equal to 1. Based on the first electronic device's position measurement of the mobile device, the measurement and conversion of the human body's position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the user in the whole-house coordinate system provided by the central device. The central device sends a first message to the first device. Upon receiving the first message, the first device cleans the entire house except for the first area belonging to the user.

[0017] In this method, the cleaning equipment automatically avoids the user's room or area during cleaning, based on the user's location, to avoid disturbing the user.

[0018] According to the third aspect, based on the location measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the location information of M pieces of furniture in the whole-house coordinate system provided by the central device; the central device obtains that the distance between the user and one of the M pieces of furniture is less than a preset first error range. Optionally, the central device also obtains that the user's posture is lying down or sitting, and then sends a first message to the first device.

[0019] In this method, if it is determined that the user is resting, the room or area where the user is located will not be cleaned.

[0020] According to the third aspect, or any implementation of the third aspect above, if the user and the first device belong to the same area, the first device leaves the first area to which the user belongs after receiving the first message.

[0021] According to the third aspect, or any implementation thereof, the central device obtains that the user's change within a preset time period is greater than or equal to a preset second error range; the central device sends a third message to the first device; the first device receives the third message and enters the first area to which the user belongs.

[0022] In this method, if it is determined that the user has started activity or left the room or area, the cleaning equipment will automatically enter the room or area to perform cleaning.

[0023] According to the third aspect, or any implementation thereof, based on the location measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the coordinate range of each area in the whole house under the whole house coordinate system provided by the central device; the central device sends the coordinate range information of each area in the whole house to the first device; the first device cleans according to the coordinate range information of each area in the whole house.

[0024] Fourthly, this application provides a communication system based on human perception, the system comprising a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device comprises a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices comprise a first device; R is a positive integer greater than or equal to 1.

[0025] Based on the position measurement of the first device by the first electronic device, the measurement and conversion of the human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the position information of one or more users in the whole-house coordinate system provided by the central device; the central device obtains the first user among the one or more users whose distance from the first device is less than a preset first error range; the central device obtains at least one of the first user's height information, respiratory rate information, and heart rate information; the central device sends a first message to the first device, the first message including at least one of the first user's height information, respiratory rate information, and heart rate information.

[0026] In this method, users do not need to manually input information or carry any devices. The system automatically obtains the user's height, respiratory rate, heart rate, and other human body information to acquire the user's body data.

[0027] According to the fourth aspect, the first device receives the first message and obtains at least one of the following information of the first user: body fat percentage, body mass index (BMI), muscle mass, basal metabolic rate, and visceral fat level, based on at least one of the first user's height information, respiratory rate information, and heart rate information.

[0028] According to the fourth aspect, or any implementation of the fourth aspect above, the first device sends a first request message to the central device, the first request message being used to instruct the central device to acquire user data; upon receiving the first request message, the central device acquires a first user whose distance from the first device is less than a preset first error range.

[0029] In this method, the health management device triggers the central device to obtain information such as the user's height, respiratory rate, and heart rate.

[0030] According to the fourth aspect, or any embodiment of the fourth aspect above, the R second electronic devices include a mobile device, the mobile device includes a second ultra-wideband module, and the position measurement of the first device by the first electronic device includes: the first electronic device measuring the position of the mobile device; and measuring the position of the first device based on the position of the mobile device. In this embodiment, the first device does not include a UWB module, so it can be calibrated by a mobile device including a UWB module.

[0031] Fifthly, this application provides a communication system based on human perception, the system comprising a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device comprises a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a first device; R is a positive integer greater than or equal to 1.

[0032] Based on the position measurement of the first device by the first electronic device, the measurement and conversion of the human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the position information of one or more users in the whole-house coordinate system provided by the central device; the first device is at a first height above the ground; the central device obtains that the distance between the first user and the first device is less than a preset first distance among one or more users, and optionally, the central device also obtains that the first user performs a preset action, then sends a first message to the first device; the first device receives the first message and descends to a second height above the ground; wherein, the second height is less than the first height.

[0033] In this method, the drying equipment automatically lowers based on the user's location, eliminating the need for manual operation and improving the user experience.

[0034] According to the fifth aspect, the central device obtains the height information of the first user; the central device sends instruction information to the first device, the instruction information being used to indicate the height of the first user; the first device receives the instruction information and obtains the second height based on the instruction information.

[0035] In this method, the height at which the drying equipment descends is determined based on the user's height.

[0036] According to the fifth aspect, or any implementation of the fifth aspect above, if the central device obtains that the distance between the first user and the first device is less than a preset first distance for a duration greater than a preset value, then it sends a first message to the first device.

[0037] In this method, the device will only lower itself if it is determined that the user will remain near the drying equipment for a certain period of time, thus avoiding accidental operation.

[0038] According to the fifth aspect, or any implementation of the fifth aspect above, the central device obtains that the distance between the first user and the first device is greater than or equal to a preset first distance, and sends a second message to the first device; upon receiving the second message, the first device rises to a first height above the ground.

[0039] In this method, the drying equipment automatically rises according to the user's location, eliminating the need for manual operation and improving the user experience.

[0040] According to the fifth aspect, or any embodiment of the fifth aspect above, the R second electronic devices include a mobile device, the mobile device including a second ultra-wideband module, and the first electronic device measuring the position of the first device includes: the first electronic device measuring the position of the mobile device; and measuring the position of the first device based on the position of the mobile device. In this embodiment, the first device does not include a UWB module, so it can be calibrated by a mobile device including a UWB module.

[0041] Sixthly, this application provides a communication system based on human perception, the system comprising a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device comprises a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices comprise a first device; R is a positive integer greater than or equal to 1.

[0042] Based on the position measurement of the first device by the first electronic device, the measurement and conversion of the human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the position information of one or more users in the whole-house coordinate system provided by the central device; if the position of the first device and the position of the first user among one or more users meet the preset conditions, the central device notifies the first device to adjust the lights; the first device adjusts the lights according to the notification from the central device.

[0043] In this method, the on / off state, brightness, and color of the lighting equipment are automatically adjusted based on the user's relative position to the lighting equipment, thus improving the user experience.

[0044] In one implementation, the preset conditions include: a first user entering a first area belonging to the first device; or, the distance between the first user and the first device is less than or equal to a preset distance; or, the first user entering a second area in a preset direction of the first device; the central device notifying the first device to adjust the lights includes: the central device sending a first message to the first device; the first message instructing the first device to turn on the lights. Optionally, the central device obtains the identity of the first user and a first brightness value corresponding to the identity of the first user; the central device sends first indication information to the first device, the first indication information indicating the first brightness value; the first device receives the first indication information and turns on the first brightness value according to the first indication information. Optionally, the central device obtains the identity of the first user and a first color corresponding to the identity of the first user; the central device sends second indication information to the first device, the second indication information indicating the first color; the first device receives the second indication information and turns on the first color according to the second indication information.

[0045] In one implementation, the preset conditions include: the first user leaving the first area to which the first device belongs; or, the distance between the first user and the first device is greater than a preset distance; or, the first user leaving the second area in a preset direction of the first device; the central device notifying the first device to adjust the lights includes: the central device sending a second message to the first device, the second message being used to instruct the first device to turn off the lights.

[0046] In one implementation, the preset conditions include: the distance between the first user and the first device changes; the central device notifying the first device to adjust the light includes: the central device sending a third message to the first device, the third message being used to instruct the first device to reduce the brightness; or, the central device sending a fourth message to the first device, the fourth message being used to instruct the first device to increase the brightness.

[0047] According to the sixth aspect, the R second electronic devices include a mobile device, the mobile device including a second ultra-wideband module, and the first electronic device's position measurement of the first device includes: the first electronic device measuring the position of the mobile device; and measuring the position of the first device based on the position of the mobile device. In this embodiment, the first device does not include a UWB module, so it can be calibrated using a mobile device including a UWB module.

[0048] Seventhly, this application provides an automatic control method based on human perception, applied to a communication system based on human perception, the system including a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a routing device and a terminal device; R is a positive integer greater than or equal to 1.

[0049] Based on the position measurement of R second electronic devices by the first electronic device, the measurement and conversion of human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the R second electronic devices and the user's position information in the whole-house coordinate system provided by the central device; the central device sends a first message to the routing device; the routing device receives the first message and adjusts the beam according to the location of the routing device and the user's position, so that the maximum gain point of the adjusted beam points to the user.

[0050] In this method, based on the user's location, the location of the routing device, and the location of the terminal device, the routing device automatically adjusts its beam (e.g., according to beamforming algorithms), ultimately enabling the terminal device to receive the narrow beam provided by the routing device 300a. This allows the terminal device to obtain a signal with high gain and accurate coverage provided by the routing device. No manual operation or carrying of any equipment by the user is required; the routing device automatically adjusts according to the user's location.

[0051] According to the seventh aspect, if the central device detects that the distance between the user and the terminal device is less than a preset error range, it sends a first message to the routing device. A distance between the user and the terminal device that is less than the preset error range indicates that the user and the terminal device are in the same location, meaning it can be assumed that the user is using the terminal device. In other words, if it is determined that the user is using the terminal device, the beam of the routing device is adjusted.

[0052] According to the seventh aspect, or any implementation of the seventh aspect above, if the central device obtains that the user's position change is greater than a first preset range; or, if the central device obtains that the terminal device's position change is greater than a second preset range; then the central device obtains the position information of R second electronic devices and the user's position information in the whole-house coordinate system provided by the central device.

[0053] In this method, if the user's or terminal device's location is determined to have moved, the routing device is triggered to adjust its beam, thus aligning the routing device's beam with the user.

[0054] Eighthly, this application provides an automatic control method based on human perception, applied to a communication system based on human perception. The system includes a central device, a first electronic device, and R second electronic devices. Any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication. The first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include a routing device and N terminal devices. R and N are positive integers greater than or equal to 1.

[0055] Based on the position measurement of R second electronic devices by the first electronic device, the measurement and conversion of human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of R second electronic devices and M users in the whole-house coordinate system provided by the central device; the number of M users and N terminal devices whose distances are within a preset error range is M1, M1>0; the central device sends a first message to the routing device; the routing device receives the first message and adjusts the beam according to the location of the routing device and the locations of M1 users; so that the maximum gain point of the beam points to the locations of M1 users in turn in a time-division multiplexing manner.

[0056] In this method, for the case of M users, the locations of the M users and N terminal devices can be obtained. Then, M1 locations can be found where the locations of the N terminal devices are the same as or within the preset range of the locations of the M users. Then, the routing device can be controlled to automatically adjust the beam (for example, according to the beamforming algorithm). The routing device provides narrow pulse signals to the M1 locations through time division multiplexing. Since the time slots of the time division are short, the users cannot perceive them. Ultimately, the maximum gain point of the beam provided by the routing device is pointed to the terminal devices at the M1 locations through time division multiplexing. The terminal devices at the M1 locations can all receive the narrow beam provided by the routing device.

[0057] According to the eighth aspect, if the central device obtains that the position change of at least one of the M users is greater than the first preset range; or, if the central device obtains that the position change of at least one of the N terminal devices is greater than the second preset range; then the central device obtains the position information of R second electronic devices and the position information of M users in the whole-house coordinate system provided by the central device.

[0058] In this method, if at least one user's location is determined to have moved, or at least one terminal device's location is determined to have moved, the routing device is triggered to adjust its beam. This allows the routing device's beam to be aligned with each user in turn.

[0059] Ninthly, this application provides an automatic control method based on human perception, applied to a human perception-based communication system. The system includes a central device, a first electronic device, and R second electronic devices. Any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication. The first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include a first device and a mobile device, the mobile device including a second ultra-wideband module. R is a positive integer greater than or equal to 1. Based on the first electronic device's position measurement of the mobile device, the measurement and conversion of the human body's position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the user's position in the whole-house coordinate system provided by the central device. The central device sends a first message to the first device. Upon receiving the first message, the first device cleans the entire house except for the first area belonging to the user.

[0060] In this method, the cleaning equipment automatically avoids the user's room or area during cleaning, based on the user's location, to avoid disturbing the user.

[0061] According to the ninth aspect, based on the location measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the location information of M pieces of furniture in the whole-house coordinate system provided by the central device; the central device obtains that the distance between the user and one of the M pieces of furniture is less than a preset first error range. Optionally, the central device also obtains that the user's posture is lying down or sitting, and then sends a first message to the first device.

[0062] In this method, if it is determined that the user is resting, the room or area where the user is located will not be cleaned.

[0063] According to the ninth aspect, or any implementation thereof, if the user and the first device belong to the same area, the first device leaves the first area to which the user belongs after receiving the first message.

[0064] According to the ninth aspect, or any implementation thereof, the central device obtains that the user's change within a preset time period is greater than or equal to a preset second error range; the central device sends a third message to the first device; the first device receives the third message and enters the first area to which the user belongs.

[0065] In this method, if it is determined that the user has started activity or left the room or area, the cleaning equipment will automatically enter the room or area to perform cleaning.

[0066] According to the ninth aspect, or any embodiment of the ninth aspect above, based on the position measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the coordinate range of each area in the whole house under the whole house coordinate system provided by the central device; the central device sends the coordinate range information of each area in the whole house to the first device; the first device cleans according to the coordinate range information of each area in the whole house.

[0067] In a tenth aspect, this application provides an automatic control method based on human perception, applied to a communication system based on human perception. The system includes a central device, a first electronic device, and R second electronic devices. Any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication. The first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include a first device. R is a positive integer greater than or equal to 1.

[0068] Based on the position measurement of the first device by the first electronic device, the measurement and conversion of the human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the position information of one or more users in the whole-house coordinate system provided by the central device; the central device obtains the first user among the one or more users whose distance from the first device is less than a preset first error range; the central device obtains at least one of the first user's height information, respiratory rate information, and heart rate information; the central device sends a first message to the first device, the first message including at least one of the first user's height information, respiratory rate information, and heart rate information.

[0069] In this method, users do not need to manually input information or carry any devices. The system automatically obtains the user's height, respiratory rate, heart rate, and other human body information to acquire the user's body data.

[0070] According to the tenth aspect, the first device receives the first message and obtains at least one of the following information of the first user: body fat percentage, body mass index (BMI), muscle mass, basal metabolic rate, and visceral fat level, based on at least one of the first user's height information, respiratory rate information, and heart rate information.

[0071] According to the tenth aspect, or any embodiment of the tenth aspect above, the first device sends a first request message to the central device, the first request message being used to instruct the central device to acquire user data; upon receiving the first request message, the central device acquires a first user whose distance from the first device is less than a preset first error range.

[0072] In this method, the health management device triggers the central device to obtain information such as the user's height, respiratory rate, and heart rate.

[0073] According to the tenth aspect, or any embodiment of the tenth aspect above, the R second electronic devices include a mobile device, the mobile device including a second ultra-wideband module, and the first electronic device measuring the position of the first device includes: the first electronic device measuring the position of the mobile device; and measuring the position of the first device based on the position of the mobile device. In this embodiment, the first device does not include a UWB module, so it can be calibrated by a mobile device including a UWB module.

[0074] In the eleventh aspect, this application provides an automatic control method based on human perception, applied to a communication system based on human perception. The system includes a central device, a first electronic device, and R second electronic devices. Any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication. The first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include a first device. R is a positive integer greater than or equal to 1.

[0075] Based on the position measurement of the first device by the first electronic device, the measurement and conversion of the human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the position information of one or more users in the whole-house coordinate system provided by the central device; the first device is at a first height above the ground; the central device obtains that the distance between the first user and the first device is less than a preset first distance among one or more users, and optionally, the central device also obtains that the first user performs a preset action, then sends a first message to the first device; the first device receives the first message and descends to a second height above the ground; wherein, the second height is less than the first height.

[0076] In this method, the drying equipment automatically lowers based on the user's location, eliminating the need for manual operation and improving the user experience.

[0077] According to the eleventh aspect, the central device obtains the height information of the first user; the central device sends an instruction to the first device, the instruction being used to indicate the height of the first user; the first device receives the instruction and obtains the second height based on the instruction.

[0078] In this method, the height at which the drying equipment descends is determined based on the user's height.

[0079] According to the eleventh aspect, or any implementation thereof, if the central device obtains that the distance between the first user and the first device is less than a preset first distance for a duration greater than a preset value, then it sends a first message to the first device.

[0080] In this method, the device will only lower itself if it is determined that the user will remain near the drying equipment for a certain period of time, thus avoiding accidental operation.

[0081] According to the eleventh aspect, or any of the embodiments of the eleventh aspect above, the central device obtains that the distance between the first user and the first device is greater than or equal to a preset first distance, and sends a second message to the first device; upon receiving the second message, the first device rises to a first height above the ground.

[0082] In this method, the drying equipment automatically rises according to the user's location, eliminating the need for manual operation and improving the user experience.

[0083] According to the eleventh aspect, or any embodiment of the eleventh aspect above, the R second electronic devices include a mobile device, the mobile device includes a second ultra-wideband module, and the position measurement of the first device by the first electronic device includes: the first electronic device measuring the position of the mobile device; and measuring the position of the first device based on the position of the mobile device. In this embodiment, the first device does not include a UWB module, so it can be calibrated by a mobile device including a UWB module.

[0084] In a twelfth aspect, this application provides an automatic control method based on human perception, applied to a communication system based on human perception. The system includes a central device, a first electronic device, and R second electronic devices. Any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication. The first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include one first device. R is a positive integer greater than or equal to 1.

[0085] Based on the position measurement of the first device by the first electronic device, the measurement and conversion of the human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the position information of one or more users in the whole-house coordinate system provided by the central device; if the position of the first device and the position of the first user among one or more users meet the preset conditions, the central device notifies the first device to adjust the lights; the first device adjusts the lights according to the notification from the central device.

[0086] In this method, the on / off state, brightness, and color of the lighting equipment are automatically adjusted based on the user's relative position to the lighting equipment, thus improving the user experience.

[0087] In one implementation, the preset conditions include: a first user entering a first area belonging to the first device; or, the distance between the first user and the first device is less than or equal to a preset distance; or, the first user entering a second area in a preset direction of the first device; the central device notifying the first device to adjust the lights includes: the central device sending a first message to the first device; the first message instructing the first device to turn on the lights. Optionally, the central device obtains the identity of the first user and a first brightness value corresponding to the identity of the first user; the central device sends first indication information to the first device, the first indication information indicating the first brightness value; the first device receives the first indication information and turns on the first brightness value according to the first indication information. Optionally, the central device obtains the identity of the first user and a first color corresponding to the identity of the first user; the central device sends second indication information to the first device, the second indication information indicating the first color; the first device receives the second indication information and turns on the first color according to the second indication information.

[0088] In one implementation, the preset conditions include: the first user leaving the first area to which the first device belongs; or, the distance between the first user and the first device is greater than a preset distance; or, the first user leaving the second area in a preset direction of the first device; the central device notifying the first device to adjust the lights includes: the central device sending a second message to the first device, the second message being used to instruct the first device to turn off the lights.

[0089] In one implementation, the preset conditions include: the distance between the first user and the first device changes; the central device notifying the first device to adjust the light includes: the central device sending a third message to the first device, the third message being used to instruct the first device to reduce the brightness; or, the central device sending a fourth message to the first device, the fourth message being used to instruct the first device to increase the brightness.

[0090] According to the twelfth aspect, the R second electronic devices include a mobile device, the mobile device including a second ultra-wideband module, and the first electronic device's position measurement of the first device includes: the first electronic device measuring the position of the mobile device; and measuring the position of the first device based on the position of the mobile device. In this embodiment, the first device does not include a UWB module, so it can be calibrated using a mobile device including a UWB module.

[0091] In a thirteenth aspect, this application provides a central device that communicates with any two of a first electronic device and any one of R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a routing device and a terminal device; R is a positive integer greater than or equal to 1.

[0092] Based on the position measurement of R second electronic devices by the first electronic device, the measurement and conversion of human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the R second electronic devices and the user's position information in the whole-house coordinate system provided by the central device; the central device sends a first message to the routing device; the first message is used to instruct the routing device to adjust the beam according to the location of the routing device and the user's position, so that the maximum gain point of the adjusted beam points to the user.

[0093] In this method, based on the user's location, the location of the routing device, and the location of the terminal device, the routing device automatically adjusts its beam (e.g., according to beamforming algorithms), ultimately enabling the terminal device to receive the narrow beam provided by the routing device 300a. This allows the terminal device to obtain a signal with high gain and accurate coverage provided by the routing device. No manual operation or carrying of any equipment by the user is required; the routing device automatically adjusts according to the user's location.

[0094] According to aspect thirteen, if the central device detects that the distance between the user and the terminal device is less than a preset error range, it sends a first message to the routing device. A distance between the user and the terminal device being less than the preset error range indicates that the user and the terminal device are in the same location, meaning it can be assumed that the user is using the terminal device. In other words, if it is determined that the user is using the terminal device, the beam of the routing device is adjusted.

[0095] According to the thirteenth aspect, or any implementation thereof, if the central device obtains that the user's position change is greater than a first preset range; or, if the central device obtains that the terminal device's position change is greater than a second preset range; then the central device obtains the position information of R second electronic devices and the user's position information in the whole-house coordinate system provided by the central device.

[0096] In this method, if the user's or terminal device's location is determined to have moved, the routing device is triggered to adjust its beam, thus aligning the routing device's beam with the user.

[0097] In a fourteenth aspect, this application provides a central device that communicates with any two of a first electronic device and any one of R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a routing device and N terminal devices; R and N are positive integers greater than or equal to 1.

[0098] Based on the position measurement of R second electronic devices by the first electronic device, the measurement and conversion of human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of R second electronic devices and M users in the whole-house coordinate system provided by the central device; the number of M users and N terminal devices whose distances are within a preset error range is M1, M1>0; the central device sends a first message to the routing device; the first message is used to instruct the routing device to adjust the beam according to the location of the routing device and the location of M1 users, so that the maximum gain point of the beam points alternately points to the locations of M1 users in a time-division multiplexing manner.

[0099] In this method, for the case of M users, the locations of the M users and N terminal devices can be obtained. Then, M1 locations can be found where the locations of the N terminal devices are the same as or within the preset range of the locations of the M users. Then, the routing device can be controlled to automatically adjust the beam (for example, according to the beamforming algorithm). The routing device provides narrow pulse signals to the M1 locations through time division multiplexing. Since the time slots of the time division are short, the users cannot perceive them. Ultimately, the maximum gain point of the beam provided by the routing device is pointed to the terminal devices at the M1 locations through time division multiplexing. The terminal devices at the M1 locations can all receive the narrow beam provided by the routing device.

[0100] According to the fourteenth aspect, if the central device obtains that the position change of at least one of the M users is greater than a first preset range; or, if the central device obtains that the position change of at least one of the N terminal devices is greater than a second preset range; then the central device obtains the position information of R second electronic devices and the position information of M users in the whole-house coordinate system provided by the central device.

[0101] In this method, if at least one user's location is determined to have moved, or at least one terminal device's location is determined to have moved, the routing device is triggered to adjust its beam. This allows the routing device's beam to be aligned with each user in turn.

[0102] In a fifteenth aspect, this application provides a central device that communicates with any two of a first electronic device and any one of R second electronic devices via wired or wireless communication. The first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include a first device and a mobile device, the mobile device including a second ultra-wideband module; R is a positive integer greater than or equal to 1. Based on the first electronic device's position measurement of the mobile device, the measurement and conversion of the human body's position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the user in the whole-house coordinate system provided by the central device. The central device sends a first message to the first device; the first message instructs the first device to clean the area within the whole house except for the first area belonging to the user.

[0103] In this method, the cleaning equipment automatically avoids the user's room or area during cleaning, based on the user's location, to avoid disturbing the user.

[0104] According to the fifteenth aspect, based on the location measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the location information of M pieces of furniture in the whole-house coordinate system provided by the central device; the central device obtains that the distance between the user and one of the M pieces of furniture is less than a preset first error range, and optionally, the central device also obtains that the user's posture is lying down or sitting, then sends a first message to the first device.

[0105] In this method, if it is determined that the user is resting, the room or area where the user is located will not be cleaned.

[0106] According to the fifteenth aspect, or any embodiment of the fifteenth aspect above, the central device obtains that the user's change within a preset time period is greater than or equal to a preset second error range; the central device sends a third message to the first device; the third message is used to instruct the first device to enter the first area to which the user belongs.

[0107] In this method, if it is determined that the user has started activity or left the room or area, the cleaning equipment will automatically enter the room or area to perform cleaning.

[0108] According to the fifteenth aspect, or any embodiment of the fifteenth aspect above, based on the location measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the coordinate range of each area in the whole house under the whole house coordinate system provided by the central device; the central device sends the coordinate range information of each area in the whole house to the first device; the first device cleans according to the coordinate range information of each area in the whole house.

[0109] In a sixteenth aspect, this application provides a central device that communicates with any two of a first electronic device and any one of R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a first device and a mobile device, the mobile device including a second ultra-wideband module; R is a positive integer greater than or equal to 1.

[0110] Based on the position measurement of the first device by the first electronic device, the measurement and conversion of the human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the position information of one or more users in the whole-house coordinate system provided by the central device; the central device obtains the first user among the one or more users whose distance from the first device is less than a preset first error range; the central device obtains at least one of the first user's height information, respiratory rate information, and heart rate information; the central device sends a first message to the first device, the first message including at least one of the first user's height information, respiratory rate information, and heart rate information.

[0111] In this method, users do not need to manually input information or carry any devices. The system automatically obtains the user's height, respiratory rate, heart rate, and other human body information to acquire the user's body data.

[0112] According to the sixteenth aspect, or any embodiment of the sixteenth aspect above, when the central device receives a first request message from the first device, it acquires a first user whose distance from the first device is less than a preset first error range. The first request message is used to instruct the central device to acquire user data.

[0113] In this method, the health management device triggers the central device to obtain information such as the user's height, respiratory rate, and heart rate.

[0114] In a seventeenth aspect, this application provides a central device that communicates with any two of a first electronic device and any one of R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a first device and a mobile device, the mobile device including a second ultra-wideband module; R is a positive integer greater than or equal to 1.

[0115] Based on the position measurement of the first electronic device, the measurement and conversion of the human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the position information of one or more users in the whole-house coordinate system provided by the central device; the first device is at a first height above the ground; the central device obtains that the distance between the first user and the first device is less than a preset first distance among one or more users; optionally, the central device also obtains that the first user performs a preset action, and then sends a first message to the first device; the first message is used to instruct the first device to descend to a second height above the ground; the second height is less than the first height.

[0116] In this method, the drying equipment automatically lowers based on the user's location, eliminating the need for manual operation and improving the user experience.

[0117] According to the seventeenth aspect, the central device acquires the height information of the first user; the central device sends instruction information to the first device, the instruction information being used to indicate the height of the first user; the height of the first user is used to acquire the second height.

[0118] In this method, the height at which the drying equipment descends is determined based on the user's height.

[0119] According to the seventeenth aspect, or any embodiment of the seventeenth aspect above, if the central device obtains that the distance between the first user and the first device is less than a preset first distance for a duration greater than a preset value, then it sends a first message to the first device.

[0120] In this method, the device will only lower itself if it is determined that the user will remain near the drying equipment for a certain period of time, thus avoiding accidental operation.

[0121] According to the seventeenth aspect, or any embodiment of the seventeenth aspect above, the central device obtains that the distance between the first user and the first device is greater than or equal to a preset first distance, and sends a second message to the first device; the second message is used to instruct the first device to rise to a first height above the ground.

[0122] In this method, the drying equipment automatically rises according to the user's location, eliminating the need for manual operation and improving the user experience.

[0123] In an eighteenth aspect, this application provides a central device that communicates with any two of a first electronic device and any one of R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a first device and a mobile device, the mobile device including a second ultra-wideband module; R is a positive integer greater than or equal to 1.

[0124] Based on the position measurement of the first device by the first electronic device, the measurement and conversion of the human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the position information of one or more users in the whole-house coordinate system provided by the central device; if the position of the first device and the position of the first user among one or more users meet the preset conditions, the central device notifies the first device to adjust the lights.

[0125] In this method, the on / off state, brightness, and color of the lighting equipment are automatically adjusted based on the user's relative position to the lighting equipment, thus improving the user experience.

[0126] In one implementation, the preset conditions include: a first user entering a first area belonging to the first device; or, the distance between the first user and the first device is less than or equal to a preset distance; or, the first user entering a second area in a preset direction of the first device; the central device notifying the first device to adjust the lights includes: the central device sending a first message to the first device; the first message instructing the first device to turn on the lights. Optionally, the central device obtains the identity of the first user and a first brightness value corresponding to the identity of the first user; the central device sends first indication information to the first device, the first indication information indicating the first brightness value; the first device receives the first indication information and turns on the first brightness value according to the first indication information. Optionally, the central device obtains the identity of the first user and a first color corresponding to the identity of the first user; the central device sends second indication information to the first device, the second indication information indicating the first color; the first device receives the second indication information and turns on the first color according to the second indication information.

[0127] In one implementation, the preset conditions include: the first user leaving the first area to which the first device belongs; or, the distance between the first user and the first device is greater than a preset distance; or, the first user leaving the second area in a preset direction of the first device; the central device notifying the first device to adjust the lights includes: the central device sending a second message to the first device, the second message being used to instruct the first device to turn off the lights.

[0128] In one implementation, the preset conditions include: the distance between the first user and the first device changes; the central device notifying the first device to adjust the light includes: the central device sending a third message to the first device, the third message being used to instruct the first device to reduce the brightness; or, the central device sending a fourth message to the first device, the fourth message being used to instruct the first device to increase the brightness.

[0129] In its nineteenth aspect, this application provides an automatic control method based on human perception, applied to a central device, wherein the central device communicates with any two of a first electronic device and any one of R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a routing device and a terminal device; and R is a positive integer greater than or equal to 1.

[0130] Based on the position measurement of R second electronic devices by the first electronic device, the measurement and conversion of human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the R second electronic devices and the user's position information in the whole-house coordinate system provided by the central device; the central device sends a first message to the routing device; the first message is used to instruct the routing device to adjust the beam according to the location of the routing device and the user's position, so that the maximum gain point of the adjusted beam points to the user.

[0131] In this method, based on the user's location, the location of the routing device, and the location of the terminal device, the routing device automatically adjusts its beam (e.g., according to beamforming algorithms), ultimately enabling the terminal device to receive the narrow beam provided by the routing device 300a. This allows the terminal device to obtain a signal with high gain and accurate coverage provided by the routing device. No manual operation or carrying of any equipment by the user is required; the routing device automatically adjusts according to the user's location.

[0132] According to aspect nineteen, if the central device detects that the distance between the user and the terminal device is less than a preset error range, it sends a first message to the routing device. A distance between the user and the terminal device being less than the preset error range indicates that the user and the terminal device are in the same location, meaning the user can be considered to be using the terminal device. In other words, if it is determined that the user is using the terminal device, the beam of the routing device is adjusted.

[0133] According to the nineteenth aspect, or any embodiment of the nineteenth aspect above, if the central device obtains that the user's position change is greater than a first preset range; or, if the central device obtains that the terminal device's position change is greater than a second preset range; then the central device obtains the position information of R second electronic devices and the user's position information in the whole-house coordinate system provided by the central device.

[0134] In this method, if the user's or terminal device's location is determined to have moved, the routing device is triggered to adjust its beam, thus aligning the routing device's beam with the user.

[0135] In a twentieth aspect, this application provides an automatic control method based on human perception, applied to a central device, wherein the central device communicates with any two of a first electronic device and any one of R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a routing device and N terminal devices; R and N are positive integers greater than or equal to 1.

[0136] Based on the position measurement of R second electronic devices by the first electronic device, the measurement and conversion of human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of R second electronic devices and M users in the whole-house coordinate system provided by the central device; the number of M users and N terminal devices whose distances are within a preset error range is M1, M1>0; the central device sends a first message to the routing device; the first message is used to instruct the routing device to adjust the beam according to the location of the routing device and the location of M1 users, so that the maximum gain point of the beam points alternately points to the locations of M1 users in a time-division multiplexing manner.

[0137] In this method, for the case of M users, the locations of the M users and N terminal devices can be obtained. Then, M1 locations can be found where the locations of the N terminal devices are the same as or within the preset range of the locations of the M users. Then, the routing device can be controlled to automatically adjust the beam (for example, according to the beamforming algorithm). The routing device provides narrow pulse signals to the M1 locations through time division multiplexing. Since the time slots of the time division are short, the users cannot perceive them. Ultimately, the maximum gain point of the beam provided by the routing device is pointed to the terminal devices at the M1 locations through time division multiplexing. The terminal devices at the M1 locations can all receive the narrow beam provided by the routing device.

[0138] According to the twentieth aspect, if the central device obtains that the position change of at least one of the M users is greater than the first preset range; or, if the central device obtains that the position change of at least one of the N terminal devices is greater than the second preset range; then the central device obtains the position information of R second electronic devices and the position information of M users in the whole-house coordinate system provided by the central device.

[0139] In this method, if at least one user's location is determined to have moved, or at least one terminal device's location is determined to have moved, the routing device is triggered to adjust its beam. This allows the routing device's beam to be aligned with each user in turn.

[0140] In its twentieth aspect, this application provides an automatic control method based on human perception, applied to a central device. This central device communicates with any two of three entities: a first electronic device and any one of R second electronic devices, via wired or wireless communication. The first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include one first device and one mobile device, the mobile device including a second ultra-wideband module; R is a positive integer greater than or equal to 1. Based on the first electronic device's position measurement of the mobile device, the measurement and conversion of the human body's position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the user's position in the whole-house coordinate system provided by the central device. The central device sends a first message to the first device; the first message instructs the first device to clean the entire house area except for the first area belonging to the user.

[0141] In this method, the cleaning equipment automatically avoids the user's room or area during cleaning, based on the user's location, to avoid disturbing the user.

[0142] According to aspect 21, based on the location measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the location information of M pieces of furniture in the whole-house coordinate system provided by the central device; the central device obtains that the distance between the user and one of the M pieces of furniture is less than a preset first error range; optionally, the central device also obtains that the user's posture is lying down or sitting, and then sends a first message to the first device.

[0143] In this method, if it is determined that the user is resting, the room or area where the user is located will not be cleaned.

[0144] According to aspect 21, or any embodiment of aspect 21 above, the central device obtains that the user's change within a preset time period is greater than or equal to a preset second error range; the central device sends a third message to the first device; the third message is used to instruct the first device to enter the first area to which the user belongs.

[0145] In this method, if it is determined that the user has started activity or left the room or area, the cleaning equipment will automatically enter the room or area to perform cleaning.

[0146] According to aspect 21, or any embodiment of aspect 21 above, based on the location measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the coordinate range of each area in the whole house under the whole house coordinate system provided by the central device; the central device sends the coordinate range information of each area in the whole house to the first device; the first device cleans according to the coordinate range information of each area in the whole house.

[0147] In a twentieth aspect, this application provides an automatic control method based on human perception, applied to a central device, wherein the central device communicates with any two of a first electronic device and any one of R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a first device and a mobile device, the mobile device including a second ultra-wideband module; R is a positive integer greater than or equal to 1.

[0148] Based on the position measurement of the first device by the first electronic device, the measurement and conversion of the human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the position information of one or more users in the whole-house coordinate system provided by the central device; the central device obtains the first user among the one or more users whose distance from the first device is less than a preset first error range; the central device obtains at least one of the first user's height information, respiratory rate information, and heart rate information; the central device sends a first message to the first device, the first message including at least one of the first user's height information, respiratory rate information, and heart rate information.

[0149] In this method, users do not need to manually input information or carry any devices. The system automatically obtains the user's height, respiratory rate, heart rate, and other human body information to acquire the user's body data.

[0150] According to the twenty-second aspect, or any embodiment of the twenty-second aspect above, when the central device receives a first request message from the first device, it acquires a first user whose distance from the first device is less than a preset first error range. The first request message is used to instruct the central device to acquire user data.

[0151] In this method, the health management device triggers the central device to obtain information such as the user's height, respiratory rate, and heart rate.

[0152] In a twentieth aspect, this application provides an automatic control method based on human perception, applied to a central device, wherein the central device communicates with any two of a first electronic device and any one of R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a first device and a mobile device, the mobile device including a second ultra-wideband module; R is a positive integer greater than or equal to 1.

[0153] Based on the position measurement of the first electronic device, the measurement and conversion of the human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the position information of one or more users in the whole-house coordinate system provided by the central device; the first device is at a first height above the ground; the central device obtains that the distance between the first user and the first device is less than a preset first distance among one or more users; optionally, the central device also obtains that the first user performs a preset action, and then sends a first message to the first device; the first message is used to instruct the first device to descend to a second height above the ground; the second height is less than the first height.

[0154] In this method, the drying equipment automatically lowers based on the user's location, eliminating the need for manual operation and improving the user experience.

[0155] According to aspect 23, the central device acquires the height information of the first user; the central device sends instruction information to the first device, the instruction information being used to indicate the height of the first user; the height of the first user is used to acquire the second height.

[0156] In this method, the height at which the drying equipment descends is determined based on the user's height.

[0157] According to aspect 23, or any implementation thereof, if the central device obtains that the distance between the first user and the first device is less than a preset first distance for a duration greater than a preset value, then it sends a first message to the first device.

[0158] In this method, the device will only lower itself if it is determined that the user will remain near the drying equipment for a certain period of time, thus avoiding accidental operation.

[0159] According to aspect 23, or any embodiment of aspect 23 above, the central device obtains that the distance between the first user and the first device is greater than or equal to a preset first distance, and sends a second message to the first device; the second message is used to instruct the first device to rise to a first height above the ground.

[0160] In this method, the drying equipment automatically rises according to the user's location, eliminating the need for manual operation and improving the user experience.

[0161] In a twentieth aspect, this application provides an automatic control method based on human perception, applied to a central device, wherein the central device communicates with any two of a first electronic device and any one of R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a first device and a mobile device, the mobile device including a second ultra-wideband module; R is a positive integer greater than or equal to 1.

[0162] Based on the position measurement of the first device by the first electronic device, the measurement and conversion of the human body position, and the communication between the central device and the first electronic device, the central device obtains the position information of the first device and the position information of one or more users in the whole-house coordinate system provided by the central device; if the position of the first device and the position of the first user among one or more users meet the preset conditions, the central device notifies the first device to adjust the lights.

[0163] In this method, the on / off state, brightness, and color of the lighting equipment are automatically adjusted based on the user's relative position to the lighting equipment, thus improving the user experience.

[0164] In one implementation, the preset conditions include: a first user entering a first area belonging to the first device; or, the distance between the first user and the first device is less than or equal to a preset distance; or, the first user entering a second area in a preset direction of the first device; the central device notifying the first device to adjust the lights includes: the central device sending a first message to the first device; the first message instructing the first device to turn on the lights. Optionally, the central device obtains the identity of the first user and a first brightness value corresponding to the identity of the first user; the central device sends first indication information to the first device, the first indication information indicating the first brightness value; the first device receives the first indication information and turns on the first brightness value according to the first indication information. Optionally, the central device obtains the identity of the first user and a first color corresponding to the identity of the first user; the central device sends second indication information to the first device, the second indication information indicating the first color; the first device receives the second indication information and turns on the first color according to the second indication information.

[0165] In one implementation, the preset conditions include: the first user leaving the first area to which the first device belongs; or, the distance between the first user and the first device is greater than a preset distance; or, the first user leaving the second area in a preset direction of the first device; the central device notifying the first device to adjust the lights includes: the central device sending a second message to the first device, the second message being used to instruct the first device to turn off the lights.

[0166] In one implementation, the preset conditions include: the distance between the first user and the first device changes; the central device notifying the first device to adjust the light includes: the central device sending a third message to the first device, the third message being used to instruct the first device to reduce the brightness; or, the central device sending a fourth message to the first device, the fourth message being used to instruct the first device to increase the brightness.

[0167] In a twentieth aspect, this application provides a computer-readable storage medium. The computer-readable storage medium includes a computer program that, when executed on an electronic device, causes the electronic device to perform a method as described in the nineteenth aspect or any one of the nineteenth aspect embodiments, or a method as described in the twentieth aspect or any one of the twentieth aspect embodiments, or a method as described in the twenty-first aspect or any one of the twenty-first aspect embodiments, or a method as described in the twenty-second aspect or any one of the twenty-second aspect embodiments, or a method as described in the twenty-third aspect or any one of the twenty-fourth aspect embodiments.

[0168] In a twentieth aspect, this application provides a computer program product. When the computer program product is run on an electronic device, it causes the electronic device to perform the method as described in the nineteenth aspect or any one of the embodiments of the nineteenth aspect, or to perform the method as described in the twentieth aspect or any one of the embodiments of the twentieth aspect, or to perform the method as described in the twentieth aspect or any one of the embodiments of the twentieth aspect, or to perform the method as described in the twentieth aspect or any one of the embodiments of the twentieth aspect, or to perform the method as described in the twentieth aspect or any one of the embodiments of the twentieth aspect.

[0169] The twenty-fifth aspect and any one of its embodiments correspond to the nineteenth aspect or any one of its embodiments, or the twentieth aspect or any one of its embodiments, or the twenty-first aspect or any one of its embodiments, or the twenty-second aspect or any one of its embodiments, or the twenty-third aspect or any one of its embodiments, or the twenty-fourth aspect or any one of its embodiments. The technical effects corresponding to the twenty-fifth aspect and any one of its embodiments can be found in the technical effects corresponding to the corresponding embodiments described above, and will not be repeated here.

[0170] The twenty-sixth aspect and any one of its embodiments correspond to the nineteenth aspect or any one of its embodiments, or the twentieth aspect or any one of its embodiments, or the twenty-first aspect or any one of its embodiments, or the twenty-second aspect or any one of its embodiments, or the twenty-third aspect or any one of its embodiments, or the twenty-fourth aspect or any one of its embodiments. The technical effects corresponding to the twenty-sixth aspect and any one of its embodiments can be found in the technical effects corresponding to the corresponding embodiments described above, and will not be repeated here. Attached Figure Description

[0171] Figure 1 A schematic diagram of a scenario for an automatic control method based on human perception provided in an embodiment of this application;

[0172] Figure 2 This is a schematic diagram of the structure of the first electronic device in the automatic control method provided in the embodiments of this application;

[0173] Figure 3 This is a schematic diagram of the structure of the central device in the automatic control method provided in the embodiments of this application;

[0174] Figure 4 This is a schematic diagram of the structure of the second electronic device in the automatic control method provided in the embodiments of this application;

[0175] Figure 5A A schematic diagram of the structure of the ultra-wideband (UWB) module in the first electronic device provided in this application;

[0176] Figure 5B This is a schematic diagram of the structure of a millimeter-wave radar module in a first electronic device provided in an embodiment of this application;

[0177] Figure 6 This is a schematic diagram of the structure of the UWB module in the second electronic device provided in the embodiments of this application;

[0178] Figure 7 A schematic diagram of several antenna distributions in the UWB module of the first electronic device provided in the embodiments of this application;

[0179] Figure 8 A schematic diagram of several antenna distributions in a millimeter-wave radar module in a first electronic device provided in this application embodiment;

[0180] Figure 9 A schematic diagram illustrating several ways to establish a first coordinate system in the case where the UWB module of the first electronic device includes three antennas, as provided in the embodiments of this application;

[0181] Figure 10 A schematic diagram illustrating one method for establishing a second coordinate system according to an embodiment of this application;

[0182] Figure 11 A schematic diagram illustrating one method for establishing a third coordinate system as provided in an embodiment of this application;

[0183] Figure 12 A schematic diagram illustrating the principle of coordinate calculation for the second electronic device in the first coordinate system, provided for an embodiment of this application;

[0184] Figure 13 A schematic diagram illustrating several marking methods for the second electronic device provided in the embodiments of this application;

[0185] Figure 14 A schematic diagram illustrating a method for marking spatial regions provided in an embodiment of this application;

[0186] Figure 15 The pitch angle of the second coordinate system relative to the first coordinate system provided in the embodiments of this application Azimuth and roll angle A schematic diagram;

[0187] Figure 16 The pitch angle of the third coordinate system relative to the first coordinate system provided in the embodiments of this application Azimuth and roll angle A schematic diagram;

[0188] Figure 17 A schematic diagram illustrating one method for establishing a fourth coordinate system as provided in an embodiment of this application;

[0189] Figure 18 A schematic diagram illustrating the principle of millimeter-wave radar determining the distance and radial velocity of a reflection point, as provided in the embodiments of this application;

[0190] Figure 19 A schematic diagram illustrating the principle of determining the signal direction of a reflected signal at a reflection point using millimeter-wave radar, as provided in this application embodiment.

[0191] Figure 20 A schematic diagram illustrating the principle of how a first electronic device determines the user's coordinates in a fourth coordinate system, as provided in an embodiment of this application.

[0192] Figure 21 This is a schematic diagram illustrating a method for a first electronic device to determine the user's coordinates in a fourth coordinate system, as provided in an embodiment of this application.

[0193] Figure 22 A schematic diagram illustrating a method for acquiring a user's respiratory rate and heart rate using millimeter-wave radar, provided in an embodiment of this application;

[0194] Figure 23 A schematic diagram of a method for determining a user's human posture using millimeter-wave radar, provided as an embodiment of this application;

[0195] Figure 24 A schematic diagram illustrating the transformation between the first coordinate system and the fourth coordinate system in the first electronic device provided in this application embodiment;

[0196] Figure 25 This is a schematic diagram illustrating an example of establishing a whole-house coordinate system (fifth coordinate system), a first coordinate system, and a sixth coordinate system (geographic coordinate system) according to an embodiment of this application.

[0197] Figure 26 A schematic diagram illustrating the process and principle of an automatic control method based on human perception in a whole-house scenario provided in this application embodiment;

[0198] Figure 27 A schematic diagram of a process for correcting installation errors of a first electronic device provided in an embodiment of this application;

[0199] Figure 28 A schematic diagram of the ICP algorithm principle provided in this application embodiment;

[0200] Figure 29 A schematic diagram illustrating the region division and user interface provided in the embodiments of this application;

[0201] Figure 30 A schematic diagram of a method for automatically adjusting the beam of a routing device based on human perception in a whole-house scenario provided in an embodiment of this application;

[0202] Figure 31 A flowchart illustrating a method for automatically adjusting the beam of a routing device based on human perception in a whole-house scenario provided in this application embodiment;

[0203] Figure 32 This is another flowchart illustrating a method for automatically adjusting the beam of a routing device based on human perception in a whole-house scenario provided in this application embodiment.

[0204] Figure 33 A schematic diagram illustrating a method for automatically adjusting cleaning areas using cleaning equipment based on human perception in a whole-house scenario provided in this application embodiment;

[0205] Figure 34 A flowchart illustrating a method for automatically adjusting cleaning areas using cleaning equipment based on human perception in a whole-house scenario, as provided in an embodiment of this application.

[0206] Figure 35 This is another flowchart illustrating a method for automatically adjusting the cleaning area of ​​a cleaning device based on human perception in a whole-house scenario provided in an embodiment of this application.

[0207] Figure 36 This is a schematic diagram of a designated area in a method for automatically adjusting the cleaning area of ​​a cleaning device based on human perception in a whole-house scenario provided in an embodiment of this application.

[0208] Figure 37 A schematic diagram illustrating a method for automatically acquiring human information using a health management device based on human perception in a whole-house scenario provided in this application embodiment;

[0209] Figure 38AA flowchart illustrating a method for automatically acquiring human information using a health management device based on human perception in a whole-house scenario provided in this application embodiment;

[0210] Figure 38B This is another flowchart illustrating a method for automatically acquiring human information using a health management device based on human perception in a whole-house scenario provided in this application embodiment.

[0211] Figure 39 A schematic diagram of a method for automatically raising and lowering a drying device based on human perception in a whole-house scenario provided in this application embodiment;

[0212] Figure 40 A flowchart illustrating an automatic lifting method for a drying device based on human perception in a whole-house scenario provided in this application embodiment;

[0213] Figure 41A A schematic diagram of a method for automatically adjusting lighting based on human perception in a whole-house scenario provided in this application embodiment;

[0214] Figure 41B A schematic diagram of the illumination area in the method for automatically adjusting lighting based on human perception of lighting devices in a whole-house scenario provided in this application embodiment;

[0215] Figure 42 A flowchart illustrating a method for automatically adjusting lighting based on human perception in a whole-house scenario provided in this application embodiment;

[0216] Figure 43 A schematic diagram of the structure of the first electronic device provided in the embodiments of this application;

[0217] Figure 44 A schematic diagram of the structure of the second electronic device provided in an embodiment of this application. Detailed Implementation

[0218] The technical solutions of the embodiments of this application are described below with reference to the accompanying drawings. In the description of the embodiments of this application, the terminology used in the following embodiments is for the purpose of describing specific embodiments only and is not intended to limit the application. As used in the specification and appended claims of this application, the singular expressions "a," "the," "the," "the," and "this" are intended to also include expressions such as "one or more," unless the context clearly indicates otherwise. It should also be understood that in the following embodiments of this application, "at least one" and "one or more" refer to one or more (including two). The term "and / or" is used to describe the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0219] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. The term "connection" includes direct connections and indirect connections, unless otherwise stated. "First" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0220] In the embodiments of this application, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0221] I. Overall Scene Introduction

[0222] For example, Figure 1 This is a schematic diagram of a scenario for an automatic control method based on human perception provided in an embodiment of this application. Figure 1As shown in (a), the entire house includes an entrance hallway, kitchen, dining room, living room, balcony, master bedroom, secondary bedroom, and bathroom. At least one first electronic device is installed throughout the house. For example, each room or area includes at least one first electronic device. The entire house also includes second electronic devices (e.g., IoT devices). Specifically, the kitchen is equipped with a rice cooker or electric pressure cooker, gas appliances, etc.; the living room is equipped with speakers (e.g., smart speakers), televisions (e.g., smart TVs, also known as smart screens, large screens, etc.), routers, etc.; the balcony is equipped with clothes racks (e.g., smart clothes racks, etc.); the dining room is equipped with a robot vacuum cleaner, etc.; the master bedroom is equipped with a television (e.g., smart TV), speakers (e.g., smart speakers), floor lamps (e.g., smart floor lamps), routers, etc.; the secondary bedroom is equipped with table lamps (e.g., smart table lamps), speakers (e.g., smart speakers, etc.); and the bathroom is equipped with a body fat scale, etc.

[0223] The automatic control method based on human perception provided in this application includes an automatic control method based on human perception for a whole-house scenario, and also includes an automatic control method based on human perception for a single room or area. The automatic control method based on human perception provided in this application is applied to a communication system. Accordingly, the communication system includes a communication system based on human perception for a whole-house scenario (also referred to as a whole-house intelligent system), and a communication system based on human perception for a single room or area (also referred to as a room intelligent system or area intelligent system). The communication system includes at least one first electronic device 100 and at least one second electronic device 300. Additionally, the communication system may also include a central device 200.

[0224] The first electronic device 100 is used to locate the second electronic device 300 and / or the user. The first electronic device 100 may include sensors. In one example, the first electronic device 100 includes an ultra-wideband (UWB) module and a millimeter-wave radar module. The UWB module is used to locate the second electronic device 300, and the millimeter-wave radar module is used to locate the user.

[0225] Ultra-Wide Broadband (UWB) technology is a radio communication technology that does not use carrier-modulated signals. Instead, it uses sequences of energy pulses at the nanosecond or microsecond level, spreading these pulses across a frequency range through orthogonal frequency division modulation (OFDM) or direct sequencing. UWB features wide spectrum, high accuracy, low power consumption, strong multipath resistance, high security, and low system complexity. It is widely used for short-range, high-speed wireless communication, and has significant advantages, especially in indoor positioning. Generally, UWB systems can achieve centimeter-level positioning accuracy. A UWB system consists of a UWB base station and UWB tags. The UWB base station determines the location (coordinates) of the UWB tag by detecting the distance between the tag and the base station, as well as the direction of the tag's signal; that is, it locates the UWB tag. UWB positioning is based on the UWB coordinate system (also known as the first coordinate system).

[0226] In one example, the second electronic device includes a UWB module. The UWB module of the first electronic device 100 implements the UWB base station function, and the UWB module of the second electronic device implements the UWB tag function. By locating the UWB module of the second electronic device through the UWB module of the first electronic device 100, the first electronic device 100 can locate the second electronic device.

[0227] In another example, some second electronic devices do not include a UWB module. Typically, second electronic devices that include a UWB module are mobile devices (e.g., smartphones, remote controls). Thus, the first electronic device 100 can be used to label second electronic devices that do not include a UWB module, enabling the first electronic device 100 to locate the second electronic devices that do not include a UWB module. The specific labeling method will be described in detail later.

[0228] Millimeter-wave radar operates in the millimeter-wave band and is primarily used to detect moving objects. Its operating frequency range is 30–300 GHz (wavelength 1–10 mm). During operation, millimeter-wave radar continuously emits (radiates) specific forms of radio electromagnetic signals and receives the electromagnetic echo signals reflected from objects. Spatial information of the object is determined by comparing the differences between the emitted and received signals. Millimeter-wave radar is characterized by its small size and high spatial resolution. Deployed indoors, it can be used to detect the location, physiological characteristics (e.g., respiratory rate, heart rate), identity category (e.g., adult, child), and posture (e.g., standing, sitting, lying down) of a person (user) throughout the room. Thus, the first electronic device 100 can use the integrated millimeter-wave radar module to locate the user and even detect the user's physiological characteristics, identity category, and posture. Specific methods will be described in detail later.

[0229] Positioning via millimeter-wave radar is based on the millimeter-wave radar coordinate system (also known as the second coordinate system). The coordinates obtained from positioning in the second coordinate system and the first coordinate system need to be transformed or unified to the same coordinate system. The specific coordinate system transformation methods will be described in detail later.

[0230] It should be noted that this application embodiment uses a first electronic device 100 including a UWB module and a millimeter-wave radar as an example for description. In other embodiments, the first electronic device 100 may only include a UWB module or a millimeter-wave radar. The first electronic device 100 including the UWB module is used for locating the second electronic device 300, and the first electronic device 100 including the millimeter-wave radar is used for locating the user. The above two types of first electronic devices 100 can cooperate to realize the automatic control method based on human perception provided in this application embodiment. This application embodiment is not limited in this respect.

[0231] The first electronic device 100 can obtain the location of the second electronic device 300 (i.e., locate the second electronic device), and it can also obtain the location of users in a room or area (i.e., locate the users). The entire house includes at least one room or area. If only one first electronic device is installed throughout the house, signal attenuation may occur due to wall obstructions, etc., meaning one first electronic device cannot cover all areas of the house. Therefore, multiple first electronic devices are generally installed throughout the house. For example, one first electronic device can be installed in each relatively independent space within the house (e.g., living room, bedroom, study, balcony, bathroom, kitchen, hallway, etc.) to locate the second electronic device and users within that independent space; in this way, the second electronic device or user at any location within the house can be detected by the first electronic device.

[0232] For example, such as Figure 1 As shown in (a), the signal transmission and reception range of the first electronic device installed in the entrance hallway can cover the entrance hallway. The signal transmission and reception range of the first electronic device installed in the kitchen can cover the kitchen. The signal transmission and reception range of the first electronic device installed in the living room can cover the living room. The signal transmission and reception range of the first electronic device installed in the dining room can cover the dining room. The signal transmission and reception range of the first electronic device installed in the balcony can cover the balcony. The signal transmission and reception range of the first electronic device installed in the master bedroom can cover the master bedroom. The signal transmission and reception range of the first electronic device installed in the bathroom can cover the bathroom. The signal transmission and reception range of the first electronic device installed in the second bedroom can cover the second bedroom. In one example, as Figure 1As shown in (b), the first electronic device can be installed on the wall of a room or area. In one example, the first electronic device can be installed on the ceiling of the room or area. This reduces signal obstruction by furniture and other objects throughout the room, preventing signal obstruction from reducing the detection accuracy of the first electronic device. In another example, the first electronic device can be installed on the floor of the room or area. Optionally, the first electronic device 100 can exist independently or be integrated with a second electronic device. This application does not limit this. For example, the first electronic device 100 can be integrated with a smart air conditioner into a single device.

[0233] Optionally, some rooms or areas may not require a first electronic device; that is, not all rooms or areas need to have at least one first electronic device. For example, a dining room may not need a first electronic device. The entrance hallway and dining room can share a first electronic device, or the dining room and living room can share a first electronic device.

[0234] It should be noted that, although in Figure 1 In (a), only a smart TV is shown as the second electronic device 300. However, those skilled in the art should know that the second electronic device 300 includes, but is not limited to, smart TVs, smart speakers, smart lighting fixtures (such as ceiling lights, smart table lamps, aromatherapy lamps, etc.), robot vacuum cleaners, body fat scales, smart clothes racks, smart rice cookers, air purifiers, humidifiers, desktop computers, routers, smart sockets, water dispensers, smart refrigerators, smart air conditioners, smart switches, smart door locks, etc. It should be noted that the second electronic device 300 may not be a smart home device, but a portable device, such as a personal computer (PC), tablet computer, mobile phone, smart remote control, etc. The embodiments of this application do not limit the specific form of the second electronic device 300.

[0235] The second electronic device 300 and the first electronic device 100 can be connected to the central device 200 via wired (e.g., powerline communication (PLC)) and / or wireless (e.g., wireless fidelity (Wi-Fi), Bluetooth, etc.). Understandably, the connection methods between the second electronic device 300 and the first electronic device 100 and the central device 200 can be the same or different. For example, both the second electronic device 300 and the first electronic device 100 can be connected to the central device 200 wirelessly. Alternatively, the second electronic device 300 can be connected wirelessly, while the first electronic device 100 can be connected wiredly. Or, devices such as smart speakers, smart TVs, body fat scales, and robot vacuum cleaners in the second electronic device 300 can be connected wirelessly (e.g., via Wi-Fi), while devices such as smart lamps, smart clothes racks, and smart door locks in the second electronic device 300 can be connected wiredly (e.g., via PLC). Preferably, the first electronic device 100 and the second electronic device 300 communicate wirelessly.

[0236] In one example, the first electronic device 100 can upload the location information of the second electronic device 300 obtained through detection, as well as at least one of the user's location, physiological characteristics, identity category, and human posture, to the central device 200 via wired or wireless means.

[0237] The central device 200, also known as a hub, central control system, or host, is used to receive information sent by the first electronic device 100. Optionally, the central device 200 is also used to construct a whole-house map, establish a whole-house coordinate system, and unify the location information acquired by each of the first electronic devices 100 under the whole-house coordinate system for unified measurement. In this way, the location information of the second electronic device 300 or the user detected and acquired by each of the first electronic devices 100 can be unified into the whole-house coordinate system, and the specific location of the second electronic device 300 or the user within the whole house can be determined. The central device 200 also notifies or controls the second electronic device 300 based on the received information (including but not limited to location information). Correspondingly, the transformation of various coordinate systems is also involved, which will be described in detail later.

[0238] In one implementation, the central device 200 receives information sent by the first electronic device 100, including the location information of the second electronic device 300 and at least one of the user's location, physiological characteristics, identity category, and human posture. Based on the location information of the second electronic device 300 and at least one of the user's location, physiological characteristics, identity category, and human posture, the central device 200 notifies or controls the second electronic device 300 to execute preset instructions. For example, when a user wakes up a smart speaker via voice, the central device 200 notifies or controls one or more smart speakers closest to the user to be woken up based on the locations of multiple smart speakers throughout the house. For example, when a user moves from one room to another in the house, the central device 200 controls the smart speaker in the room the user left to stop playing audio and controls the smart speaker in the room the user entered to start playing (e.g., resume playback) audio. As another example, the central device 200 controls the playback volume of two smart speakers (which play the left and right channels of the same audio respectively) based on their distance from the user, ensuring that the volume of the left and right channel audio received by the user is consistent. For example, if a user is watching a video (e.g., the video contains violent content) on a smart TV in a room, and a child is detected entering the room, the central device 200 will control the smart TV to stop playing the video. Alternatively, the central device 200 can notify or control the smart TV to start or stop playing video based on the user's position relative to the smart TV (e.g., distance, orientation).

[0239] Optionally, such as Figure 1 As shown in (a), at least one central device 200 is installed throughout the house. First electronic devices in each room or area can send the detected user's location information, as well as the location information of one or more second electronic devices in the same room or area, to the central device 200. The central device 200 acquires the detection data (including but not limited to location information) from all rooms or areas of the house, and can then notify or control the corresponding second electronic devices in the corresponding rooms or areas when preset conditions are met.

[0240] Optionally, a central device (not shown in the figure) can be installed in each room or area of ​​the house. The first electronic device in each room or area can send the detected user's location information, as well as the location information of one or more second electronic devices in that room or area, to the central device in that room or area. The central device in that room or area then sends the information to the central device 200 for the entire house. The central device 200 for the entire house acquires the detection data from each room or area, and can then notify or control the central device in the corresponding room or area when preset conditions are met. The central device in the corresponding room or area then notifies or controls the corresponding second electronic device.

[0241] Optionally, the central equipment in each room or area, or the central equipment for the entire house, can exist independently, or they can be integrated with the first electronic device or the second electronic device into one device, or they can be integrated with the first electronic device and the second electronic device into one device. This application does not limit this.

[0242] Optionally, some rooms or areas may not require a central device; that is, not all rooms or areas need to have at least one central device. For example, the dining room may not have a central device. The dining room and the entrance hallway may share a central device, or the dining room and the living room may share a central device.

[0243] Optionally, the central device 200 for the whole house can also function as the central device for a specific room or area. For example, the central device 200 for the whole house can also function as the central device for the living room. In one example, a central device is provided for each room or area other than a specific room or area (e.g., the living room). When the central device 200 for the whole house communicates with second electronic devices in each room or area other than the aforementioned specific room or area (e.g., the living room), it still communicates through the central device of that room or area; however, when communicating with second electronic devices in the aforementioned specific room or area (e.g., the living room), it no longer communicates through the central device of that specific room or area (e.g., the living room).

[0244] In one example, the communication system also includes a routing device (such as a router). The routing device connects to a local area network (LAN) or the Internet, using specific protocols to select and set the path for transmitting signals. Exemplarily, one or more routers are deployed throughout the house to form a LAN, or to connect to a LAN or the Internet. A second electronic device 300 or a first electronic device 100 connects to the router and transmits data with devices within the LAN or on the Internet through a Wi-Fi channel established by the router. In one implementation, the central device 200 can be integrated with the routing device into a single device. For example, the central device 200 and the routing device are integrated into a routing device, meaning the routing device has the functions of the central device 200. This routing device can be one or more routing devices in a parent-child routing system, or it can be a standalone routing device.

[0245] In one example, the communication system also includes a gateway. A gateway is also known as an internetwork connector or protocol converter. In one implementation, the gateway is used to forward information from the first electronic device 100 to a routing device or a central device 200. In another implementation, the functionality of the central device 200 can be implemented by the gateway.

[0246] In one example, the communication system also includes a server (e.g., a cloud server). The central device 200, routing device, or gateway can send received information from the first electronic device 100 to the server. Furthermore, the central device 200, routing device, or gateway can also send control information from the central device 200 to the second electronic device 300 to the server. Furthermore, the central device 200, routing device, or gateway can also upload various information generated during the operation of the second electronic device 300 to the server for user viewing.

[0247] In one example, the communication system also includes one or more input devices (e.g., a control panel). Exemplarily, the control panel displays the human-machine interface of the communication system. Users can view information about the communication system (e.g., connection information of various devices in the communication system), operational information of the second electronic device 300, and / or control information of the central device 200 on the second electronic device 300, etc., on the human-machine interface. Users can also input control commands on the human-machine interface by clicking the screen or using voice commands to control the devices within the communication system.

[0248] The above description is merely an illustration of the automatic control method based on human perception provided in the embodiments of this application. It should be noted that any content in the examples or optional methods described above can be freely combined, and the combined content is also within the scope of this application.

[0249] II. Introduction to the Hardware Structure of the Electronic Equipment Involved

[0250] For example, Figure 2 A schematic diagram of the structure of a first electronic device 100 is shown.

[0251] like Figure 2 As shown, the first electronic device 100 may include a processor 110, a memory 120, a power management module 130, a power supply 131, a wireless communication module 140, a UWB module 150, a millimeter-wave radar module 160, etc.

[0252] Understandable Figure 2 The illustrated structure does not constitute a specific limitation on the first electronic device 100. In other embodiments of this application, the first electronic device 100 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0253] Processor 110 may include one or more processing units, which may be independent devices or integrated into one or more processors. For example, processor 110 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0254] Memory 120 can be used to store computer executable program code, which includes instructions. For example, memory 120 can also store data processed by processor 110. Furthermore, memory 120 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, universal flash storage (UFS), etc. Processor 110 executes various functional applications and data processing of the first electronic device 100 by running instructions stored in memory 120 and / or instructions stored in memory disposed within the processor.

[0255] The power management module 130 is used to receive power input from the power source 131. The power source 131 can be a battery or AC power. The power management module 130 receives power from the battery and / or AC power to power various components of the first electronic device 100, such as the processor 110, memory 120, wireless communication module 140, UWB module 150, millimeter-wave radar module 160, etc.

[0256] The wireless communication module 140 can provide solutions for wireless communication applications applied to the first electronic device 100, including wireless local area networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), and ZigBee. The wireless communication module 140 can be one or more devices integrating at least one communication processing module. The wireless communication module 140 receives electromagnetic waves via an antenna, performs frequency modulation and filtering of the electromagnetic wave signals, and sends the processed signal to the processor 110. The wireless communication module 140 can also receive signals to be transmitted from the processor 110, perform frequency modulation and amplification, and convert them into electromagnetic waves for radiation via the antenna. It should be noted that... Figure 2 The number of antennas in the wireless communication module 140, UWB module 150, and millimeter-wave radar module 160 is merely illustrative. It is understood that the communication module 140, UWB module 150, and millimeter-wave radar module 160 may include more or fewer antennas, and this application embodiment does not limit this.

[0257] UWB module 150 can provide a wireless communication solution based on UWB technology applied to the first electronic device 100. Exemplarily, UWB module 150 is used to implement the functions of the aforementioned UWB base station. In this embodiment, the UWB base station can locate the UWB tag. Specifically, it can detect the UWB signal and, in conjunction with certain positioning algorithms, calculate the duration of the UWB signal's flight through the air. This duration, multiplied by the speed of UWB signal transmission in the air (e.g., the speed of light), yields the distance between the UWB tag and the UWB base station. In this embodiment, the UWB base station can also determine the direction of the UWB tag relative to the UWB base station (i.e., the signal direction of the UWB tag) based on the phase difference between different antennas of the UWB signal transmitted by the UWB tag arriving at the UWB base station. The signal direction includes both horizontal and vertical directions.

[0258] For example, Figure 3 A schematic diagram of a central device 200 is shown.

[0259] like Figure 3As shown, the central device 200 may include a processor 210, a memory 220, a power management module 230, a power supply 231, a wireless communication module 240, etc.

[0260] Understandable Figure 3 The illustrated structure does not constitute a specific limitation on the central device 200. In other embodiments of this application, the central device 200 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0261] Processor 210 may include one or more processing units, which may be independent devices or integrated into one or more processors. For example, processor 210 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0262] Memory 220 can be used to store computer executable program code, which includes instructions. For example, memory 220 can also store data processed by processor 210. Furthermore, memory 220 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, universal flash storage (UFS), etc. Processor 210 executes various functional applications and data processing of the central device 200 by running instructions stored in memory 220 and / or instructions stored in memory disposed within the processor.

[0263] The power management module 230 receives power input from the power source 231. The power source 231 can be a battery or AC power. The power management module 230 receives power from the battery and / or AC power to supply power to various components of the central device 200, such as the processor 210, memory 220, and wireless communication module 240.

[0264] The wireless communication module 240 can provide solutions for wireless communication applications on the central device 200, including wireless local area networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), and ZigBee. The wireless communication module 240 can be one or more devices integrating at least one communication processing module. The wireless communication module 240 receives electromagnetic waves via an antenna, performs frequency modulation and filtering of the electromagnetic wave signals, and sends the processed signal to the processor 210. The wireless communication module 240 can also receive signals to be transmitted from the processor 210, perform frequency modulation and amplification, and convert them into electromagnetic waves for radiation via the antenna.

[0265] For example, Figure 4 A schematic diagram of the structure of a second electronic device 300 is shown.

[0266] like Figure 4 As shown, the second electronic device 300 may include a processor 310, a memory 320, a universal serial bus (USB) interface 330, a power module 340, a UWB module 350, a wireless communication module 360, etc. Optionally, the second electronic device 300 may also include an audio module 370, a speaker 370A, a receiver 370B, a microphone 370C, a headphone jack 370D, a display screen 380, a sensor module 390, etc.

[0267] Understandable Figure 4 The illustrated structure does not constitute a specific limitation on the second electronic device 300. In other embodiments of this application, the second electronic device 300 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware. Additionally, Figure 4 The illustrated interface connections between the modules are merely illustrative and do not constitute a structural limitation on the second electronic device 300. In other embodiments of this application, the second electronic device 300 may also employ... Figure 4 Different interface connection methods, or combinations of multiple interface connection methods.

[0268] Processor 310 may include one or more processing units, such as application processors (APs), modem processors, graphics processing units (GPUs), image signal processors (ISPs), video codecs, digital signal processors (DSPs), etc. These different processing units may be independent devices or integrated into one or more processors.

[0269] The memory 320 can be used to store computer executable program code, which includes instructions. For example, the memory 320 can also store data processed by the processor 310. Furthermore, the memory 320 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, universal flash storage (UFS), etc. The processor 310 executes various functional applications and data processing of the second electronic device 300 by running instructions stored in the memory 320 and / or instructions stored in memory disposed within the processor.

[0270] USB interface 330 is an interface that conforms to the USB standard specification, specifically it can be a Mini USB interface, Micro USB interface, USB Type C interface, etc. USB interface 330 can be used to connect a charger to charge the second electronic device 300, and it can also be used for data transfer between the second electronic device 300 and peripheral devices.

[0271] The power module 340 is used to supply power to various components of the second electronic device 300, such as the processor 310 and the memory 320.

[0272] UWB module 350 can provide a wireless communication solution based on UWB technology for application in the second electronic device 300. For example, UWB module 350 is used to implement the functions of the aforementioned UWB tag.

[0273] The wireless communication module 360 ​​can provide solutions for wireless communication applications on the second electronic device 300, including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), and ZigBee. The wireless communication module 360 ​​can be one or more devices integrating at least one communication processing module. The wireless communication module 360 ​​receives electromagnetic waves via an antenna, performs frequency modulation and filtering of the electromagnetic wave signal, and sends the processed signal to the processor 310. The wireless communication module 360 ​​can also receive signals to be transmitted from the processor 310, perform frequency modulation and amplification, and convert them into electromagnetic waves for radiation via the antenna. The wireless communication module 360 ​​can be integrated with or separately from the UWB module 350; this application does not impose any limitations on this.

[0274] The second electronic device 300 can implement audio functions, such as audio playback and recording, through an audio module 370, a speaker 370A, a receiver 370B, a microphone 370C, a headphone jack 370D, and an application processor.

[0275] The audio module 370 is used to convert digital audio information into analog audio signal output, and also to convert analog audio input into digital audio signal. The audio module 370 can also be used for encoding and decoding audio signals. In some embodiments, the audio module 370 may be located in the processor 310, or some functional modules of the audio module 370 may be located in the processor 310.

[0276] The loudspeaker 370A, also known as a "speaker", is used to convert audio electrical signals into sound signals. The second electronic device 300 can listen to audio through the loudspeaker 370A.

[0277] The receiver 370B, also known as the "earpiece", is used to convert audio electrical signals into sound signals.

[0278] The microphone 370C, also known as a "microphone" or "voice transducer," is used to convert sound signals into electrical signals. Users can speak by bringing their mouth close to the microphone 370C to input sound signals into it.

[0279] The 370D headphone jack is used to connect wired headphones. The 370D headphone jack can be a USB 330 interface or a 3.5mm Open Mobile Terminal Platform (OMTP) standard interface, a CTIA (Cellular Telecommunications Industry Association of the USA) standard interface.

[0280] Display screen 380 is used to display images, videos, etc. Display screen 380 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), a miniature LED, a microLED, a quantum dot light-emitting diode (QLED), etc.

[0281] Optionally, the sensor module 390 includes an inertial measurement unit (IMU) module, etc. The IMU module may include a gyroscope, accelerometer, etc. The gyroscope and accelerometer can be used to determine the motion attitude of the second electronic device 300. In some embodiments, the angular velocity of the second electronic device 300 around three axes can be determined by the gyroscope. The accelerometer can be used to detect the magnitude of the acceleration of the second electronic device 300 in various directions (generally three axes). When the second electronic device 300 is stationary, the magnitude and direction of gravity can be detected. In this embodiment, the device attitude of the second electronic device 300 can be obtained based on the angular velocity and acceleration measured by the IMU module. Optionally, some second electronic devices may include an IMU module, while others may not.

[0282] Optionally, the second electronic device 300 also includes a filter (e.g., a Kalman filter). For example, the output of the IMU module and the output of the UWB module 350 can be superimposed, and the superimposed signal can be input to the Kalman filter for filtering, thereby reducing errors.

[0283] For example, Figure 5AThe structure of the UWB module in the first electronic device provided in this application embodiment is shown. For example... Figure 5A As shown, the UWB module 150 includes a transmitter 1501 and a receiver 1502. The transmitter 1501 and receiver 1502 can operate independently. The transmitter 1501 includes a data signal generator, a pulse generator, a modulator, a digital-to-analog converter, a power amplifier, and a transmitting antenna. The data signal generator generates data signals and also sends a timing start indication to the receiver 1502 when data signal generation begins. The pulse generator generates periodic pulse signals. The digital-to-analog converter converts digital signals into analog signals. The data signal to be transmitted is modulated onto the pulse signal generated by the pulse generator, amplified by the power amplifier, and then transmitted as a UWB signal through the transmitting antenna. The receiver 1502 includes a receiving antenna, a mixer, a filter, a sampling module, and a first processing module. When any receiving antenna receives a UWB signal (e.g., in the form of a pulse sequence), the received UWB signal is mixed by the mixer, filtered and amplified by the filter, and then converted from analog to digital by the sampling module to obtain a baseband digital signal. The first processing module processes the baseband digital signal to detect the UWB signal. For example, based on the timing start indication information and the time of receiving the pulse sequence, the first processing module calculates the time of flight (ToF) of the UWB signal, and calculates the distance between the first electronic device 100 and the second electronic device 300 containing the UWB module 350 based on the ToF and the speed of UWB signal transmission in the air (e.g., the speed of light). As another example, the first processing module calculates the signal direction of the second electronic device 300 containing the UWB module 350 based on the phase difference of the pulse sequences received by multiple receiving antennas. It should be noted that... Figure 5A The pulse sequence received by each receiving antenna is processed through a set of power amplifiers, mixers, filters, and sampling modules, representing the processing flow of the pulse sequence. Optionally, receiver 1502 may include only one set of power amplifiers, mixers, filters, and sampling modules. In one embodiment, the functions of one transmitting antenna in transmitter 1501 and one receiving antenna in receiver 1502 can be implemented by a single antenna, that is, the transmitting antenna and the receiving antenna are integrated into a single antenna.

[0284] For example, Figure 5B The structure of a millimeter-wave radar module in a first electronic device provided in an embodiment of this application is shown. For example... Figure 5BAs shown, the millimeter-wave radar module 160 includes a transmitting antenna, a relay switch, a receiving antenna, a waveform generator, a mixer, a filter, and a second processing module. The waveform generator generates the transmitted signal, such as a linear frequency-modulated continuous wave (LFMCW). After passing through a power divider, a portion of the transmitted signal is amplified by a power amplifier and then transmitted via a relay switch to a selected transmitting antenna. The other portion serves as a local oscillator, which mixes the millimeter-wave signal received by the receiving antenna with the signal from the mixer. The mixer outputs a difference frequency signal, which is filtered, amplified, and then converted from analog to digital (sampled) by a sampling module to become a digital difference frequency signal. The second processing module processes the digital difference frequency signal to detect the target and obtain information such as the target's distance and signal direction of origin. Figure 5B In this context, n and m are positive integers greater than or equal to 1.

[0285] For example, Figure 6 The structure of the UWB module in the second electronic device is shown. For example... Figure 6 As shown, the UWB module 350 includes a transmitter 3501 and a receiver 3502. The transmitter 3501 and receiver 3502 can operate independently. The transmitter 3501 includes a data signal generator, a pulse generator, a modulator, a digital-to-analog converter, a power amplifier, and a transmitting antenna. The data signal generator generates data signals. The pulse generator generates periodic pulse signals. The digital-to-analog converter converts digital signals into analog signals. The data signal to be transmitted is modulated onto the pulse signal generated by the pulse generator, amplified by the power amplifier, and then transmitted as a UWB signal through the transmitting antenna. The receiver 3502 includes a receiving antenna, a mixer, a filter, a sampling module, and a processing module. The receiving antenna receives the UWB signal (e.g., in the form of a pulse sequence), mixes the received UWB signal using the mixer, filters and amplifies it using the filter, and then performs analog-to-digital conversion through the sampling module to obtain a baseband digital signal. The processing module processes the baseband digital signal to detect the UWB signal. In one embodiment, the transmitting antenna in transmitter 3501 and the receiving antenna in receiver 3502 can be integrated into the same antenna.

[0286] For example, Figure 7 Several antenna configurations of the UWB module in the first electronic device provided in this application embodiment are illustrated. Among them, Figure 7(a) exemplarily illustrates two two-antenna structures. One is a lateral (e.g., horizontal) antenna structure, and the other is a longitudinal (e.g., vertical) antenna structure. Preferably, the distance between antenna 0 and antenna 1 is λ / 2, where λ is the wavelength of the UWB signal. The lateral antenna structure can be used to measure the lateral direction of arrival (e.g., horizontal) of the UWB signal, and the longitudinal antenna structure can be used to measure the longitudinal direction of arrival (e.g., vertical) of the UWB signal. In one embodiment, it can be achieved by... Figure 7 The first electronic device on the left and the first electronic device on the right, as shown in (a), cooperate with each other (for example, the two first electronic devices are set at a certain angle) to detect the signal direction of the second electronic device containing the UWB module.

[0287] Figure 7 (b) and Figure 7 (c) illustrates an exemplary three-antenna structure. (e.g.) Figure 7 (b) and Figure 7 As shown in (c), the three antennas form an L-shaped (or right-angled triangular) structural relationship. Among them, as... Figure 7 As shown in (b), antennas 0 and 1 are aligned in the lateral direction (e.g., horizontal direction), and antennas 0 and 2 are aligned in the longitudinal direction (e.g., vertical direction). That is, the plane containing antennas 0, 1, and 2 is a longitudinal plane (e.g., a vertical plane), and they exhibit an L-shaped distribution on the longitudinal plane. Figure 7 As shown in (c), the plane containing antennas 0, 1, and 2 is a transverse plane (e.g., a horizontal plane), and the line connecting antennas 0 and 1 (if they are connected) is perpendicular to the line connecting antennas 0 and 2 (if they are connected). That is, antennas 0, 1, and 2 are arranged in an L-shape on the transverse plane. For example, when antennas 0, 1, and 2 are arranged in an L-shape, the distance between antennas 0 and 1, and between antennas 0 and 2, can be less than or equal to λ / 2; where λ is the wavelength of the UWB signal. The distances between antennas 0 and 1, and between antennas 0 and 2, can be the same or different.

[0288] Figure 7 (d) exemplarily illustrates some other three-antenna structures. For example... Figure 7As shown in (d), the three antennas form a triangular (e.g., equilateral or isosceles) structural relationship. For example, the plane containing antennas 0, 1, and 2 is a longitudinal plane (e.g., a vertical plane), and they are distributed in a triangular pattern on this plane. Alternatively, antennas 0, 1, and 2 may be distributed in a triangular pattern on a transverse plane (e.g., a horizontal plane). Exemplarily, when antennas 0, 1, and 2 are distributed in a triangular pattern, the distance between any two antennas can be less than or equal to λ / 2; where λ is the wavelength of the UWB signal. Furthermore, the distance between any two antennas can be the same or different. For example, the distance between antennas 0 and 1 is λ / 2; the distance between antennas 0 and 2 is... .

[0289] It is understood that cases with more than three antennas are also within the scope of this application. For example, such as... Figure 7 As shown in (e), antennas 0, 1, 2, and 3 are arranged in a rectangular configuration. Any three of these four antennas may be arranged in an L-shape or a triangle as described earlier.

[0290] For example, the first electronic device 100 obtains the lateral direction of arrival of the UWB signal based on the phase difference between the arrival times of the UWB signal from the second electronic device 300 and the two lateral antennas of the UWB module 150; and obtains the longitudinal direction of arrival of the UWB signal based on the phase difference between the arrival times of the UWB signal from the second electronic device 300 and the two longitudinal antennas of the UWB module 150. Furthermore, the first electronic device 100 obtains the direction of arrival of the UWB signal based on the lateral and longitudinal directions.

[0291] In other examples, the UWB module 150 of the first electronic device 100 may include only one antenna. In this case, three or more first electronic devices 100 are needed, arranged in an L-shape or triangle, to cooperate in obtaining the direction of the UWB signal. The specific principle is similar to that described above and will not be repeated here.

[0292] This application embodiment does not limit the number and distribution of antennas in the UWB module of the first electronic device 100, as long as the direction of the UWB signal can be obtained.

[0293] For example, Figure 8This illustration shows several antenna configurations for a millimeter-wave radar module in a first electronic device according to an embodiment of this application. Exemplarily, the transmitting antennas include transmitting antenna 0, transmitting antenna 1, and transmitting antenna 2. The receiving antennas include receiving antenna 0, receiving antenna 1, receiving antenna 2, and receiving antenna 3. The configurations of transmitting antennas 0, 1, and 2, as well as receiving antennas 0, 1, 2, and 3, can be as follows: Figure 8 As shown in (a) or (b). The transmitting antenna transmits electromagnetic signals operating in the millimeter-wave band (such as LFMCW), and the receiving antenna receives the signals reflected by a reflector (object or human body) from the same electromagnetic signal operating in the millimeter-wave band. The millimeter-wave radar module 160 obtains a difference frequency signal based on the transmitted and received signals, and determines the position of the object or human body based on the difference frequency signal.

[0294] like Figure 8 As shown, three transmitting antennas and four receiving antennas are located in the same longitudinal plane (e.g., a vertical plane), with the three transmitting antennas arranged in a triangular pattern on the longitudinal plane. In one example, as... Figure 8 As shown in (a), transmitting antenna 0 and transmitting antenna 2 are located in the same transverse plane (e.g., a horizontal plane), and the four receiving antennas are located on the same transverse line (e.g., a horizontal line). Exemplarily, the distance between any two receiving antennas is equal (e.g., both are λ). L / 2); the distances between transmitting antenna 0 and transmitting antenna 2 are equal (e.g., both are 2λ). L The longitudinal distances between transmitting antenna 1 and transmitting antenna 0, and between transmitting antenna 1 and transmitting antenna 2, are all equal (e.g., both are λ). L / 2). λ L This is the wavelength of the highest frequency of a linearly frequency-modulated continuous signal. In another example, such as... Figure 8 As shown in (b), transmitting antenna 0 and transmitting antenna 2 are located on the same longitudinal line (e.g., a vertical line); the four receiving antennas are located on the same longitudinal line (e.g., a vertical line). The distance between any two receiving antennas is equal (e.g., λ). L / 2); the distances between transmitting antenna 0 and transmitting antenna 2 are equal (e.g., both are 2λ). L The transverse distances between transmitting antenna 1 and transmitting antenna 0, and between transmitting antenna 1 and transmitting antenna 2, are all equal (e.g., both are λ). L / 2). It is understood that the number and distribution of transmitting and / or receiving antennas may vary. This application does not limit this.

[0295] Multiple transmitting and receiving antennas are used to accurately measure the direction of the reflected signal, i.e., the direction of arrival of the reflected signal, including the lateral direction of arrival (e.g., horizontal) and the longitudinal direction of arrival (e.g., vertical), and to maximize the receiving aperture of the millimeter-wave radar. The millimeter-wave radar module 160 can calculate the lateral direction of arrival of the target based on the phase difference of the reflected signal from multiple receiving antennas in the lateral direction (e.g., horizontal direction); and calculate the longitudinal direction of arrival of the target based on the phase difference of the reflected signal from multiple receiving antennas in the longitudinal direction (e.g., vertical direction).

[0296] Optionally, the number of transmitting antennas may be more or less than 3. Optionally, the number of receiving antennas may be more than 4 or less than 4. This application does not limit this. In one embodiment, the number of transmitting antennas is at least one, and the number of receiving antennas is at least three.

[0297] In one embodiment, there is one transmitting antenna and three receiving antennas. The three receiving antennas—receiving antenna 0, receiving antenna 1, and receiving antenna 2—are arranged in a triangle. For ease of explanation, it is assumed that the line connecting receiving antenna 0 and receiving antenna 1 (which is not actually a line) is in the horizontal direction, and the line connecting receiving antenna 0 and receiving antenna 2 (which is not actually a line) is in the vertical direction. Thus, after the transmitted signal from the transmitting antenna is reflected by a reflective object (object or human body), the three receiving antennas respectively receive the reflected signal. The millimeter-wave radar module 160 can obtain the lateral direction of arrival (e.g., horizontal direction) of the reflected signal based on the phase difference between the reflected signals received by receiving antenna 0 and receiving antenna 1, and obtain the longitudinal direction of arrival (e.g., vertical direction) of the reflected signal based on the phase difference between the reflected signals received by receiving antenna 0 and receiving antenna 2. Furthermore, the direction of arrival of the reflected signal can be determined based on the lateral and longitudinal directions.

[0298] In another implementation, the number of transmitting antennas is at least two, and the number of receiving antennas is at least two. Taking two transmitting antennas—transmitting antenna 0 and transmitting antenna 1—and two receiving antennas—receiving antenna 0 and receiving antenna 1—as an example, assuming the line connecting transmitting antenna 0 and transmitting antenna 1 (which is actually not a line) is in the horizontal direction, and the line connecting receiving antenna 0 and receiving antenna 1 (which is actually not a line) is in the vertical direction, the transmitted signals from both transmitting antennas 0 and 1 are reflected by a reflective object (object or human body), and at least one receiving antenna receives the reflected signal. The millimeter-wave radar module 160 can calculate the lateral direction of the reflected signal (e.g., horizontal direction) based on the phase difference between the signals transmitted by transmitting antennas 0 and 1 reaching the same receiving antenna. After the transmitted signal is reflected by the reflective object (object or human body), the two receiving antennas receive the reflected signal; based on the phase difference between the reflected signals received by receiving antennas 0 and 1, the vertical direction of the reflected signal (e.g., vertical direction) is obtained. Furthermore, the direction of the reflected signal can be determined based on its lateral and longitudinal directions.

[0299] In another implementation, the number of transmitting antennas is at least two, and the number of receiving antennas is at least two. Taking two transmitting antennas—transmitting antenna 0 and transmitting antenna 1—and two receiving antennas—receiving antenna 0 and receiving antenna 1—as an example, assuming the line connecting transmitting antenna 0 and transmitting antenna 1 (which is actually not a connection) is in the longitudinal direction, and the line connecting receiving antenna 0 and receiving antenna 1 (which is actually not a connection) is in the transverse direction, the transmitted signals from the two transmitting antennas are reflected by a reflective object (object or human body), and at least one receiving antenna receives the reflected signal. The millimeter-wave radar module 160 can calculate the longitudinal direction of arrival (e.g., horizontal direction) of the reflected signal (which can also be called the reflected signal) based on the phase difference between the signals transmitted by transmitting antenna 0 and transmitting antenna 1 reaching the same receiving antenna; and obtain the transverse direction of arrival (e.g., horizontal direction) of the reflected signal based on the phase difference between the reflected signals received by receiving antenna 0 and receiving antenna 1. Furthermore, the direction of arrival of the reflected signal can be determined based on the transverse and longitudinal directions.

[0300] In another implementation, the number of transmitting antennas is at least three, and the number of receiving antennas is at least one. Taking three transmitting antennas—transmitting antenna 0, transmitting antenna 1, and transmitting antenna 2—and one receiving antenna—receiving antenna 0—as an example, transmitting antennas 0, 1, and 2 are arranged in a triangle. Assume the line connecting transmitting antenna 0 and 1 (which is not actually a line) is in the lateral direction (e.g., horizontal), and the line connecting transmitting antenna 0 and 2 (which is not actually a line) is in the longitudinal direction. The transmitted signals from transmitting antennas 0, 1, and 2 are reflected by reflective objects (objects or human bodies), and the receiving antenna 0 receives the reflected signals. The millimeter-wave radar module 160 can calculate the lateral direction of the reflected signal (e.g., horizontal direction) based on the phase difference between the signals transmitted by transmitting antennas 0 and 1 reaching the same receiving antenna; and calculate the longitudinal direction of the reflected signal (e.g., vertical direction) based on the phase difference between the signals transmitted by transmitting antennas 0 and 2 reaching the same receiving antenna.

[0301] III. Introduction to Positioning Principles

[0302] For ease of explanation, the following section will take the first electronic device 100, which includes a UWB module 150 and a millimeter-wave radar module 160, as an example to introduce the specific positioning principle in detail.

[0303] It should be noted that positioning refers to obtaining location. In this embodiment, location is represented by coordinates in a coordinate system. For example, the location of the first electronic device is represented by the coordinates of the first electronic device, the location of the second electronic device is represented by the coordinates of the second electronic device, and the user's location is represented by the user's coordinates. It is understood that in other embodiments, location may be represented in other ways. This embodiment does not limit this.

[0304] (I) Establishment of the first coordinate system (first electronic device coordinate system)

[0305] To achieve accurate positioning, the UWB module 150 needs to establish a first coordinate system, using coordinates within this first coordinate system for precise positioning. The following section will combine... Figure 9 This section details the process of establishing the first coordinate system. Figure 9 Taking a UWB module with three antennas as an example in (a) and (b), the distances between antenna 0 and antenna 1, and between antenna 0 and antenna 2 are preset distances. Let a point on antenna 0 (such as the center point, one end point, etc.) be the origin O. e The line connecting antenna 0 and antenna 1 is taken as X. e The axis is defined, and the direction from antenna 1 to antenna 0 is X. eThe positive direction of the axis. Within the plane containing antennas 0, 1, and 2, perpendicular to X. e The straight line on the axis is Z. e The axis, and antenna 2 in Z e The projection on the axis is located at Z. e The positive direction of the axis, from which Z can be determined. e The positive direction of the axis. Figure 9 In (a), antenna 2 is located at Z. e The axis is positively upward; in Figure 9 In (b), antenna 2 is in Z e The projection on the axis is located at Z. e The axis is positively upward. Finally, according to X... e Axis and Z e The direction of the axis is determined based on the rules of the right-hand rectangular coordinate system, which defines the Y-axis. e The direction of the axis. The right-handed rectangular coordinate system, often simply called the right-hand system, is one method of defining a rectangular coordinate system in space. For example... Figure 9 As shown in (c), in the right-handed rectangular coordinate system, X e axis, Y e Axis and Z e The positive direction of the axis is defined as follows: Place your right hand at the origin, with your thumb, index finger, and middle finger forming right angles, and your thumb and index finger in the same plane. Point your thumb towards the X-axis. e The positive direction of the axis, with the middle finger pointing to Z. e When the axis is in the positive direction, the direction pointed to by the index finger is Y. e The positive direction of the axis.

[0306] In some examples, for ease of calculation and to reduce calculation errors, Z can be... e The axis is set in the vertical plane, and Z is... e The positive direction of the axis is opposite to the direction of gravity. Optionally, the outer surface of the first electronic device 100 may be marked with prompts indicating the correct installation or placement method, so that the Z-axis of the first coordinate system is aligned correctly. e The axis is located in the vertical plane, and Z e The positive direction of the axis is opposite to the direction of gravity. For example, as... Figure 9 (a) or Figure 9 As shown in (b), an arrow is marked on the outer surface of the UWB base station to indicate that the first electronic device 100 should be installed or placed in the direction indicated by the arrow (arrow pointing upwards) so that the Z-axis of the first coordinate system is aligned. e The axis is located in the vertical plane, and Z e The positive direction of the axis is opposite to the direction of gravity. For example, when installing the first electronic device, the user can align the arrow on the outer surface of the device parallel to the wall, with the arrow pointing upwards, so that the Z-axis of the first coordinate system... e The axis is located in the vertical plane, and Z eThe positive direction of the axis is opposite to the direction of gravity. For example, when installing the first electronic device, the user can use an instrument such as a plumb line to align the arrow on the outer surface of the first electronic device with the plumb line determined by the plumb line, with the arrow pointing upwards, so that the Z-axis of the first coordinate system is aligned. e The axis is located in the vertical plane, and Z e The positive direction of the axis is opposite to the direction of gravity.

[0307] Alternatively, the first electronic device 100 may include only one UWB module, and the UWB module 150 may include only one antenna. In this case, three first electronic devices 100 need to cooperate to establish the first coordinate system. For a detailed explanation of the establishment of the first coordinate system in this scenario, please refer to Chinese Patent Application No. 202110872916.6. It will not be repeated here. It should be noted that the entire contents of Chinese Patent Application No. 202110872916.6 are incorporated herein by reference and are within the scope of this application.

[0308] For example, also according to X e Axis and Z e The direction of the axis is determined based on the rules of the left-handed rectangular coordinate system, Y. e The positive direction of the axis. The left-handed rectangular coordinate system, often simply called the left-handed system, is one method of defining a rectangular coordinate system in space. In the left-handed rectangular coordinate system, X... e axis, Y e Axis and Z e The positive direction of the axis is defined as follows: Place your left hand at the origin, with your thumb, index finger, and middle finger forming right angles, and your thumb and index finger in the same plane. Point your thumb towards the X-axis. e The positive direction of the axis, with the middle finger pointing to Z. e When the axis is in the positive direction, the direction pointed to by the index finger is Y. e The positive direction of the axis.

[0309] For ease of explanation, the embodiments in this application all use the rules of the right-hand rectangular coordinate system to determine Y. e Axis, Y b Axis, Y t Axis and Y e Axis, Y b Axis, Y t The positive direction of the axis. Those skilled in the art will understand that Y is determined using the rules of a left-handed Cartesian coordinate system or otherwise. e Axis, Y b Axis, Y t Axis and Y e Axis, Y b Axis, Y tThe positive orientation of the axes is also within the scope of this application. Furthermore, as long as the above rules or methods are met, the names of any two or more axes in any of the first, second, and third coordinate systems can be switched. Of course, other rules can also be used for the positive orientation of the three axes in the first coordinate system, which will not be elaborated here.

[0310] Optionally, the first coordinate system can be automatically established after receiving specific input, or it can be established in advance.

[0311] For example, after the first electronic device 100 is installed according to the prompts, it automatically establishes a first coordinate system when it receives a specific input. This specific input can be user input or non-user input (e.g., receiving a command message from another device such as a remote control).

[0312] For example, after the first electronic device 100 is installed according to the prompts, when the first electronic device 100 receives specific input, it automatically retrieves relevant information from its local storage or a server, thereby retrieving a pre-established first coordinate system. Unless otherwise specified, the server in this application can be a central device in a home or a cloud server.

[0313] It should be noted that the above uses a point on antenna 0 as the origin of the first coordinate system. This is only an example; a point on other antennas (such as antenna 1) can also be the origin of the first coordinate system.

[0314] (II) Establishment of the Second Coordinate System

[0315] For example, Figure 10 The process of establishing the second coordinate system provided in an embodiment of this application is illustrated. For example... Figure 10 As shown in (a), the edge profile of the second electronic device includes four sides: two vertical sides and two horizontal sides. b The center of gravity or center of the second electronic device, containing O b The point is on the axis parallel to the horizontal side of the second electronic device. b Axis, X b The positive direction of the axis points to the right side of the second electronic device; including O b The point is parallel to the vertical side of the second electronic device, and its axis is Y. b axis, Y b The positive direction of the axis points to the top of the second electronic device, and the direction of the second electronic device is Y. b Positive direction of the axis; Z b The axis is perpendicular to X. b axis and Y b The plane containing the axis is used to determine the Z-axis according to the rules of the right-hand rectangular coordinate system.b The positive direction of the axis. Optionally, O b It can be the center of a second electronic device, or O b It can be the center of the IMU module of the second electronic device (provided that the second electronic device includes an IMU module). Figure 10 (b) is Figure 10 A three-dimensional view of the second electronic device in (a).

[0316] It should be noted that, Figure 10 The second coordinate system is only illustrated schematically. The second coordinate system can also be defined according to other rules. For example, the origin O... b It can also be any point on the second electronic device, or any point outside the second electronic device. Furthermore, the three axes of the second coordinate system are not limited to... Figure 10 X shown in (a) or (b) b axis, Y b Axis and Z b The positive direction of the axis.

[0317] Optionally, the second coordinate system can be pre-established. For example, it can be established when the second electronic device leaves the factory, and the relevant information of the second coordinate system can be stored locally or on a server. When the second electronic device starts up, or when the first electronic device receives specific input, the second electronic device can retrieve the relevant information of the second coordinate system from the local device or server.

[0318] (III) Establishment of the Third Coordinate System

[0319] For example, Figure 11 The process of establishing the third coordinate system provided in the embodiments of this application is illustrated. For example... Figure 11 As shown, the edge contour of the second electronic device includes four sides: a first side A0A1, a second side A1A2, a third side A2A3, and a fourth side A3A0. The first side A0A1 and the third side A2A3 are vertical sides, and the second side A1A2 and the fourth side A3A0 are horizontal sides. Optionally, the origin O is set at the intersection of the leftmost and bottommost edges of the display area of ​​the second electronic device (i.e., the lower left corner of the display area). t To include O t The point is X, which is parallel to the axis of A3A0. t axis, and X t The positive direction of the axis is from point A0 to point A3; including point O. t The point is parallel to the Y-axis of A0A1. t axis, and Y t The positive direction of the axis is from point A0 to point A1; Z t The axis is perpendicular to X. t axis and Y tThe plane containing the axis is used to determine the Z-axis according to the rules of the right-hand rectangular coordinate system. t The positive direction of the axis.

[0320] It should be noted that, Figure 11 The third coordinate system is only illustrated schematically. The third coordinate system can also be defined according to other rules. Optionally, O t It can be the center of the display area of ​​the second electronic device, or any point within the display area of ​​the second electronic device. Furthermore, the positive axes of the third coordinate system are not limited to... Figure 11 X shown t axis, Y t Axis and Z t The positive direction indicated by the axis.

[0321] It should be noted that when the edge outline of the display area of ​​the second electronic device is the edge outline of the second electronic device, point A0 of the second electronic device and O t Points coincide; when the edge contour of the display area of ​​the second electronic device is not the edge contour of the second electronic device, for example, when there is a border outside the display area of ​​the second electronic device, point A0 of the second electronic device does not coincide with point O. t Points overlap.

[0322] Optionally, the third coordinate system can be pre-established. For example, the third coordinate system is established when the second electronic device leaves the factory, and the relevant information of the third coordinate system is stored locally or on a server; when the second electronic device starts up, or when the second electronic device receives a trigger, the second electronic device calls the third coordinate system from the local machine or server.

[0323] (iv) Coordinate calculation in the first coordinate system

[0324] The following is combined Figure 12 This will specifically explain the calculation principle for positioning the first electronic device 100 relative to the second electronic device 300 in the first coordinate system. Figure 12 In this context, the second electronic device 300 includes a UWB module, and the second electronic device 300 is exemplified by a mobile device (e.g., a smartphone or a remote control). Figure 12 As shown in (a), the first electronic device 100 and the second electronic device 300 are located in the same room or area. The first electronic device 100 has established a first coordinate system, and the second electronic device 300 has established a second coordinate system. Figure 12 As shown in (b), the first electronic device 100 and the second electronic device 300 can communicate via UWB, thereby determining the distance between the second electronic device 300 and the first electronic device 100, the direction of the second electronic device 300 relative to the first electronic device 100, and thus determining the coordinates of the second electronic device 300 in the first coordinate system.

[0325] 1. Measure the distance L between the first electronic device and the second electronic device.

[0326] For example, such as Figure 12 As shown in (c), the distance L between the first electronic device and the second electronic device can be obtained in the following way:

[0327] The first electronic device 100 can use a two-way ranging method to measure the distance L between the first electronic device 100 and the second electronic device 300. The two-way ranging method includes single-sided two-way ranging (SS-TWR) and double-sided two-way ranging (DS-TWR). Here, DS-TWR is used as an example to briefly explain the ranging method.

[0328] The DS-TWR method records the round-trip timestamps between the first electronic device 100 and the second electronic device 300, ultimately obtaining the flight time. Although the DS-TWR method increases the response time, it reduces ranging error. Bilateral two-way ranging is divided into two methods depending on the number of messages sent: a 4-message method and a 3-message method.

[0329] Taking the 3-message method as an example, the second electronic device 300 sends a ranging request message (i.e., the first message) and records the sending time T. s1 After receiving the request message, the first electronic device 100 records the reception time T. r1 Among them, T r1 With T s1 The time difference t is the transmission time of the message between the two devices. The first electronic device 100 processes the request message, which takes time T. re1 Then, the first electronic device 100 sends a response message (i.e., the second message) and records the sending time T. s2 After receiving the response message, the second electronic device 300 records the reception time T. r2 Among them, T r2 With T s2 The time difference is t. The time difference between the second electronic device 300 sending the first message and receiving the second message is T. ro1 The second electronic device 300 processes the response message, taking time T. re2 The second electronic device 300 sends the final message (i.e., the third message) and records the sending time T. s3 The first electronic device 100 received the third message and recorded the reception time T. r3 Among them, T r3 With Ts3 The time difference is t. Furthermore, the time difference between the first electronic device 100 sending the second message and receiving the third message is T. ro2 Therefore, the transmission time t of the message between the two devices can be calculated using the following formula (1), and the distance L between the first electronic device 100 and the second electronic device 300 can be calculated according to formula (2).

[0330] Formula (1)

[0331] Formula (2)

[0332] Where c is the transmission rate of the UWB signal in the medium. c is generally chosen as the speed of light.

[0333] Optionally, the ranging request message can also be sent by the first electronic device 100; correspondingly, the response message can also be sent by the second electronic device 300; correspondingly, the final message can also be sent by the first electronic device 100. The first electronic device 100 or the second electronic device 300 can calculate L according to formula (1) and formula (2).

[0334] It should be noted that the distance L between the first electronic device 100 and the second electronic device 300 can also be calculated in other ways, not limited to those listed above.

[0335] 2. Determine the signal origin of the second electronic device.

[0336] The direction of the second electronic device 200 can be represented by the direction of the transmitted signal from the second electronic device 200 as measured by the first electronic device 100. In this application, the direction of the transmitted signal from the second electronic device 200 can be represented by two angles, α and β. For example, as... Figure 12 As shown in (d), α is the X coordinate of the UWB signal emitted by the second electronic device in the first coordinate system. e O e Y e Components on the plane and X e The angle between the negative and positive axes is usually . This can also be understood as: assuming that the UWB module of the second electronic device forms a vector with respect to the UWB module of the first electronic device, and this vector is located at X... e O e Y e Components on the plane and X e The angle between the negative axis and the first coordinate system. β is the angle between the UWB signal emitted by the second electronic device and the Z-axis of the first coordinate system. e The angle between the positive and negative axes is usually β can also be understood as: assuming that the UWB module of the second electronic device forms a vector with respect to the UWB module of the first electronic device, this vector is related to Z. e The angle between the positive and negative axes.

[0337] The following example, using a three-antenna configuration, will illustrate the two antenna distribution types—L-shaped and triangular—in the UWB module of the first electronic device. The process of solving for β.

[0338] In one example, in Figure 12 In (e), the UWB module of the first electronic device adopts an L-shaped three-antenna structure. The first electronic device can determine the included angle α based on the UWB signal received by antenna 1; and can determine the included angle β based on the UWB signal received by antenna 2. Generally speaking, L1 and L2 are much smaller than the distance L between the second electronic device and the first electronic device, so the UWB signals can be considered parallel when they reach the UWB module of the first electronic device; similarly, when the UWB signals reach the UWB module of the first electronic device, at X... e O e Y e Components on a plane can also be considered as parallel. For example... Figure 12 As shown in (e), the UWB signal is represented by two parallel solid lines. The UWB signal in X e O e Y e The components in the plane are represented by two parallel dashed lines; the distance between antenna 0 and antenna 1 is L1, and the distance between antenna 0 and antenna 2 is L2; ​​passing through point O... e As O e M1 is perpendicular to the line containing M1N1 and passes through point O. e As O e M2 is perpendicular to the line containing M2N2; where N1 is the UWB signal at X. e O e Y e The line containing the component in the plane and the X e The intersection of the axes, N2 is the intersection of the line containing the UWB signal and the Z-axis. e The intersection of the axes. The UWB signal and the Z-axis. e The angle between the positive and negative axes is β. The UWB signal is in the X... e O e Y e Components on the plane and X e The angle between the positive and negative axes is α. Preferably, both L1 and L2 are λ / 2, where λ is the wavelength of the UWB signal. The phases of the same UWB signal measured by antennas 0, 1, and 2 are respectively... , and The phase difference between antenna 1 and antenna 0 is The phase difference between antenna 2 and antenna 0 is .because , and All have been measured, therefore , Both can be calculated. Since λ / 2 corresponds to the phase difference... Therefore, by combining the cosine formula, d1, d2, L1 and L2, α and β can be calculated according to formula (3) and formula (4).

[0339] Formula (3)

[0340] Formula (4)

[0341] When L1 is λ / 2

[0342] When L2 is λ / 2

[0343] In one example, such as Figure 12 As shown in (f), the UWB module of the first electronic device adopts a triangular three-antenna structure. (This is related to...) Figure 12 Similar to the description in (e), the UWB signal can be considered parallel when it reaches the UWB module of the first electronic device; similarly, the UWB signal, when it reaches the UWB module of the first electronic device, is parallel at X. e O e Y e Components on a plane can also be considered as parallel. For example... Figure 12 As shown in (f), the UWB signal is represented by two parallel solid lines. The UWB signal in X e O e Y e The components in the plane are represented by two parallel dashed lines; the distance between antenna 0 and antenna 1 is L1, and the distance between antenna 0 and antenna 2 in the Z-axis is... e The distance between the projections on the axis is L2; ​​point N0 is the distance between antenna 1 and antenna 0 on the X-axis. e The center point on the axis. Passing through point O. e As O e M1 is perpendicular to the line containing M1N1, and N0M2 is perpendicular to the line containing M2N2 through point N0; where N1 is the UWB signal at X e O e Y e The line containing the component in the plane and the X e The intersection of the axes, N2 is the intersection of the line containing the UWB signal and the Z-axis. e The intersection of the axes.

[0344] UWB signal and Z e The angle between the positive and negative axes is β. The UWB signal is in the X... e O e Y e Components on the plane and X e The angle between the negative and positive axes is α. Preferably, both L1 and L2 are λ / 2, where λ is the wavelength of the UWB signal.

[0345] The formula for calculating α is the same as that for formula (3), and will not be repeated here. When calculating β, first calculate the phase of the UWB signal emitted by the second electronic device when it reaches N0. Phase with antenna 2 The difference, that is .

[0346] Then, using formula (5), the path difference d2 between reaching N0 and reaching antenna 2 is calculated, and then β is calculated using formula (6), as follows:

[0347] Formula (5)

[0348] Formula (6)

[0349] 3. Calculate the coordinates of the second electronic device in the first coordinate system based on the distance L between the second electronic device and the first electronic device, and the signal direction of the second electronic device.

[0350] like Figure 12 As shown in (d), the first electronic device can calculate the coordinates of the second electronic device in the first coordinate system established by the first electronic device using formula (7) based on the distance L between the second electronic device and the first electronic device, and the signal of the second electronic device (angle α and angle β). e , e , e ),as follows:

[0351] Formula (7)

[0352] The first electronic device 100 and the second electronic device 300 are connected by means such as Figure 12 The communication interaction shown in (c) allows the distance L between the first electronic device 100 and the second electronic device 300 to be obtained, and the first electronic device 100 can determine the direction of the UWB signal based on the received UWB signal. Therefore, the first electronic device 100 can obtain the direction and distance of the second electronic device 300 relative to itself, and thus obtain the coordinates of the second electronic device 300 in the first coordinate system.

[0353] In cases where the second electronic device includes a UWB module, the coordinates of the second electronic device in the first coordinate system can be obtained in real time or periodically through communication of UWB signals between the second electronic device and the first electronic device.

[0354] For situations where some secondary electronic devices do not include a UWB module, such as smartphones that include a UWB module but smart speakers or smart air conditioners that do not, there are two possible marking methods.

[0355] Marking method one, such as Figure 13 As shown in (a), the smartphone moves to the smart speaker and obtains the coordinates of the smartphone in the first coordinate system through communication of UWB signals between the smartphone and the first electronic device. These coordinates are then marked as the coordinates of the smart speaker in the first coordinate system.

[0356] Marking method two, such as Figure 13 As shown in (b), first use a smartphone to point at the smart air conditioner at position 1, so that the Y coordinate of the second coordinate system... b The positive axis is aligned with the first point on the smart air conditioner (e.g., the power button). Through UWB signal communication between the smartphone and the first electronic device, the coordinates 1 of position 1 in the first coordinate system are obtained. The smartphone also includes an IMU module, which determines the smartphone's attitude angle 1 at position 1. Based on coordinates 1 and attitude angle 1, the straight line 1 established by the smartphone pointing to the first point of the smart air conditioner from position 1 can be determined. Then, the smartphone is used to point at the smart air conditioner from position 2, making the Y-axis of the second coordinate system... b The positive axis points towards the first point on the smart air conditioner. The coordinates 2 of position 2 in the first coordinate system are obtained through UWB signal communication between the smartphone and the first electronic device. The attitude angle 2 of the smartphone at position 2 is determined by the IMU module. Based on coordinates 2 and attitude angle 2, the straight line 2 established by the smartphone pointing from position 2 towards the second point of the smart air conditioner can be determined. The coordinates of the intersection of straight line 1 and straight line 2 are calculated, which are the coordinates of the smart air conditioner in the first coordinate system.

[0357] It should be noted that smart speakers or smart air conditioners are merely illustrative examples. Smart speakers are used to represent second electronic devices that are easily touched by users holding mobile devices such as smartphones, while smart air conditioners are used to represent second electronic devices that are not easily touched by users holding mobile devices such as smartphones.

[0358] In cases where a secondary electronic device does not include a UWB module—for example, a smartphone may contain a UWB module while a smart TV does not—a smartphone with a UWB module can be used to repeatedly tag the smart TV. For example... Figure 13 As shown in (c), the smartphone moves to point A0 on the smart TV and marks its position, and the first electronic device obtains the coordinates of the lower left corner outline point of the smart TV. Correspondingly, in the above manner, the first electronic device can obtain the coordinates of multiple outline points of the smart TV (e.g., the lower left, upper left, and lower right corner outline points). If A0, A1, A2, and A3 are marked, the first electronic device can obtain the coordinates of the four corner outline points. If A0, A1, and A2 are marked, the first electronic device can obtain the coordinates of three corner outline points. If A0 and A2 are marked, the first electronic device can obtain the coordinates of two corner outline points. This application does not limit which corner outline points are selected from the four corner outline points, as long as the outline range of the smart TV can be obtained ultimately. Optionally, the outline range mentioned above can refer to the outline range of the display area of ​​the smart TV. Optionally, the display area mentioned above may include the bezel of the smart TV screen, or it may not include the bezel of the smart TV screen.

[0359] Preferably, the smartphone can be moved to three or more different positions on the display area of ​​the smart TV. When moving to one position on the display area, the smartphone's coordinates are marked as the coordinates of that position on the smart TV's display area based on user input. This process is repeated to mark the coordinates of three or more different positions on the smart TV's display area. Optionally, the coordinates of three positions on the smart TV's display area are marked. Similarly, the coordinates of one position on the front area of ​​the smart TV can be marked. During the marking of three or more different positions on the smart TV's display area, the smartphone's direction or orientation is not required to remain consistent across these positions; that is, the orientation or orientation of the smart TV is not limited during the marking process.

[0360] Optionally, the three or more positions of the display area of ​​the smart TV can be three or more positions of the edge outline (e.g., the horizontal or vertical outline of the display area) of the smart TV's display area (e.g., at 1 / 2, 1 / 3, etc.), or they can be three or more positions of the center of the smart TV's display area.

[0361] Optionally, a second electronic device including a UWB module can not only mark a second electronic device that does not include a UWB module, but also mark a spatial region. For example, it can mark the extent of a three-dimensional spatial region. The following example uses a smartphone including a UWB module.

[0362] For example, such as Figure 14 As shown in (a), the smartphone is placed at four positions A, B, C, and D respectively. Based on the above principle, the first electronic device 100 obtains the coordinates of the four positions A, B, C, and D in the first coordinate system respectively. , , ), ( , , ), ( , , )and( , , The vertical line passing through position A ( , , z e ), the vertical line passing through position B ( , , z e ), the vertical line passing through position C ( , , z e ) and the vertical line passing through position D ( , , z e ( ) enclose a three-dimensional region. Where z e It can be a preset value or the height of the room or area.

[0363] In another example, such as Figure 14 As shown in (b), the smartphone is placed at each of the eight vertices of a three-dimensional spatial region. Based on the above principle, the first electronic device 100 obtains the coordinates of each of the eight vertices in the first coordinate system, thereby obtaining the coordinate range of the three-dimensional spatial region. For example, if the three-dimensional spatial region is a room, then the coordinate range of the room in the first coordinate system is obtained. The above only uses the vertex positions as an example; the actual area can be determined based on the placement of the smartphone. For example, the smartphone may not be placed at a vertex position, in which case the determined area would be smaller than the entire area of ​​the room.

[0364] (v) Transformation between different coordinate systems based on UWB

[0365] In this application, coordinate transformations between different coordinate systems can be performed using vectors. Specifically, the distance between two points is the same in different coordinate systems, but the direction of the vector formed by the two points may differ in different coordinate systems. For example, to transform O... e The coordinates of a point in the first coordinate system are converted to O. e The coordinates of a point in the second coordinate system can be transformed using vectors. For example, by... For example, converting vectors in this way. The distance (both L) is the same in the first coordinate system and the second coordinate system, but the vectors... The direction expressed in the first coordinate system, and the vector The directions represented by the second coordinate system are different. By obtaining the relative directional changes between the first and second coordinate systems, given a vector... The direction expressed in the first coordinate system can be used to determine the vector. The direction is represented by the second coordinate system; combined with O e dot, O b The coordinates of the point in the first coordinate system, and O b The coordinates of point O in the second coordinate system can then be used to determine its position. e The coordinates of the point in the second coordinate system.

[0366] The coordinate transformation methods of the same point in different coordinate systems mentioned above are only illustrative, and this application does not limit the coordinate transformation methods.

[0367] The relative orientation changes between different coordinate systems can be represented by the pitch angle between the coordinate systems. Azimuth (yaw) And roll angle This is expressed using the following terms. The azimuth angle can also be called the yaw angle or heading angle. For example, the pitch, azimuth, and roll angles of the second coordinate system relative to the first coordinate system, and the pitch, azimuth, and roll angles of the third coordinate system relative to the first coordinate system. To easily calculate the pitch, azimuth, and roll angles between the three coordinate systems, it is necessary to first imagine converging the origins of the three coordinate systems to a single point. For example, the origin O of the UWB base station... e Parallel movement to the origin O of the second coordinate system b Accordingly, the first coordinate system also moves. The definitions of pitch angle, azimuth angle, and roll angle are well known to those skilled in the art and will not be elaborated here.

[0368] For example, Figure 15 The pitch angle of the second coordinate system relative to the first coordinate system is shown. Azimuth and roll angle .

[0369] O, the origin of the second coordinate system b The origin O of the first coordinate system after parallel translation e The coordinates of the second coordinate system coincide, and the three axes are X and Y. b Axis, Y b Axis and Z b The three axes of the first coordinate system are X, Y, and Z. e Axis, Y e Axis and Z e Axis. For example... Figure 15 As shown in (a), Oe Y b ' (i.e. O) b Y b ') is Y b The axis in the first coordinate system X e O e Y e A projection onto a plane. For example... Figure 15 As shown in (b), O e Z b ' (i.e. O) b Z b ') is Z b The axis in the Y b O b Z e Projection onto a plane.

[0370] The pitch angle of the second coordinate system relative to the first coordinate system Y in the second coordinate system b The axis and the X-axis of the first coordinate system e O e Y e The angle between planes. That is, O b Y b 'and Y b The angle between axes. When O b Y b In Z e The component on the axis, located at Z e When the axis is positive, It is positive; when O b Y b In Z e The component on the axis, located at Z e When the axis is the negative axis, It is negative.

[0371] The azimuth angle of the second coordinate system relative to the first coordinate system Y in the second coordinate system b The axis in the first coordinate system X e O e Y e The projection on the plane, and the Y-axis of the first coordinate system e The angle between axes. That is, O b Y b 'and Y e The angle between axes. When O b Y b 'In X' e The component on the axis, located at X e When the axis is positive, It is positive; when O b Y b'In X' e The component on the axis, located at X e When the axis is the negative axis, It is negative.

[0372] Roll angle of the second coordinate system relative to the first coordinate system Z in the second coordinate system b axis and Y b O e Z e The angle between planes. That is, O b Z b 'and Z b The angle between the axes. When Z... b The positive axis is in the Y b O e Z e The projection on the plane onto X b The component on the axis, located at X b When the axis is positive, It is positive when Z is positive; b The positive axis is in the Y b O e Z e The projection on the plane onto X b The component on the axis, located at X b When the axis is the negative axis, It is negative.

[0373] Alternatively, when O b Z b 'In X' b O b Y b The projection on the plane, in X b The component on the axis, located at X b When the axis is positive, It is positive; when O b Z b 'In X' b O b Y b The projection on the plane, in X b The component on the axis, located at X b When the axis is the negative axis, It is negative.

[0374] For example, Figure 16 The pitch angle of the third coordinate system relative to the first coordinate system is shown. Azimuth and roll angle .

[0375] like Figure 16 As shown, the origin O of the third coordinate system tThe origin O of the first coordinate system after parallel translation e The coordinates of the third coordinate system coincide, and the three axes are X and Y. t Axis, Y t Axis and Z t The three axes of the first coordinate system are X, Y, and Z. e Axis, Y e Axis and Z e Axis. For example... Figure 16 As shown in (a), O e Y t ' (i.e. O) t Y t ') is Y t The axis in the first coordinate system X e O e Y e A projection onto a plane. For example... Figure 16 As shown in (b), O e Z t ' (i.e. O) t Z t ') is Z t The axis in the Y t O e Z e Projection onto a plane.

[0376] The pitch angle of the third coordinate system relative to the first coordinate system Y in the third coordinate system t The axis and the X-axis of the first coordinate system e O e Y e Angle between two planes. That is, O e Y t ' (i.e. O) t Y t ') and Y t The angle between axes. When O e Y t In Z e The component on the axis, located at Z e When the axis is positive, It is positive; when O e Y t In Z e The component on the axis, located at Z e When the axis is the negative axis, It is negative.

[0377] The azimuth angle of the third coordinate system relative to the first coordinate system Y in the third coordinate system t The axis in the first coordinate system X e O e Y e The projection on the plane, and the Y-axis of the first coordinate systeme The angle between axes. That is, O e Y t ' (i.e. O) t Y t ') and Y e The angle between axes. When O e Y t 'In X' e The component on the axis, located at X e When the axis is positive, It is positive; when O e Y t 'In X' e The component on the axis, located at X e When the axis is the negative axis, It is negative.

[0378] Roll angle of the third coordinate system relative to the first coordinate system Z in the third coordinate system t axis and Y t O e Z e The angle between planes. That is, O t Z t 'and Z t The angle between the axes. When Z... t The positive axis is in the Y t O e Z e The projection on the plane onto X t The component on the axis, located at X t When the axis is positive, It is positive when Z is positive; t The positive axis is in the Y t O e Z e The projection on the plane onto X t The component on the axis, located at X t When the axis is the negative axis, It is negative.

[0379] Alternatively, when O t Z t 'In X' t O t Y t The projection on the plane, in X t The component on the axis, located at X t When the axis is positive, It is positive; when O t Z t 'In X' t O t Y t The projection on the plane, in Xt The component on the axis, located at X t When the axis is the negative axis, It is negative.

[0380] The directional change of the third coordinate system relative to the first coordinate system can be expressed using the attitude matrix. To express.

[0381] Formula (8)

[0382] Attitude matrix The above formula (8) is prior art, which can be obtained by those skilled in the art. For example, the attitude matrix in Chapter 1.2.1 of the book "Inertial Navigation" (Beijing: Science Press, ISBN 7-03-016428-8, edited by Qin Yongyuan, first edition in May 2006, first printing in May 2006).

[0383] The above is merely an illustrative example of the transformation of the second and third coordinate systems relative to the first coordinate system. Those skilled in the art should understand that the transformation of other coordinate systems is also based on the above principle, using the same formula, only with changes to the corresponding parameters.

[0384] Optionally, the second electronic device may include an IMU module. Optionally, the IMU module of the second electronic device is first calibrated. That is, the coordinate system on which the pitch angle, azimuth angle, and roll angle output by the IMU module of the second electronic device are based is calibrated to the first coordinate system, or the coordinate system on which the IMU module output by the second electronic device is based is calibrated. Calibration Thus, as the second electronic device moves, the pitch, azimuth, and roll angles output by its IMU module become the pitch, azimuth, and roll angles of the second coordinate system relative to the first coordinate system; or, the IMU module outputting the... By transposing, the directional change of the second coordinate system relative to the first coordinate system can be reflected.

[0385] For example, the second coordinate system of the second electronic device can be parallel to the first coordinate system (e.g., X). b The axis is parallel to X. e axis, Y b The axis is parallel to Y. e Axis, Z b The axis is parallel to Z. e (x, y) and the positive directions of the corresponding coordinate axes of the two coordinate systems are the same (e.g., X, y). b Positive axis and X e The positive axes are the same, Y b Positive axis and Y e The positive axes are the same, Zb Positive axis and Z e (with the same positive axis direction), the pitch, azimuth, and roll angles output by the IMU module of the second electronic device are all set to 0.

[0386] For example, the second coordinate system of the second electronic device can be parallel to the first coordinate system, and the positive directions of all axes of the two coordinate systems are the same. By adjustment, the output of the IMU module of the second electronic device can be made so that... = .

[0387] (vi) Establishment of the fourth coordinate system (millimeter-wave radar coordinate system)

[0388] The millimeter-wave radar module 160 of the first electronic device 100 is used to implement millimeter-wave radar functions. Multiple antennas in the millimeter-wave radar have distance differences in the lateral direction (e.g., horizontal direction) and / or the longitudinal direction (e.g., vertical direction), and the coordinate system (fourth coordinate system) of the millimeter-wave radar can be established by utilizing the distance differences between the antennas.

[0389] In one example, the millimeter-wave radar module 160 includes three transmitting antennas and four receiving antennas. Exemplarily, such as... Figure 17 As shown, three transmitting antennas and four receiving antennas are located in the same longitudinal plane (e.g., a vertical plane). The three transmitting antennas are arranged in a triangle in the longitudinal plane. Transmitting antenna 0 and transmitting antenna 2 are located in the same transverse plane; the four receiving antennas are located on the same transverse line (e.g., a horizontal line). In one embodiment, a point on receiving antenna 0 (e.g., an endpoint on one side) is taken as the origin O of the fourth coordinate system. m Using the line connecting receiving antenna 0 and receiving antenna 1 as the X-axis of the fourth coordinate system m The axis is defined, and the direction from receiving antenna 1 to receiving antenna 0 is X. m The positive direction of the axis; passing through the origin O. m And perpendicular to X m The straight line on the axis is the Z-axis of the fourth coordinate system. m The axis, and the direction pointing to the zenith is Z. m The positive axis; then, combining the right-hand rectangular coordinate system rule, determine the Y-axis of the fourth coordinate system. m Axis and Y m The positive direction of the axis. Optionally, the outer surface of the first electronic device 100 may be marked with prompts to indicate the correct installation or placement method, so that the three transmitting antennas and four receiving antennas of the millimeter-wave radar module 160 in the first electronic device 100 are located in the same longitudinal plane.

[0390] The naming of the three axes in this fourth coordinate system, as well as the positive directions of the three axes, can also use other definitions, which will not be elaborated here. This application embodiment uses... Figure 17In the fourth coordinate system shown, X m Axis, Y m Axis and Z m Let's take the shaft as an example for introduction.

[0391] It should be noted that the above example of using a point on receiving antenna 0 as the origin of the fourth coordinate system is merely illustrative. A point on other antennas (such as receiving antenna 1) can also be the origin of the fourth coordinate system.

[0392] Optionally, the fourth coordinate system can be pre-established. The installer only needs to install the first electronic device 100 according to the requirements. For example, the fourth coordinate system can be pre-established before the first electronic device 100 leaves the factory, and the relevant information of the fourth coordinate system can be stored locally or on a server. When the first electronic device 100 starts up, or when the first electronic device 100 receives a specific trigger, the first electronic device 100 retrieves the relevant information of the fourth coordinate system from the local machine or the server. Unless otherwise specified, the server in this application can be a home central device 200 or a cloud server.

[0393] Preferably, the outer surface of the first electronic device 100 may have only one label indicating its installation. This ensures that the transmitting and receiving antennas of the millimeter-wave radar module, as well as the antenna of the UWB module, meet preset requirements.

[0394] (vii) Coordinate calculation in the fourth coordinate system

[0395] 1. Determine the distance between the reflection point and the millimeter-wave radar module, and the radial velocity of the reflection point.

[0396] (1) Determine the distance between the reflection point and the millimeter-wave radar module

[0397] The transmitting antenna of the millimeter-wave radar module 160 transmits a signal, which is reflected by a reflection point and then received by the receiving antenna of the millimeter-wave radar module 160. The frequency of the transmitted signal of the LFMCW millimeter-wave radar increases linearly with time; this type of signal is called a linear frequency modulated pulse (Chirp) signal. Combined with... Figure 5B The millimeter-wave radar module 160 receives the Chirp signal through the receiving antenna. The received signal and the local oscillator signal are mixed by a mixer to output a difference frequency signal. After the difference frequency signal is filtered, amplified, and sampled by a filter module, it is converted from analog to digital into a digital difference frequency signal.

[0398] For example, Figure 18 This illustration shows a schematic diagram illustrating the principle of how a millimeter-wave radar, according to an embodiment of this application, determines the distance and radial velocity of a reflection point. For example... Figure 18As shown in (a), the solid line represents the transmitted signal of the millimeter-wave radar module 160, and the dashed line represents the received signal of the millimeter-wave radar module 160. One sweep period Tc of the chirp signal is typically in the microsecond (µs) range, and the modulation frequency S0 (i.e., the rate of change of frequency) reaches 10. 12 The order of magnitude (in Hz / s). In the embodiments of this application, the Chirp signal within one sweep period Tc is called a Chirp signal. It is generally assumed that the spatial position of the target does not change within one sweep period Tc.

[0399] like Figure 18 As shown in (b), within one sweep period Tc, the transmitting antenna transmits a Chirp signal, and after a time... Afterwards, the receiving antenna receives the signal reflected back from the reflection point, and the frequency difference between the received signal and the transmitted signal is... S0. The frequency difference between the received and transmitted signals is the frequency f0 of the difference frequency signal, that is, f0 = S0. Wherein... =2d / c, where d is the distance between the reflection point and the millimeter-wave radar module (which can also be regarded as the first electronic device), and c is the transmission rate of the Chirp signal in the air, which is generally chosen as the speed of light. Therefore, the relationship between the distance d of the reflection point and the frequency f0 of the difference frequency signal is shown in formula (9).

[0400] d = f0*c / (2*S0) Formula (9)

[0401] Fourier transform can convert a time-domain signal into a frequency-domain signal. A sine wave in the time domain corresponds to a peak value in the frequency domain, which represents the frequency f0 of the difference frequency signal. For example, as... Figure 18 As shown in (c), the transmitted signal from the millimeter-wave radar module is reflected back as three signals through three reflection points. The millimeter-wave radar module receives these three received signals and acquires the three corresponding difference frequency signals. A fast fourier transform (FFT) is performed on the three difference frequency signals to obtain a range curve (called range FFT), which generates a spectrum with three distinct peaks. Each peak represents a corresponding reflection point. The frequency of the difference frequency signal is obtained by calculating the frequency corresponding to the peak. The distance to the reflection point can be obtained by detecting the frequency of the difference frequency signal.

[0402] Similarly, a Doppler FFT is performed on multiple difference frequency signals with different sweep periods Tc at the same reflection point to obtain the phase difference between the multiple difference frequency signals. By detecting the phase difference between the multiple difference frequency signals, the radial velocity of the reflection point can be obtained. For detailed principles, please refer to existing technologies, which will not be elaborated here.

[0403] The millimeter-wave radar module receives the chirp signal and, after mixing, power amplification, and filtering the transmitted and received signals, obtains a difference frequency signal. This difference frequency signal is then converted from analog to digital into a digital difference frequency signal. By detecting the digital difference frequency signal, the distance and radial velocity of the reflection point can be obtained.

[0404] For example, such as Figure 18 As shown in (d), one frame of data from the millimeter-wave radar module is the data within one radar scanning cycle. One radar scanning cycle includes M frequency sweeping cycles Tc, and there are N sampling points of the difference frequency signal within each frequency sweeping cycle Tc.

[0405] The frequency of the difference frequency signal can be obtained by performing a one-dimensional range FFT on the digital difference frequency signal within one sweep period Tc. The distance to the reflection point can then be calculated based on the difference frequency signal frequency. Here, the number of points in the range FFT is the number of sampling points N of the difference frequency signal corresponding to the chirp signal.

[0406] The phase difference between multiple digital difference frequency signals can be obtained by performing a one-dimensional Doppler FFT on the digital difference frequency signals of the same reflection point within multiple adjacent sweep cycles Tc. The radial velocity of the reflection point can then be calculated based on the phase difference between these multiple difference frequency signals. The number of points in the Doppler FFT is equal to the number of sweep cycles in one frame of data.

[0407] The combined operation of range FFT and doppler FFT can be considered as a two-dimensional FFT of a frame of data. In this embodiment, a frame of data after two-dimensional FFT processing is referred to as a frame of two-dimensional FFT data. For example, Figure 18 (e) is a schematic diagram of a frame of two-dimensional FFT data acquired by the millimeter-wave radar module. For example... Figure 18 As shown in (e), a frame of two-dimensional FFT data contains multiple peaks, each peak representing a corresponding reflection point. The value of a reflection point in the distance or velocity dimension is the distance or radial velocity of that reflection point.

[0408] (2) Determine the signal origin of the reflected signal at the reflection point.

[0409] The direction of arrival of the reflected signal includes the lateral direction (e.g., horizontal) and the longitudinal direction (e.g., vertical). The lateral direction of arrival can be represented by the azimuth angle, and the longitudinal direction by the elevation angle. In one embodiment, the azimuth and elevation angles can be calculated from the phase difference between the received signals from multiple receiving antennas of the millimeter-wave radar module.

[0410] For example, Figure 19This illustration shows a schematic diagram illustrating the principle of how a millimeter-wave radar determines the signal direction of a reflection point using an embodiment of this application. Figure 19 As shown in (a), the millimeter-wave radar module includes four receiving antennas. After a signal transmitted from the same transmitting antenna is reflected at a reflection point, the phase difference between the reflected signals arriving at any two different receiving antennas can be used by the millimeter-wave radar module to measure the azimuth angle of the reflected signal. The specific method by which the millimeter-wave radar module determines the lateral direction of the reflected signal based on the phase difference between the signals arriving at two adjacent receiving antennas can be found in [reference needed]. Figure 12 The method for calculating angle α in (e) will not be elaborated here.

[0411] In one implementation, the accuracy of the measurement signal direction can be improved by increasing the number of antennas. In one example, the antennas of the millimeter-wave radar module employ... Figure 8 The distribution structure is shown in (a). When transmitting signals, the millimeter-wave radar module can switch the transmitting antenna by changing a relay switch, thus separating the receiving antenna from the signals of different transmitting antennas. For example, as shown in (a)... Figure 19 As shown in (b), when transmitting antenna 0 and transmitting antenna 2 alternately transmit signals, based on the phase difference principle generated by the antenna position difference, the two-transmitter, four-receiver antenna can be equivalent to one-transmitter, eight-receiver antenna. For example, Figure 19 In (b), the distance between the receiving antennas is λ. L / 2, the distance between transmitting antenna 0 and transmitting antenna 2 is 2λ L ; where λ L The wavelength is millimeter wave. The signal transmitted by transmitting antenna 2 to receiving antenna 0 can be equivalent to the signal received by receiving antenna 4; the signal transmitted by transmitting antenna 2 to receiving antenna 1 can be equivalent to the signal received by receiving antenna 5; the signal transmitted by transmitting antenna 2 to receiving antenna 2 can be equivalent to the signal received by receiving antenna 6; the signal transmitted by transmitting antenna 2 to receiving antenna 3 can be equivalent to the signal received by receiving antenna 7. For example, Figure 19 In the schematic diagram of one transmitter and eight receivers in (b), receiving antennas 4, 5, 6 and 7 are equivalent virtual receiving antennas.

[0412] A transmitting antenna with a distance in the longitudinal dimension transmits a signal that is reflected at a reflection point before reaching the receiving antenna. The phase difference between this phase difference and the reflected signal can be used by a millimeter-wave radar module to measure the longitudinal direction of the reflected signal (e.g., revealed by the elevation angle). In one example, the antenna of the millimeter-wave radar module uses... Figure 8The structure shown in (a) is such that transmitting antenna 1 is separated from transmitting antenna 0 by a distance in the longitudinal dimension, and transmitting antenna 1 is separated from transmitting antenna 2 by a distance in the longitudinal dimension. The elevation angle of the reflected signal can be determined by comparing the signals received by the same receiving antenna from transmitting antenna 1, transmitting antenna 0, and transmitting antenna 2 respectively. For example, as shown in (a) Figure 19 As shown in (c), signals can be transmitted by transmitting antenna 0 and received by receiving antennas 2 and 3; signals can be transmitted by transmitting antenna 2 and received by receiving antennas 0 and 1; signals can be transmitted by transmitting antenna 1 and received by receiving antennas 0, 1, 2, and 3; signals with a phase difference in the longitudinal dimension can be compared to calculate the longitudinal direction of the reflected signal (e.g., revealed by the elevation angle). For example, the signals transmitted by transmitting antenna 0 and received by receiving antenna 2 can be compared with the signals transmitted by transmitting antenna 1 and received by receiving antenna 0 to obtain the phase difference between the two, and the elevation angle can be calculated based on this phase difference. For specific steps on calculating the elevation angle based on the phase difference of the received signals, please refer to [reference needed]. Figure 12 The method for calculating angle β in (f) will not be elaborated here.

[0413] (3) Determine the coordinates of the reflection point in the fourth coordinate system

[0414] The first electronic device can calculate the coordinates of the reflection point in the fourth coordinate system established by the first electronic device based on the distance between the reflection point and the millimeter-wave radar, as well as the direction of the reflected signal (azimuth and elevation angle).

[0415] (4) Determine the user's coordinates in the fourth coordinate system

[0416] In some cases, due to the different clothing and skeletal structures of different parts of a large human body, different detection results may occur, leading to multiple reflection points for human detection, or even uneven distribution. For large objects, different parts may use different materials or have different shapes, also resulting in multiple reflection points for detection, or even uneven distribution. For the human body, because parts such as the head, hands, and feet reflect the transmitted signal from millimeter-wave radar, the radar may detect a single human body as multiple reflection points within its detection range. In such cases, clustering can be performed on the point cloud data of these reflection points, grouping the detected multiple reflection points into a single cluster, and identifying this cluster as a single object or human body.

[0417] For example, Figure 20 (a) is a schematic diagram illustrating the effect of clustering point cloud data. Figure 20Each point in (a) represents a reflection point detected by the millimeter-wave radar module. The three closed curves represent the clusters, and points outside the three closed curves represent reflection points that were not clustered into any category. In one example, the millimeter-wave radar module uses a clustering algorithm to cluster multiple reflection points into an object or human body (user). The coordinates of the object or human body (user) in the fourth coordinate system can be calculated based on the coordinates of the clustered reflection points. For example, the coordinates of the object or human body (user) in the fourth coordinate system can be the coordinates of the object or human body's center of gravity in the fourth coordinate system. For example, as... Figure 20 As shown in (b), Figure 20 In (b), the smaller points represent the reflection points detected by the millimeter-wave radar, and the largest point is the coordinate point of the human body (user) in the fourth coordinate system. The coordinates of the human body (user) in the fourth coordinate system are: ] T .

[0418] Furthermore, the height of the object or the height of the human body (user) can be calculated based on the height H of the first electronic device above the ground and the coordinates of the object or human body (user) in the fourth coordinate system. For example, the height h of the human body (user) can be calculated using formula (10). m ,as follows:

[0419] h m = (H+ )*2 formula (10)

[0420] For example, Figure 21 A flowchart illustrating a method for a first electronic device to determine a user's coordinates in a fourth coordinate system, according to an embodiment of this application, is shown. Figure 21 As shown, the method may include:

[0421] The S2100 millimeter-wave radar module receives reflected signals.

[0422] The S2101 millimeter-wave radar module performs a two-dimensional fast Fourier transform on the digital difference frequency signal.

[0423] The receiving antenna of the millimeter-wave radar module receives the reflected signal, obtains the digital difference frequency signal based on the reflected signal, performs a two-dimensional fast Fourier transform on the digital difference frequency signal, and obtains two-dimensional FFT data.

[0424] The S2102 millimeter-wave radar module uses a target detection algorithm to obtain the distance between the reflection point and the millimeter-wave radar, as well as the radial velocity.

[0425] Millimeter-wave radar can use target detection algorithms to detect targets in a frame of two-dimensional FFT data and obtain the target's distance and radial velocity.

[0426] It should be noted that in indoor environments, multipath effects and clutter interference occur. The signals received by millimeter-wave radar include target reflections, background noise, and clutter interference. For example, Figure 18 In the test environment shown in (e) of a frame of two-dimensional FFT data, there are moving human bodies at distances of 1m, 2m, and 4m from the millimeter-wave radar, respectively. Figure 18 As shown in (e), in addition to the three peaks at distances of 1m, 2m, and 4m from the millimeter-wave radar, there are other large peaks caused by reflected signals (background noise and clutter interference, etc.). If the reflected signals caused by background noise and clutter interference are detected as reflection points, false alarms occur. In one implementation method, a constant false alarm rate (CFAR) target detection algorithm can be used to obtain the distance and radial velocity of the reflection point to maintain a constant false alarm rate and improve target detection accuracy.

[0427] It should be noted that the millimeter-wave radar module can employ existing target detection algorithms as needed to obtain the distance and radial velocity of the reflection point based on two-dimensional FFT data. This application does not limit the target detection algorithm used. Specific implementation methods for the target detection algorithm can be obtained from existing technologies and will not be elaborated here.

[0428] S2103, the millimeter-wave radar module determines the direction of the reflected signal.

[0429] For example, azimuth and elevation angles can be estimated using algorithms such as the phase difference method, the sum-difference beamforming method, and the music method. These algorithms can be obtained from existing technologies and will not be elaborated upon here.

[0430] S2104, the millimeter-wave radar module determines the coordinates of the reflection point in the fourth coordinate system.

[0431] Millimeter-wave radar determines the coordinates of the reflection point in the fourth coordinate system based on the distance between the reflection point and the millimeter-wave radar, as well as the signal from the reflection point.

[0432] S2105, the millimeter-wave radar module determines the coordinates of smart devices or users in the fourth coordinate system.

[0433] In one implementation, a clustering algorithm is used to cluster the detected reflection points, grouping multiple reflection points into smart devices or users. Clustering algorithms include partition-based clustering methods, density-based partitioning methods, model-based partitioning methods, and network-based partitioning methods. For example, common clustering algorithms include density-based spatial clustering of applications with noise (DBSCAN), K-Means algorithm, and Birch algorithm. Any clustering algorithm can be used for clustering processing, and this application does not limit the specific clustering algorithm used.

[0434] The coordinates of a smart device or user in the fourth coordinate system can be calculated based on the average coordinates of multiple reflection points of a clustered smart device or user.

[0435] The S2106 millimeter-wave radar module tracks smart devices or users.

[0436] The millimeter-wave radar module performs target detection on each received frame of data. Further, after detecting objects (smart devices) or human bodies in each frame using target detection and clustering algorithms, an association algorithm can be used to match the detection results in the current frame with those in the previous frame, enabling object or human body tracking (i.e., acquiring the changes in object or human body coordinates over time). For example, one tracking algorithm (frame-to-frame association algorithm) calculates the Euclidean distance (the straight-line distance between two points in space) between two targets in two frames, identifies the two targets with the shortest Euclidean distance as the same target, and then uses a Hungarian algorithm to link and track the targets.

[0437] Furthermore, in one implementation, the millimeter-wave radar module can determine whether the target is stationary or moving based on the target tracking results. The millimeter-wave radar module can also be used to detect the physiological characteristics (such as respiratory rate and heart rate) of a stationary target. If the target's physiological characteristics meet set conditions (e.g., respiratory rate within a preset range, heart rate within a preset range), then the target, or the clustered target, is identified as a human body (user); and the user is tracked.

[0438] (viii) Detection of user physiological characteristics, identity category, and human posture by millimeter-wave radar module

[0439] The following section, with reference to the accompanying diagram, details the specific methods by which millimeter-wave radar modules detect users' physiological characteristics, identity categories, and human posture.

[0440] (1) Millimeter-wave radar module detects the user's physiological characteristics

[0441] A user's physiological characteristics include their respiratory rate and heart rate. When the user is stationary (their position remains unchanged), the minute displacements of the user's body caused by breathing and heartbeat can cause phase changes in the reflected signal of the millimeter-wave radar module. The user's respiratory rate and heart rate can be obtained by detecting these phase changes in the reflected signal when the user is stationary.

[0442] In one implementation, such as Figure 22 As shown, the methods by which a millimeter-wave radar module acquires a user's respiratory rate and heart rate may include:

[0443] S2201, Extract phase information.

[0444] In S2201 above, a Range FFT is performed on each frame of data from the millimeter-wave radar. Based on the Range FFT result, the frequency of the difference frequency signal can be obtained, i.e., the phase of the difference frequency signal can be obtained. In S2206 above, the millimeter-wave radar performs target tracking on the user and can obtain the changes in the user's position over time, i.e., obtain the user's position at a certain moment.

[0445] If the millimeter-wave radar determines that the user is stationary based on target tracking results (for example, the user's coordinate change is less than a set value over a period of time), phase extraction is performed on the Range FFT result at the user's current position, i.e., extracting the phase information of the difference frequency signal. For example, the radar scan period is 100ms, meaning the period of one frame of data is 100ms. The phase information of the difference frequency signal is extracted once for each frame of data. By continuously extracting the phase information of multiple frames of data, the relationship between phase and frame number, i.e., the relationship between phase and time, can be obtained; this is denoted as the vibration signal. , where j is the number of frames.

[0446] S2202, Phase unwinding.

[0447] Unfold the phase to obtain the actual displacement curve. The phase value is defined as follows: Between. If the phase value calculated in S2201 is greater than π, subtract it from the phase value. To perform phase expansion; if the phase value calculated in S2201 is less than -π, add to the phase value To perform phase unrolling.

[0448] S2203, Calculate the phase difference.

[0449] The phase difference is obtained by subtracting consecutive phase values ​​and performing a phase difference operation on the expanded phase. v; This enhances the heartbeat signal and eliminates any phase drift. Among these, v(k) = v(k) - v(k-1).

[0450] S2204, bandpass filter.

[0451] The phase values ​​are filtered using bandpass filters based on heart rate and respiratory rate respectively to distinguish them. For example, setting the passband range of the bandpass filter to 0.8Hz - 4Hz and filtering the phase values ​​can detect heart rate; setting the passband range of the bandpass filter to 0.1Hz - 0.6Hz and filtering the phase values ​​can detect respiration.

[0452] S2205, Range estimation.

[0453] Perform an FFT on the phase difference signal and obtain the respiratory rate and heart rate within N frames based on the peak value and harmonic characteristics.

[0454] S2206, Judgment.

[0455] Record respiratory rate and heart rate over a period of time, filter the obtained respiratory rate and heart rate values ​​according to preset confidence indicators (e.g., accuracy 95%, false alarm rate 5%), and output the relationship between respiratory rate and heart rate changes over time.

[0456] (2) Millimeter-wave radar module detects user identity category

[0457] Millimeter-wave radar modules can calculate the user's height h. m Determine the user's identity category. User identity categories include adults, children, etc.

[0458] In one implementation, when a user is within the detection range of the millimeter-wave radar module, if the user is detected to be in motion, the millimeter-wave radar module calculates the height of the user detected in each frame of data, denoted as h. m (t), representing the height at time t. It can also be determined based on h. m (t) Calculate the average height H of the users. m And according to H m Determine the user's identity category. For example, the correspondence between user height and user identity category is shown in Table 1.

[0459] Table 1

[0460]

[0461] (3) Millimeter-wave radar module detects the user's human posture

[0462] Millimeter-wave radar modules can calculate the user's height h. mChanges in posture determine the user's body posture. Body posture includes standing, sitting, lying down, etc.

[0463] In one implementation, the millimeter-wave radar module tracks the user. If it determines that the user's height has changed, and the change is greater than a preset height difference threshold, and the duration of the change is greater than a preset duration, then it determines that the user's posture has changed. For example, as... Figure 23 As shown in (a), if the millimeter-wave radar module detects that the user's height changes from 175 cm to 80 cm and remains at 80 cm for a period of time, it determines that the user has changed from standing to lying down. If the millimeter-wave radar module detects that the user's height changes from 175 cm to 120 cm and remains at 120 cm for a period of time, it determines that the user has changed from standing to sitting.

[0464] In one example, the millimeter-wave radar module calculates the height difference between the user's current height and their standing height. h determines the user's body posture. For example, h(t) can be calculated using formula (11). h(t) represents the height difference between the user's height at time t and the user's height when standing, as follows:

[0465] h(t) = H m - h m (t) Formula (11)

[0466] For example, if the millimeter-wave radar module determines multiple consecutive moments (greater than a preset duration) If the height difference h meets a preset height difference threshold, then it is determined that the user's human posture has changed. For example, the height difference... The correspondence between h and human posture is shown in Table 2.

[0467] Table 2

[0468]

[0469] Furthermore, millimeter-wave radar can also identify a user's fall behavior by monitoring changes in their height. For example, Figure 23 (b) shows the change in height of the user when they fall and when they are lying normally. Figure 23 As shown in (b), compared to lying down normally, the user's height changes faster when falling (i.e., the height difference generated within the same time period is large), and the height after falling is lower.

[0470] In one implementation, if the millimeter-wave radar module determines the height difference between the user's current height and their standing height... h satisfies the preset fall height threshold, and the time taken for the user's height to change from standing to current height. If the fall duration threshold is met, then a fall is determined. For example, h、 The correspondence between t and user falls is shown in Table 3.

[0471] Table 3

[0472]

[0473] (ix) Transformation between the first coordinate system and the fourth coordinate system

[0474] After the first electronic device 100 establishes a first coordinate system and a fourth coordinate system, it is necessary to convert the coordinate values ​​in the first coordinate system to the coordinate values ​​in the fourth coordinate system for easier coordination. For example, the coordinates of the second electronic device 300 in the first coordinate system need to be converted to the coordinates of the second electronic device 300 in the fourth coordinate system, or the coordinates of the user in the fourth coordinate system need to be converted to the coordinates of the user in the first coordinate system. Therefore, the conversion between the first coordinate system and the fourth coordinate system is involved.

[0475] For example, the antenna distribution of both the UWB module 150 and the millimeter-wave radar module 160 of the first electronic device 100 can be arranged as follows: Figure 24 The setup is shown below. Antennas 0, 1, and 2 are arranged in an L-shape in the longitudinal plane (e.g., the vertical plane). Transmitting antennas 0, 1, and 2 are arranged in a triangle in the longitudinal plane (e.g., the vertical plane), and receiving antennas 0, 1, 2, and 3 are on the same horizontal line in the longitudinal plane (e.g., the vertical plane), with the three transmitting antennas and four receiving antennas located on the same longitudinal plane.

[0476] For example, such as Figure 24 As shown, the origin O of the first coordinate system is the end point of antenna 0 (which can also be replaced by the center point, etc.). e ;X, with the line connecting antenna 0 and antenna 1 as the first coordinate system e The axis is defined, and the direction from antenna 1 to antenna 0 is X. e Positive axis. Within the plane containing antennas 0, 1, and 2, perpendicular to the X-axis. e The straight line on the axis is the Z-axis of the first coordinate system. e The axis, and antenna 2 is located at Z. e The positive direction of the axis. Then, combining this with the right-hand rule for rectangular coordinates, determine the Y-axis of the first coordinate system. e axis, and Y e Positive axis. The origin O of the fourth coordinate system is the end point (or center point, etc.) of the receiving antenna 0. m The X-axis of the fourth coordinate system is defined by the line connecting receiving antenna 0 and receiving antenna 1. mThe axis is defined, and the direction from receiving antenna 1 to receiving antenna 0 is X. m Positive axis; passing through the origin O m The vertical line (e.g., the plumb line) is the Z-axis of the fourth coordinate system. m The axis, and the direction pointing to the zenith is Z. m The positive axis; then, combining the right-hand rectangular coordinate system rule, determine the Y-axis of the fourth coordinate system. m Axis and Y m Positive axis. It can be seen that X... e Axis and X m The axis is parallel, Y e axis and Y m The axis is parallel, Z e Axis and Z m With the axes parallel, the fourth coordinate system and the first coordinate system can be converted to each other simply by translation.

[0477] For example, such as Figure 24 As shown, the first coordinate system is along a line parallel to X. e Move a distance dx along the axis, then move along a path parallel to Y. e Move a distance dy along the axis, then move along a path parallel to Z. e The distance dz moved along the axis coincides with the fourth coordinate system. For example, define the coordinates of a point in the first coordinate system as (x... e y e , z e The coordinates of this point in the fourth coordinate system are (x... m y m , z m ), then [x m y m , z m ] T =[ x e y e , z e ] T -[dx, dy, dz] T .

[0478] It is understandable that the relative positions of the first coordinate system and the fourth coordinate system of the first electronic device 100 can be set in other ways. A similar method can be used to transform between the fourth coordinate system and the first coordinate system, which will not be elaborated here.

[0479] (x) Establishment of the fifth coordinate system (whole house coordinate system) and transformation between the fifth coordinate system and the first coordinate system

[0480] In one example, each room or area is equipped with a first electronic device. The first electronic device obtains the location information of each device and designated area within that room or area by marking a second electronic device (which does not contain a UWB module) and communicating with the second electronic device that does contain a UWB module. The first electronic device obtains the user's location information within that room or area via a millimeter-wave radar module; it can further obtain information such as the user's physiological characteristics, identity category, and body posture. Based on the received information, the first electronic device controls or instructs the second electronic device to perform preset operations. This example illustrates a single room or area.

[0481] In another example, such as a whole-house scenario, a central device can be set up. The central device, a first electronic device, and a second electronic device, among other devices, form a whole-house system via wired or wireless connections. The first electronic device, through a second electronic device containing a UWB module, marks second electronic devices that do not contain a UWB module, and communicates with the second electronic device containing a UWB module to obtain the location information of each device and each designated area in the room or area. The first electronic device, through a millimeter-wave radar module, obtains the user's location information in the room or area, as well as the user's physiological characteristics, identity category, and body posture. The first electronic device transmits at least one of the following information—the location information of each device and each designated area, and the user's location, physiological characteristics, identity category, and body posture—to the central device via wired or wireless connections. Based on the received information, the central device controls or notifies the second electronic device to perform preset operations.

[0482] Optionally, the central device can be integrated with a specific first electronic device (e.g., the first electronic device in the living room) into a single device.

[0483] For a whole-house scenario, the aforementioned information from each room and / or area needs to be unified and aggregated. This involves converting between different coordinate systems within each room. For example, the positional information of the master bedroom in the first coordinate system, the positional information of the second bedroom in the first coordinate system, etc., all need to be unified under a single coordinate system. Only in this way can unified control or notification be achieved at the whole-house level. Therefore, a fifth coordinate system (also known as the whole-house coordinate system) needs to be established.

[0484] For example, users can input the whole house floor plan, the installation location of the central device, the location of the central device within the whole house floor plan, and the overall height information of the house into the central device. The whole house floor plan is a spatial layout diagram of the house, describing the function, relative location, and size of each independent space in the house. The central device establishes a fifth coordinate system based on the whole house floor plan.

[0485] In one example, such as Figure 25 As shown in (a), the projection point of the southernmost point of the entire house onto the horizontal plane is the first projection point. A first straight line parallel to the east-west direction is drawn through the first projection point. The projection point of the westernmost point of the entire house onto the horizontal plane is the second projection point. A second straight line parallel to the north-south direction is drawn through the second projection point. The intersection of the first and second straight lines is taken as the origin O of the fifth coordinate system. h The first straight line is taken as X. h The axis, and the due east direction is X. h Positive axis. The second straight line is the Y-axis. h The axis, and the north direction is Y. h Positive axis direction. Z h The axis is perpendicular to the horizontal plane and points towards the sky in the Z direction. h Positive axis direction. Optionally, the naming of the three axes in the fifth coordinate system, and the positive direction of the three axes, can also be determined in other ways, which will not be elaborated here.

[0486] Optionally, the first electronic device includes an IMU module. For example, a central device is installed in the living room, and both the central device and the first electronic device in the living room are mounted parallel to each other on a wall or ceiling. The first coordinate system established by the first electronic device may have an angle with the geographic coordinate system (sixth coordinate system) on all or part of the three axes. This angle can be output by the IMU module of the first electronic device, or can be obtained analytically from the output of the IMU module of the first electronic device, or calculated from the measurement results of instruments such as a level and / or plumb line. For example, Figure 25 (b) shows Y g Positive axis and Y e Angle between the positive axes ε. The transformation between the sixth coordinate system and the fifth coordinate system is well known to those skilled in the art and will not be described in detail here. In one embodiment, the three axes of the sixth coordinate system are parallel to the three axes of the fifth coordinate system. In this way, the transformation between the first coordinate system and the fifth coordinate system can be achieved.

[0487] In another example, when establishing the fifth coordinate system, the three axes of the fifth coordinate system are made parallel to the three axes of the sixth coordinate system. This can also be done according to... Figure 25 The method shown in (a) determines the origin O of the fifth coordinate system. h Furthermore, during the installation of the first electronic device, instruments such as a level and / or plumb line, or equipment including an IMU module, are used to ensure that the three axes of the first coordinate system established by the first electronic device are parallel to the three axes of the sixth coordinate system. In this way, the three axes of the first coordinate system are parallel to the three axes of the fifth coordinate system, and no transformation is required between the first and fifth coordinate systems.

[0488] The distance difference between the origins of the first and fifth coordinate systems can be obtained using two coordinate values ​​of the same central device in both systems. Specifically, the central device can obtain its coordinate information in the fifth coordinate system. The coordinate information of the central device in the first coordinate system can be obtained in two ways: (i) if the central device includes a UWB module, the coordinate information can be obtained through UWB communication between the central device and the first electronic device; (ii) if the central device does not include a UWB module, the coordinate information can be obtained by marking the central device with a second electronic device that includes a UWB module. The distance difference between the origins of the first and fifth coordinate systems can be realized using two coordinate values ​​of the same central device in both systems.

[0489] IV. Automatic Control Methods Based on Human Perception

[0490] As described above, in a whole-house scenario, each room in all or part of the rooms is equipped with a first electronic device, and all or part of the area is equipped with a first electronic device, while a single room is equipped with one or more second electronic devices. For example, Figure 26 (a) illustrates the overall steps of an automatic control method based on human perception. Figure 26 As shown in (a), the method may include:

[0491] S1. The first electronic device establishes a first coordinate system and a fourth coordinate system, the second electronic device establishes a second coordinate system, and the central device establishes a fifth coordinate system; through the transformation from the first coordinate system, the second coordinate system, the third coordinate system, the fourth coordinate system to the fifth coordinate system, the location information of each device, area and user in the fifth coordinate system is obtained.

[0492] The introduction to S1 will be divided into the following steps.

[0493] (a) The first electronic device establishes the first coordinate system and the fourth coordinate system, the second electronic device establishes the second coordinate system, and the central device establishes the fifth coordinate system.

[0494] Optionally, a second electronic device including a UWB module establishes a second coordinate system, and a second electronic device not including a UWB module establishes a third coordinate system.

[0495] The principles for establishing the first and fourth coordinate systems for the first electronic device, the second coordinate system for the second electronic device, and the fifth coordinate system for the central device can be found in the above text and will not be repeated here.

[0496] (ii) Correcting the installation error of the first electronic device and obtaining the location information of each device, area and user in the fifth coordinate system by transforming the first coordinate system, the second coordinate system, the third coordinate system, the fourth coordinate system to the fifth coordinate system.

[0497] The first electronic device may have installation errors, causing a deviation in its positioning of the second electronic device or the user. In one implementation, the first electronic device can be calibrated during initial use to reduce or even avoid installation errors.

[0498] Installation errors in the first electronic device may reduce the measurement accuracy of the UWB system. For example, Figure 27 As shown in (a), at least one of the first electronic device ① located in the entrance hallway and the first electronic device ③ located in the living room may have installation errors. For the same second electronic device, the first electronic device ① determines that the second electronic device is located at position 1, and the first electronic device ③ determines that the second electronic device is located at position 2. The first electronic device ① and the first electronic device ③ determine, based on the identification of the second electronic device, that the electronic devices located at positions 1 and 2 respectively are actually the same second electronic device, thus indicating the existence of installation errors, which will reduce the measurement accuracy.

[0499] The first electronic device includes a UWB module and a millimeter-wave radar module, and installation error corrections can be performed on the UWB module and the millimeter-wave radar module separately. In one embodiment, if the UWB module 150 of the first electronic device 100 and the antenna in the millimeter-wave radar module 160 are as follows: Figure 24 The distribution is shown. Since the hardware configuration ensures that the relative positions of the UWB module and the millimeter-wave radar within the first electronic device are fixed, installation error correction can be performed only on either the UWB module or the millimeter-wave radar module. In another embodiment, installation error correction can be performed on both the UWB module and the millimeter-wave radar module of the first electronic device simultaneously, improving the correction accuracy through multiple corrections.

[0500] This application describes the calibration of the UWB module of a first electronic device as an example. It is understood that the calibration process for the millimeter-wave radar module of the first electronic device is similar to that for the UWB module, and will not be repeated here. The following methods are merely illustrative and are not intended to limit the calibration methods. Other calibration methods are also within the scope of this application.

[0501] Step 11: Correct the installation error of the reference first electronic device through the central device and obtain the first correction parameter.

[0502] The reference first electronic device is one of a plurality of first electronic devices. For example, if a central device is installed in a living room, the first electronic device in the living room can serve as the reference first electronic device. The first coordinate system of the reference first electronic device is denoted as the e1 system.

[0503] Optionally, the central device can display a whole-house map. The central device can instruct the user to hold a second electronic device containing a UWB module and move from a known and easily identifiable location 1 to another known and easily identifiable location 2 along a first trajectory. The reference first electronic device detects the movement trajectory of the second electronic device (via the UWB module) or the user's movement trajectory (via the millimeter-wave radar module). Taking the movement trajectory of the second electronic device as an example, if there is a deviation between the detected movement trajectory of the second electronic device and the first trajectory...

[0504] For example, such as Figure 27 As shown in (c), the central device can instruct the user to move a second electronic device containing a UWB module from a known coordinate position one to a known coordinate position two along a straight line. The first electronic device ① can obtain the actual movement trajectory of the second electronic device based on the detection of the UWB module. Figure 27 As shown in (c), the user movement trajectory detected by the first electronic device ① deviates to a certain extent from the actual user movement trajectory.

[0505] Then, the attitude error rotation matrix W and the position error vector G can be calculated using an algorithm. For example, the algorithm can employ methods such as... Figure 28 The ICP algorithm is shown. The ICP algorithm calculates the optimal matching attitude error rotation matrix W and position error vector G, minimizing the error function. For details on the ICP algorithm, please refer to existing technologies; it will not be elaborated here. The first correction parameters include the optimal matching attitude error rotation matrix W and position error vector G at this point.

[0506] After the first reference electronic device is calibrated, the installation error of the first electronic device is then corrected based on the first reference electronic device.

[0507] Step 12: Correct the installation error of the first electronic device using the reference first electronic device, and obtain the second correction parameter.

[0508] In one example, a user moves a second electronic device containing a UWB module through various rooms in a house, and all the first electronic devices in the house locate the second electronic device. For example, as... Figure 27 As shown in (a), the signal coverage areas of the first electronic device ① and the first electronic device ③ overlap in an area 2701. When the user moves within the overlapping area 2701, as... Figure 27As shown in (b), there is a certain deviation between the movement trajectories of the second electronic device obtained by the first electronic device ① and the first electronic device ③. The first electronic device ① is the reference first electronic device.

[0509] In one implementation, the installation error of the two first electronic devices is corrected based on the movement trajectories of the second electronic devices detected by the two first electronic devices respectively. For example, the correction parameters include the attitude error rotation matrix W and the position error vector G. For instance, the first electronic device ① obtains the movement trajectory q of the second electronic device in the first coordinate system (e1 system) established by the first electronic device ①. e1 = The first electronic device ③ acquires the movement trajectory q of the second electronic device in the first coordinate system (e3 system) established by the first electronic device ③. e3 = ;in This represents the coordinates of the second electronic device detected by the first electronic device ① in the e1 system at time tn. Let represent the coordinates of the second electronic device detected by the first electronic device ③ at time tn in the e3 system. The user's movement trajectory q can be calculated using the subsequent formula (13). e1 and q e3 Transform to the fifth coordinate system, denoted as q e1->h and q e3->h .

[0510] q e1->h and q e3->h To record the point cloud of a user's movement trajectory, q can be calculated using the iterative closest point (ICP) algorithm. e1->h and q e3->h The attitude error rotation matrix W between the two point clouds e3->e1 and position error vector G e3->e1 , make q e1->h After correction, it is related to q. e3->h The three-dimensional spatial error between the two clusters of point clouds is minimized. The basic principle of the ICP algorithm is as follows: Figure 28 As shown, by matching the target point cloud q e3->h and benchmark point cloud q e1->h In accordance with the constraints Find the nearest neighbor point ( , Then, the optimal matching attitude error rotation matrix W and position error vector G are calculated to minimize the error function. The specific steps of the ICP algorithm can be found in existing technologies, and will not be repeated in this embodiment. The second correction parameters include the optimal matching attitude error rotation matrix W and position error vector G at this point.

[0511] Optionally, steps 11 and 12 described above can be interchanged. Furthermore, steps 11 and 12 described above are merely one example. In another example, it is also possible to eliminate the need for a reference first electronic device, and all first electronic devices can be calibrated with the central device.

[0512] When the user moves without carrying a second electronic device containing a UWB module, each of the first electronic devices can detect the user's movement trajectory. The method is similar to that used for processing the movement trajectory of the second electronic device, and will not be described in detail here.

[0513] Step 13: Transform the coordinates of the second electronic device calculated by the first electronic device in the first coordinate system or the user's coordinates in the fourth coordinate system to the coordinates in the fifth coordinate system.

[0514] In one example, step 11 above is used to obtain the attitude error rotation matrix and position error vector of the reference first electronic device relative to the central device. Taking the first electronic device ① as the reference first electronic device as an example, the attitude error rotation matrix and position error vector of the first electronic device ① relative to the central device are denoted as [W]. e1->h G e1->h ].

[0515] Through step 12 above, the attitude error rotation matrix and position error vector of other first electronic devices relative to the reference first electronic device are corrected. Taking first electronic device ① as the reference first electronic device as an example, the attitude error rotation matrix and position error vector of other first electronic devices relative to first electronic device ① are denoted as [W]. ek->e1 G ek->e1 ], .

[0516] In one example, taking the first electronic device ① as the reference first electronic device, the coordinates of the origin of the first coordinate system of the kth other first electronic device (excluding the reference first electronic device) in the fifth coordinate system are represented as follows: Let q be any point in space. The coordinates of point q in the first coordinate system established by the kth first electronic device are represented as q. ek = The coordinates of point q in the fifth coordinate system after installation error correction are expressed as follows: The coordinates of point q in the first coordinate system established by the kth first electronic device can be transformed to the fifth coordinate system after installation error correction using formula (12), as follows:

[0517] T = W e1->h (W) ek->e1 T + T )+G ek->e1 )+ G e1->h

[0518] Formula (12)

[0519] The coordinates of the origin of the first coordinate system established by the first reference electronic device in the fifth coordinate system are expressed as follows: The coordinates of point q in the first coordinate system established by the first reference electronic device are represented as q e1 = The coordinates of point q in the fifth coordinate system after installation error correction are expressed as follows: The coordinates of point q in the first coordinate system established by the first reference electronic device can be transformed to the fifth coordinate system after installation error correction using formula (13), as follows:

[0520] T = W e1->h T + T ) + G e1->h Formula (13)

[0521] In another example, the coordinates detected by the first electronic device are not transferred to the reference first electronic device, but are directly transformed to the fifth coordinate system after installation error correction. For example, the attitude error rotation matrix between the point clouds of the user movement trajectory detected by the first electronic device and the actual user movement trajectory is denoted as W. e->h The position error vector is denoted as G. e ->h The coordinates of the origin of the first coordinate system established by the first electronic device in the fifth coordinate system are represented as follows: The coordinates of point q in the first coordinate system established by the first electronic device are represented as q e = The coordinates of point q in the fifth coordinate system after installation error correction are expressed as follows: The coordinates of point q in the first coordinate system established by the first electronic device can be transformed to the fifth coordinate system after installation error correction using formula (14), as follows:

[0522] T = W e->h T + T ) + G e->h Formula (14)

[0523] It is understandable that the method of converting the user's coordinates in the fourth coordinate system detected by the first electronic device to the fifth coordinate system after installation error correction is similar to the method of converting the user's coordinates in the first coordinate system detected by the first electronic device to the fifth coordinate system after installation error correction, and will not be elaborated here.

[0524] In initial use, the UWB module of the first electronic device can be used to locate the second electronic devices throughout the house. The first electronic device in each room or area can determine the coordinates of the second electronic devices in that room or area in the first coordinate system of the first electronic device. Optionally, for multiple first electronic devices with overlapping signal coverage areas, the second electronic device in one of the overlapping areas can be located.

[0525] Further, in one embodiment, each first electronic device in the entire room transforms the coordinates of one or more second electronic devices acquired in the first coordinate system to the fifth coordinate system, and sends the coordinates of the one or more second electronic devices in the fifth coordinate system to the central device. In another embodiment, each first electronic device in the entire room sends the coordinates of one or more second electronic devices acquired in the first coordinate system to the central device, and the central device transforms the coordinates of the second electronic devices received from each first electronic device in the first coordinate system to the fifth coordinate system. Optionally, transforming the coordinates of the second electronic devices in the first coordinate system to the fifth coordinate system includes: transforming the coordinates of the second electronic devices in the first coordinate system to the fifth coordinate system after installation error correction. The central device can store the acquired coordinates of the second electronic devices in the fifth coordinate system.

[0526] Optionally, after initial use, second electronic devices may be added or removed throughout the house, or the location of the second electronic devices may change. In one implementation, the central device periodically locates the second electronic devices using the first electronic devices in each room or area, and updates the coordinates of the second electronic devices stored in the central device. In another implementation, if the central device detects a newly added second electronic device throughout the house, it triggers the location of the second electronic device using the first electronic device and updates the coordinates of the second electronic device stored in the central device. For example, the central device stores configuration information for all first and second electronic devices in the house. When a second electronic device connects to the central device and adds corresponding configuration information, the central device determines the addition of a second electronic device based on the configuration information and triggers the location of the second electronic device using the first electronic device. In another implementation, after a second electronic device is added or removed throughout the house, or the location of the second electronic device changes, the user can manually trigger the location of the second electronic device using the first electronic device and update the coordinates of the second electronic device stored in the central device. For example, the user can initiate the location of the second electronic device using the first electronic device through the human-computer interaction interface displayed on the control panel. For example, as shown in the example... Figure 29 As shown in (a), the control panel displays the interface 2901 for the positioning hub device. The interface 2901 includes room options such as living room, dining room, and kitchen. Users can select one or more room options and click the "OK" button 2902 to activate the first electronic device in the corresponding room to locate the hub device within that room. The interface 2901 also includes a "Cancel" button 2903 to cancel the positioning of the IoT device. Optionally, the IoT device positioning interface 2901 also includes a "Select All" button 2904. Users can click the "Select All" button 2904 to select all rooms in the house and click the "OK" button 2902 to activate the first electronic devices in each room to locate the second electronic devices.

[0527] Optionally, after initial use, users throughout the house can be periodically located and their movement trajectories tracked by the first electronic devices in each room or area. For example, with a period of 1 second, the first electronic devices perform detection at a frequency of 10 Hz (10 times per second) and send the detection results to the central device at a frequency of 1 Hz (once per second). Each first electronic device throughout the house can locate (obtain the user's coordinates in the fourth coordinate system) and track (obtain the user's movement trajectory in the fourth coordinate system) users within its signal coverage area. Optionally, for multiple first electronic devices with overlapping signal coverage areas, one of the multiple first electronic devices can locate and track users within the overlapping area. Further, in one embodiment, each first electronic device throughout the house converts the acquired coordinates or movement trajectories of one or more users in the fourth coordinate system to coordinates or movement trajectories in the fifth coordinate system and sends the coordinates or movement trajectories of one or more users in the fifth coordinate system to the central device. In another implementation, each first electronic device in the room sends the coordinates or movement trajectory of one or more users in a fourth coordinate system to a central device. The central device then converts the user coordinates or movement trajectory received from each first electronic device in the fourth coordinate system to coordinates or movement trajectories in a fifth coordinate system. Optionally, converting the user coordinates or movement trajectory in the fourth coordinate system to the fifth coordinate system includes: converting the user coordinates or movement trajectory in the fourth coordinate system to coordinates or movement trajectories in the fifth coordinate system after installation error correction. The central device can save and periodically update the acquired user positions (e.g., user coordinates in the fifth coordinate system) or movement trajectories (coordinate trajectories in the fifth coordinate system).

[0528] It should be noted that step (ii) is not mandatory; it is optional. For example, calibration may be required at the initial installation. Afterward, calibration is generally not needed, or it may be performed again after a long period of use. When step (ii) is performed, step (iii) is not necessary. When step (ii) is not performed, step (iii) is performed. That is, either step (ii) or step (iii) can be performed.

[0529] (iii) By transforming from the first coordinate system, the second coordinate system, the third coordinate system, the fourth coordinate system to the fifth coordinate system, the location information of each device, area and user in the fifth coordinate system is obtained.

[0530] The transformation from the first, second, third, and fourth coordinate systems to the fifth coordinate system can be specifically described as the transformation between the second and third coordinate systems and the first coordinate system, which can be derived from the aforementioned principles. , This is achieved by... The transformation between the fourth coordinate system and the first coordinate system has been explained in the aforementioned principle section. After transforming the second, third, and fourth coordinate systems to the first coordinate system, based on the aforementioned principles, we can obtain... This allows for the transformation from the first coordinate system to the fifth coordinate system.

[0531] =

[0532] Formula (15)

[0533] in, , , Let be the heading angle, pitch angle, and roll angle of the fifth coordinate system relative to the first coordinate system, respectively. For any point q in the entire room, its coordinates q in the fifth coordinate system are... h = Its coordinates q in the first coordinate system e = The origin O of the first coordinate system e The coordinates in the fifth coordinate system are The coordinates of point q in the first coordinate system can be transformed to the fifth coordinate system using formula (16).

[0534] T = T + T Formula (16)

[0535] Optionally, the first electronic device can transform its own coordinates from a first or fourth coordinate system to a fifth coordinate system. That is, the coordinates in the fourth coordinate system do not need to be first converted to the first coordinate system and then to the fifth coordinate system; instead, they can be directly converted to the fifth coordinate system. Afterward, the transformed fifth coordinate system coordinates are sent to the central device. Based on the aforementioned principle, it can be obtained that... This enables the transformation from the fourth coordinate system to the fifth coordinate system.

[0536] =

[0537] Formula (17)

[0538] in, , and Let be the heading angle, pitch angle, and roll angle of the fifth coordinate system relative to the fourth coordinate system, respectively. For any point q in the entire room, its coordinates q in the fifth coordinate system are... h = Its coordinates q in the fourth coordinate system m = The origin O of the fourth coordinate system m The coordinates in the fifth coordinate system are The coordinates of point q in the first coordinate system can be transformed to the fifth coordinate system using formula (18).

[0539] T = T + T Formula (18)

[0540] Optionally, the above conversion is performed by a central device. The first electronic devices send their own coordinates in either the first or fourth coordinate system to the central device, which then converts the coordinates based on the first or fourth coordinate system of each first electronic device to the fifth coordinate system.

[0541] Optionally, a reference first electronic device is set among multiple first electronic devices. The other first electronic devices, excluding the reference first electronic device, send their own coordinate information in either a first coordinate system or a fourth coordinate system to the reference first electronic device. The reference first electronic device transforms the coordinates based on the first or fourth coordinate systems of each first electronic device to coordinates in a fifth coordinate system, and then sends the transformed fifth coordinate system coordinates to the central device.

[0542] S2. Based on the user's location information and the location information of the second electronic device, the second electronic device performs a preset operation.

[0543] In this embodiment, the entire house is divided into one or more rooms and / or one or more areas that do not overlap. A central device can locate the rooms or areas using a first electronic device, acquiring and storing the coordinate range of each room or area. For example, it can employ... Figure 14 Method (b) is used to obtain the coordinate range of each room or area.

[0544] The central device can determine the room or area where each first electronic device and each second electronic device is located. In one implementation, a user can query through the central device, for example, by entering the device name (name of the first electronic device, name of the second electronic device), the room or area where the device is located, etc. In one implementation, at least one first electronic device is installed in each room or area. The central device determines the room or area where each first electronic device is located based on user input. In one implementation, the central device determines the room or area where each first electronic device or each second electronic device is located based on the coordinates of the first electronic device or the second electronic device and the coordinate range of each room or area in the entire building.

[0545] For example, such as Figure 29 As shown in (b), for a room that is a quadrilateral in the horizontal direction, the following can be used: Figure 14 The method shown in (a) involves placing a smartphone at four locations in the room: point A, point B, point C, and point D. The first electronic device 100 then obtains the coordinates of these four locations in the fifth coordinate system. , , ), ( , , ), ( , , )and( , , The boundaries of a defined area within the room can be determined by plumb lines passing through positions A, B, C, and D. The coordinates of the second electronic device in the fifth coordinate system are (…). , , (), , , ) is the second electronic device in X h O h Y h The coordinates of the projection point Q in the plane. Connect A, B, C, and D in a clockwise direction to form a convex quadrilateral. The four sides of the convex quadrilateral are... , , and If point Q is determined at... , , and If the coordinates of point Q are on the right side of the four sides, then point Q is located within the convex quadrilateral formed by points A, B, C, and D, meaning the second electronic device is located within the room. For example, if the coordinates of point Q are (… , , If the coordinates of points A, B, C, and D satisfy formula (19), then point Q is located within the region formed by points A, B, C, and D.

[0546]

[0547] Formula (19)

[0548]

[0549]

[0550] in, Represents the vector cross product. express and The vector cross product, express The vector cross product, express The vector cross product, express The cross product of two vectors is a scalar.

[0551] For example, （ ），（ ） ， = ），（ ） ，

[0552] （ ），（ ） ， = ），（ ） ，

[0553] （ ），（ ） ， = ），（ ） ，

[0554] （ ），（ ） ， = ），（ ） ，

[0555] ）（ ）- ）（ ），

[0556] ）（ ）- ）（ ），

[0557] ）（ ）- ）（ ），

[0558] ）（ ）- ）（ ）。

[0559] In one example, the central device can store a device information table for the entire house, which includes information about one or more devices (including but not limited to a first electronic device, a second electronic device, etc.) within the house. For example, the device information may include the device name, the room or area (room) where the device is located, etc.; optionally, it may also include the device's coordinates (e.g., coordinates in a fifth coordinate system). For example, a device information table is shown in Table 4.

[0560] Table 4

[0561]

[0562] The central device can also determine the room or area where the user is located. In one embodiment, at least one first electronic device is installed in each room or area. The central device determines the room or area where each first electronic device is located. The room or area where each first electronic device is located is the room or area where the user is located that the first electronic device can detect. In one embodiment, the central device determines the room or area where each user is located based on the user's coordinates and the coordinate range of each room or area in the whole house. A specific method can refer to the method where the central device determines the room or area where each second electronic device is located based on the coordinates of a second electronic device and the coordinate range of each room or area in the whole house. Further, the central device periodically acquires the user's coordinates and determines the room or area where the user is located based on the user's coordinates. In another embodiment, the central device acquires the coordinate range of the whole house and each room or area within the whole house based on the whole house floor plan, the installation location of the central device, the position of the central device's installation location on the whole house floor plan, the height information of the whole house, etc.; then, the central device can determine which room or area in the whole house the user is located by comparing the acquired user coordinates. The central device can determine whether a user is moving from one room or area to another, leaving the entire house, or entering the entire house based on the user's current room or area and the room or area they were in during the previous cycle.

[0563] Optionally, the central device may also obtain at least one of the following information from the first electronic device in each room or area: physiological characteristics, identity category, and human posture. Subsequently, it may notify or control the corresponding second electronic device in the corresponding room or area to perform a preset operation based on at least one of the following information: location information, physiological characteristics, identity category, and human posture.

[0564] The specific details of S2 can be further explained in subsequent discussions with specific scenarios.

[0565] For example, Figure 26 (b) illustrates one implementation of the automatic control method based on human perception provided in this application. Figure 26 As shown in (b), the UWB module of the first electronic device locates all devices, rooms, and areas within the house, obtains the coordinates of all devices and their corresponding rooms or areas, and reports this information to the central device. The millimeter-wave radar module of the first electronic device tracks all users within the house and periodically reports the coordinates of all users and their corresponding rooms or areas to the central device. The central device sends a corresponding preset command to the second electronic device based on the coordinates of the second electronic device and the user's coordinates. In one embodiment, if the relative position between the first user and the second electronic device meets a preset condition, the second electronic device is controlled to execute the preset command. The coordinates of the first user can be the coordinates of one user or the average of the coordinates of multiple users. The second electronic device executes the preset command. Thus, for example, when a user approaches a smart light, the second electronic device can... Figure 26 The process shown in (b) executes preset instructions, such as turning on a smart light.

[0566] It should be noted that the automatic control method based on human perception provided in this application can be implemented by a central device determining the execution of a preset command by the second electronic device based on the coordinates of the second electronic device and the user's coordinates; alternatively, it can be implemented by other devices besides the central device determining the execution of the preset command by the second electronic device based on the coordinates of the second electronic device and the user's coordinates; or the central device can send the coordinates of the second electronic device and the user's coordinates to the second electronic device, which then determines the execution of the preset command accordingly. It is understood that this application does not limit the executing entity of the automatic control method based on human perception.

[0567] V. Detailed Implementation Examples

[0568] After describing the overall scenario, the hardware structure of the electronic devices involved, the positioning principle, and the general introduction of the automatic control method based on human perception, the following describes the automatic control method based on human perception in conjunction with the accompanying drawings and specific scenarios, using multiple embodiments to more clearly illustrate how the technical solution provided by the embodiments of this application makes it more convenient for users to automatically control IoT devices and further improves the user experience, without requiring users to carry any electronic devices during the process.

[0569] It should be noted that some embodiments involve communication interactions between multiple different second electronic devices and the central device, and even communication interactions between multiple different second electronic devices. For ease of subsequent explanation, the terms first device, second device, third device, etc., will be used to refer to different second electronic devices in the following description.

[0570] It should be noted that the automatic control method based on human perception provided in this application can be further refined in specific embodiments into methods such as automatic beam adjustment for routing devices based on human perception, automatic adjustment of cleaning areas for cleaning devices based on human perception, automatic acquisition of human information by health management devices based on human perception, automatic lifting and lowering of drying devices based on human perception, and automatic adjustment of lighting by lighting devices based on human perception. These will be described in detail below with reference to specific embodiments.

[0571] Example 1

[0572] Example 1 involves Figure 30 , Figure 31 and Figure 32 This paper provides a method for automatically adjusting the beam of a routing device based on human perception. Most routing devices (such as routers) include multiple antennas. The signal coverage of a routing device is related to the beamform of the signals transmitted by the multiple antennas. Multi-antenna routing devices can increase the transmit and receive gain of signals through beamforming. For example, Figure 30 This illustration shows a scenario diagram of the automatic beam adjustment method for routing devices in a whole-house setting, as provided in an embodiment of this application. For example... Figure 30 As shown in (a), in this embodiment, the second electronic device includes a routing device 300a (also referred to as a first terminal) and a terminal device 300b (also referred to as a second terminal). The terminal device 300b accesses the network through the routing device 300a. The routing device 300a is a multi-antenna routing device. The routing device 300a can provide signals by beamforming into a wide beam or a narrow beam. A wide beam has a wide coverage angle but a lower signal gain, and usually includes one lobe. A narrow beam has a higher signal gain but a smaller coverage angle, and usually includes multiple lobes, which include a main lobe and multiple secondary lobes, where the main lobe is also called the beam maximum gain point. Generally, multi-antenna routing devices use wide beams to provide signals. This may result in the user's terminal device 300b possibly not receiving the signal provided by the routing device 300a, or although it receives the signal provided by the routing device 300a, the provided signal is not a high-gain signal; thus, the user's experience of using the terminal device 300b to access the Internet through the routing device 300a is poor. Optionally, the terminal device 300b includes a UWB module.

[0573] Based on the aforementioned principles, the routing device 300a establishes its own coordinate system and marks it according to whether it contains a UWB module, using a marking method similar to that described above. Through coordinate system transformation, the first electronic device 100 obtains the location of the routing device 300a (e.g., specific coordinates) and the location of the terminal device 300b. Furthermore, the first electronic device 100 also obtains the user's location.

[0574] In one implementation, based on the user's location, the locations of routing device 300a and terminal device 300b, routing device 300a is controlled to automatically adjust its beam (e.g., according to a beamforming algorithm), ultimately achieving the desired effect. Figure 30 As shown in (b), this enables terminal device 300b to receive the narrow beam provided by routing device 300a, thereby allowing terminal device 300b to obtain a signal with high gain and accurate coverage provided by routing device 300a. Specifically, it can first determine whether the user's location is the same as the location of terminal device 300b, or whether their locations (e.g., distance) are within a preset range; if their locations are the same, or within the preset range, then based on the locations of routing device 300a and terminal device 300b, or the locations of routing device 300a and the user, the routing device is controlled to automatically adjust the beam (e.g., according to a beamforming algorithm), ultimately achieving the desired effect. Figure 30 As shown in (b), the maximum gain point of the beam provided by the routing device 300a is directed towards the terminal device 300b, enabling the terminal device 300b to receive the narrow beam provided by the routing device 300a. This implementation is particularly suitable for scenarios such as users using terminal device 300b to access the internet.

[0575] For a scenario with M users, the locations of the M users and N terminal devices can be obtained. Then, M1 locations can be identified where the locations of the N terminal devices are the same as or within a preset range of the locations of the M users. Router 300a can then automatically adjust its beam (e.g., according to a beamforming algorithm). Router 300a provides narrow pulse signals to the M1 locations using time-division multiplexing. Due to the short time slots of the time division, users are unaware of the signal. Ultimately, the maximum gain point of the beam provided by router 300a, through time-division multiplexing, points to the terminal devices at the M1 locations, ensuring that all M1 terminal devices receive the narrow beam provided by router 300a. Here, M1 is less than or equal to M, and M1 is less than or equal to N. For example, if it is found that there are 5 users and 2 terminal devices in the master bedroom, and based on the obtained locations of the 5 users and 2 terminal devices, it is found that there are 2 locations where the users and terminal devices are the same or within the preset range of error. The router 300a is controlled to provide narrow beams to the terminal devices at the 2 locations respectively through time division multiplexing or other methods, so that the maximum gain point of the beam provided by the router 300a points to the terminal devices at the 2 locations, and the terminal devices at the 2 locations can receive the narrow beams provided by the router 300a.

[0576] In one implementation, based on the location of routing device 300a and terminal device 300b, the routing device is controlled to automatically adjust its beam (e.g., according to a beamforming algorithm), ultimately achieving the desired effect. Figure 30As shown in (b), this enables terminal device 300b to receive the narrow beam provided by routing device 300a, thereby allowing terminal device 300b to obtain a signal with high gain and accurate coverage provided by routing device 300a. This implementation is particularly suitable for scenarios where IoT devices (such as smart air conditioners) in homes or offices access the signal of routing device 300a.

[0577] In the case of multiple terminal devices 300b, the locations of N terminal devices can be obtained, and then the routing device 300a can be controlled to automatically adjust the beam (for example, according to the beamforming algorithm). The routing device 300a provides narrow pulse signals to the N locations through time division multiplexing and other methods. Since the time slots of the time division are short, the N terminal devices have almost no delay. Ultimately, the maximum gain point of the beam provided by the routing device 300a is pointed to the terminal devices at the N locations through time division multiplexing, and the terminal devices at the N locations can receive the narrow beam provided by the routing device 300a.

[0578] The implementing entity of the various implementation methods mentioned above can be the routing device 300a, the first electronic device 100, or the central device ( Figure 30 (Not shown in the image). For example, the central device, the first electronic device 100, or the routing device 300a controls the routing device to automatically adjust the beam based on the user's location, the locations of the routing device 300a and the terminal device 300b. If the routing device 300a is the executing entity, the routing device 300a needs to communicate with the central device or the first electronic device 100 in advance to obtain the corresponding location (e.g., the user's location, the locations of the routing device 300a and the terminal device 300b).

[0579] The following example uses the central device as the executing entity, combined with... Figure 31 and Figure 32 This paper details the communication and interaction process between the central device and the routing device, thereby illustrating, by way of example, a method for automatically adjusting the beam of a routing device based on human perception.

[0580] For example, Figure 31 This is a flowchart illustrating a method for automatically adjusting the beam of a routing device based on human perception in a whole-house scenario, as provided in an embodiment of this application. Figure 31 As shown, the method includes:

[0581] S3101, The central device obtains the coordinates of the routing device, user and terminal device in the fifth coordinate system in real time or periodically.

[0582] S3102. Are the coordinates of both the user and the terminal device within the preset error range?

[0583] Optionally, the central device determines whether the coordinates of the user and the terminal device are within a preset error range. For example, the preset error range is 1 meter. If the coordinates of the user and the terminal device are within the preset error range, it can be assumed that the user is using the terminal device. If the coordinates of the user and the terminal device are within the preset error range, proceed with the subsequent steps.

[0584] S3103, The central device sends the first message to the routing device.

[0585] In one implementation, the central device obtains the device attitude of the routing device using the method described in the aforementioned principle section. The central device also calculates the coordinates of the user or terminal device in the coordinate system established by the routing device, based on the routing device's coordinates in the fifth coordinate system, its device attitude, and the user's or terminal device's coordinates in the fifth coordinate system.

[0586] Furthermore, in one embodiment, the central device calculates the azimuth angle of the user or terminal device relative to the routing device based on the coordinates of the user or terminal device in the coordinate system established by the routing device.

[0587] The central device sends a first message to the routing device; the first message instructs the routing device to automatically adjust the beam. In one example, the first message includes azimuth indication information to indicate the azimuth of the user or terminal device relative to the routing device.

[0588] S3104. Upon receiving the first message, the routing device automatically adjusts the beam to provide a narrow beam and directs the maximum gain point of the beam towards the user or terminal device.

[0589] Upon receiving the first message, the routing device acquires the azimuth indication information and, based on this information, determines the azimuth angle of the user or terminal device relative to the routing device. The routing device then automatically adjusts its beam according to this azimuth angle, providing a narrow beam and ensuring that the point of maximum beam gain points towards the user or terminal device.

[0590] Optional, such as Figure 31 As shown, the method may further include:

[0591] S3105, The routing device sends a second message to the central device.

[0592] The second message is used to indicate that the routing device has completed automatic beam adjustment.

[0593] S3106. The central device receives the second message and learns that the routing device has completed the adjustment.

[0594] The central device receives the second message and determines that the routing device has completed the adjustment based on the second message; it continues to periodically acquire the coordinates of the user and terminal device in the fifth coordinate system.

[0595] S3107, The user's coordinates change beyond the first preset range.

[0596] If the central device determines that the user's coordinate change exceeds the first preset range, it executes steps S3102-S3104 to cause the routing device to automatically adjust the beam, pointing the maximum gain point of the beam to the user or terminal device at the changed location. This ensures that the maximum gain point of the narrow beam provided by the routing device follows the user's position. If the central device determines that the user's coordinate change does not exceed the first preset range, it executes step S3108.

[0597] S3108, The coordinates of the terminal device change beyond the second preset range.

[0598] If the central device determines that the coordinate change of the terminal device exceeds the second preset range, it executes steps S3102-S3104 to cause the routing device to automatically adjust the beam, pointing the maximum gain point of the beam to the user or terminal device at the changed location. This enables the maximum gain point of the narrow beam provided by the routing device to move with the user's location.

[0599] For example, Figure 32 This is another flowchart illustrating a method for automatically adjusting the beam of a routing device based on human perception in a whole-house scenario provided in this application embodiment. Figure 32 As shown, the method includes:

[0600] S3201, The central device obtains the coordinates of the routing device, M users and N terminal devices in the fifth coordinate system in real time or periodically, and the number of coordinates of the M users and N terminal devices that are within the preset error range is M1.

[0601] S3202 and M1 are greater than 0.

[0602] If M1 is determined to be greater than 0, proceed with the next steps.

[0603] S3203, The central device sends the first message to the routing device.

[0604] In one implementation, the central device obtains the device attitude of the routing device using the method described in the aforementioned principle section. The central device also calculates the coordinates of the M1 users (or terminal devices) in the coordinate system established by the routing device, based on the routing device's coordinates in the fifth coordinate system, its device attitude, and the coordinates of the M1 users (or terminal devices) in the fifth coordinate system.

[0605] Furthermore, in one embodiment, the central device calculates the azimuth angle of each of the M1 users (or terminal devices) relative to the routing device based on the coordinates of each user (or terminal device) in the coordinate system established by the routing device.

[0606] The central device sends a first message to the routing device; the first message is used to instruct the routing device to automatically adjust the beam. In one example, the first message includes M1 azimuth indication messages, each azimuth indication message indicating the azimuth of a user (or terminal device) relative to the routing device.

[0607] S3204. Upon receiving the first message, the routing device automatically adjusts the beam, providing narrow beams to M1 locations in a time-division multiplexing manner, and causing the maximum gain point of the beam to alternately point to M1 locations.

[0608] Upon receiving the first message, the routing device acquires M1 azimuth indication information and, based on this information, obtains the azimuth angles of M1 users (or terminal devices) relative to the routing device. The routing device automatically adjusts its beam according to these azimuth angles, providing narrow beams to each of the M1 locations in a time-division multiplexing manner, and ensuring that the maximum gain point of the beam alternately points to each of the M1 locations.

[0609] Optional, such as Figure 32 As shown, the method may further include:

[0610] S3205, The routing device sends a second message to the central device.

[0611] S3206 The central device receives the second message and learns that the routing device has completed the adjustment.

[0612] The central device receives the second message and determines that the routing device has completed the adjustment based on the second message; it continues to periodically acquire the coordinates of the user and terminal device in the fifth coordinate system.

[0613] S3207, The coordinate changes of at least one of the M users exceed the first preset range.

[0614] If the central device determines that the coordinate changes of at least one of the M users exceed a first preset range, it executes steps S3202-S3204 to enable the routing device to automatically adjust the beam according to the location movement of the user or terminal device, providing narrow beams to multiple locations in a time-division multiplexing manner. This ensures that the maximum gain point of the narrow beam provided by the routing device follows the user's location movement. If the central device determines that no user's coordinate changes exceed the first preset range, it executes step S3208.

[0615] S3208, The coordinate changes of at least one of the N terminal devices exceed the second preset range.

[0616] If the central device determines that the coordinate change of at least one of the N terminal devices exceeds a second preset range, then steps S3202-S3204 are executed, so that the routing device automatically adjusts the beam according to the location movement of the user or terminal device, providing narrow beams to multiple locations in a time-division multiplexing manner. This ensures that the maximum gain point of the narrow beam provided by the routing device follows the user's location movement.

[0617] Example 2

[0618] Example 2 involves Figure 33 , Figure 34 , Figure 35 and Figure 36 This paper provides a method for automatically adjusting the cleaning area of ​​a cleaning device based on human perception. Cleaning devices (such as robotic vacuum cleaners and robotic mops) are important IoT devices in whole-house smart systems. Generally, after completing multiple cleaning cycles throughout the house, a cleaning device can create a map of the entire house using its equipped LiDAR and IMU modules. The cleaning device can then perform automatic cleaning based on this map. Users can install a companion application (App) on their electronic devices and specify the cleaning area, areas to avoid cleaning, or control the cleaning route through the App. However, this method is cumbersome and provides a poor user experience. The method for automatically adjusting the cleaning area of ​​a cleaning device based on human perception provided in this application allows the cleaning device to automatically adjust the cleaning area according to the user's location, automatically avoiding the user's room or area, without requiring user operation or the user carrying any electronic devices. For example, as shown in the exa...

Claims

1. A human perception based communication system, characterized by, The system includes a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a routing device and a terminal device; R is a positive integer greater than or equal to 1. The first electronic device determines the coordinates of the R second electronic devices in the first coordinate system of the first electronic device, and locates the user to obtain the user's coordinates in the fourth coordinate system; The first electronic device sends to the central device the coordinates of the R second electronic devices in the first coordinate system and the coordinates of the user in the fourth coordinate system. The central device transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the coordinates of the user in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the R second electronic devices and the location information of the user in the whole-house coordinate system; The central device sends a first message to the routing device; Upon receiving the first message, the routing device adjusts its beam according to its location and the user's location, such that the maximum gain point of the adjusted beam points towards the user.

2. The communication system of claim 1, wherein, Before the central device sends the first message to the routing device The central device obtains that the distance between the user and the terminal device is less than a preset error range.

3. The communication system according to claim 1 or 2, characterized by Before the central device obtains the location information of the R second electronic devices and the user's location information in the whole-house coordinate system provided by the central device... The central device detects that the user's location change exceeds a first preset range; or... The central device obtains that the position change of the terminal device is greater than a second preset range.

4. A human perception based communication system, characterized by, The system includes a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a routing device and N terminal devices; R and N are positive integers greater than or equal to 1. The first electronic device determines the coordinates of the R second electronic devices in the first coordinate system of the first electronic device, and locates the M users to obtain the coordinates of the M users in the fourth coordinate system; The first electronic device sends to the central device the coordinates of the R second electronic devices in the first coordinate system and the coordinates of the M users in the fourth coordinate system. The central device transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the coordinates of the M users in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the R second electronic devices and the location information of the M users in the whole-house coordinate system. The number of M users and N terminal devices whose distances are within a preset error range is M1, where M1>0; The central device sends a first message to the routing device; The routing device receives the first message and adjusts the beam according to the location of the routing device and the locations of M1 users, so that the maximum gain point of the beam points to the locations of M1 users in turn in a time-division multiplexing manner.

5. The communication system of claim 4, wherein, Before the central device obtains the location information of the R second electronic devices and the location information of the M users in the whole-house coordinate system provided by the central device... The central device detects that the position change of at least one of the M users is greater than a first preset range; or... The central device obtains that the position change of at least one of the N terminal devices is greater than a second preset range.

6. A human perception based communication system characterized by, The system includes a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a first device and a mobile device, the mobile device including a second ultra-wideband module; R is a positive integer greater than or equal to 1. The first electronic device determines the coordinates of the R second electronic devices in the first coordinate system of the first electronic device, and locates the user to obtain the user's coordinates in the fourth coordinate system; The first electronic device sends to the central device the coordinates of the R second electronic devices in the first coordinate system and the coordinates of the user in the fourth coordinate system. The central device transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the coordinates of the user in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the first device and the location information of the user in the whole-house coordinate system. The central device sends a first message to the first device; The first device receives the first message and cleans all areas of the house except for the first area where the user belongs.

7. The communication system of claim 6, wherein, Before the central device sends the first message to the first device. Based on the position measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the position information of M pieces of furniture in the whole-house coordinate system provided by the central device; The central device detects that the distance between the user and one of the M pieces of furniture is less than a preset first error range.

8. The communication system of claim 7, wherein, Before the central device sends the first message to the first device. The central device obtains that the user's posture is either lying down or sitting.

9. The communication system according to any one of claims 6-8, characterized in that, If the user and the first device belong to the same area, the first device, after receiving the first message, leaves the first area to which the user belongs.

10. The communication system according to any one of claims 6-8, characterized in that, The central device obtains that the user's change within a preset time period is greater than or equal to a preset second error range; The central device sends a third message to the first device; Upon receiving the third message, the first device enters the first area to which the user belongs.

11. The communication system according to any one of claims 6-8, characterized in that, Based on the location measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the coordinate range of each area in the whole house under the whole house coordinate system provided by the central device; The central device sends the coordinate range information of each area in the entire house to the first device; The first device cleans according to the coordinate range information of each area in the whole house.

12. A human perception based communication system, characterized by The system includes a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include one first device; R is a positive integer greater than or equal to 1; The first electronic device determines the coordinates of the R second electronic devices in the first coordinate system of the first electronic device, and locates the user to obtain the user's coordinates in the fourth coordinate system; The first electronic device sends to the central device the coordinates of the R second electronic devices in the first coordinate system and the coordinates of the user in the fourth coordinate system. The central device transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the coordinates of the user in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the first device and the location information of one or more users in the whole-house coordinate system. The central device identifies a first user among the one or more users whose distance from the first device is less than a preset first error range; The central device acquires at least one of the first user's height information, respiratory rate information, and heart rate information; The central device sends a first message to the first device, the first message including at least one of the first user's height information, respiratory rate information, and heart rate information.

13. The communication system according to claim 12, characterized in that, The first device receives the first message and obtains at least one of the following parameters of the first user: body fat percentage, body mass index (BMI), muscle mass, basal metabolic rate, and visceral fat level, based on at least one of the first user's height information, respiratory rate information, and heart rate information.

14. The communication system of claim 13, wherein, Before the central device acquires a first user whose distance from the first device is less than a preset first error range. The first device sends a first request message to the central device, the first request message being used to instruct the central device to obtain user data; The central device receives the first request message.

15. A human perception based communication system, characterized by, The system includes a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include one first device; R is a positive integer greater than or equal to 1; The first electronic device determines the coordinates of the R second electronic devices in the first coordinate system of the first electronic device, and locates the user to obtain the user's coordinates in the fourth coordinate system; The first electronic device sends to the central device the coordinates of the R second electronic devices in the first coordinate system and the coordinates of the user in the fourth coordinate system. The central device transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the coordinates of the user in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the position information of the first device and the position information of one or more users in the whole-house coordinate system; the first device is at a first height above the ground; The central device receives a first message from the first device if it finds that the distance between the first user and the first device among the one or more users is less than a preset first distance. Upon receiving the first message, the first device descends to a second altitude above the ground. The second height is smaller than the first height.

16. The communication system according to claim 15, characterized in that, The central device acquires the height information of the first user; The central device sends an instruction message to the first device, the instruction message being used to indicate the height of the first user; The first device receives the indication information and obtains the second height based on the indication information.

17. The communication system of claim 15 or 16, characterized by Before the central device sends the first message to the first device... The central device obtains that the duration for which the distance between the first user and the first device is less than a preset first distance is greater than a preset value.

18. The communication system according to claim 15 or 16, characterized in that, Before the central device sends the first message to the first device... The central device receives information that the first user has performed a preset action.

19. The communication system according to claim 15 or 16, characterized in that, The central device obtains that the distance between the first user and the first device is greater than or equal to a preset first distance, and sends a second message to the first device; Upon receiving the second message, the first device ascends to a first altitude above the ground.

20. A communication system based on human perception, characterized in that, The system includes a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include one first device; R is a positive integer greater than or equal to 1; The first electronic device determines the coordinates of the R second electronic devices in the first coordinate system of the first electronic device, and locates the user to obtain the user's coordinates in the fourth coordinate system; The first electronic device sends to the central device the coordinates of the R second electronic devices in the first coordinate system and the coordinates of the user in the fourth coordinate system. The central device transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the coordinates of the user in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the first device and the location information of one or more users in the whole-house coordinate system. If the location of the first device meets a preset condition with the location of the first user among the one or more users, the central device notifies the first device to adjust the lights; The first device adjusts the lights according to the notification from the central device.

21. The communication system according to claim 20, characterized in that, The preset conditions include: the first user entering the first area to which the first device belongs; or, the distance between the first user and the first device is less than or equal to a preset distance; or, the first user entering the second area in a preset direction of the first device. The central device instructs the first device to adjust the lighting, including: The central device sends a first message to the first device; the first message is used to instruct the first device to turn on.

22. The communication system according to claim 21, characterized in that, The central device acquires the identity of the first user and the first brightness value corresponding to the identity of the first user; The central device sends a first indication information to the first device, the first indication information being used to indicate a first brightness value; The first device receives the first instruction information and illuminates the first brightness value according to the first instruction information.

23. The communication system according to claim 21, characterized in that, The central device acquires the identity of the first user and the first color corresponding to the identity of the first user; The central device sends a second indication information to the first device, the second indication information being used to indicate the first color; The first device receives the second instruction information and illuminates the first color according to the second instruction information.

24. The communication system according to claim 20, characterized in that, The preset conditions include: the first user leaving the first area to which the first device belongs; or, the distance between the first user and the first device is greater than a preset distance; or, the first user leaving the second area in a preset direction of the first device. The central device instructs the first device to adjust the lighting, including: The central device sends a second message to the first device, the second message being used to instruct the first device to turn off.

25. The communication system according to claim 20, characterized in that, The preset conditions include: the distance between the first user and the first device changes; The central device instructs the first device to adjust the lighting, including: The central device sends a third message to the first device, the third message instructing the first device to reduce the brightness; or... The central device sends a fourth message to the first device, the fourth message being used to instruct the first device to increase the brightness.

26. The communication system according to any one of claims 20-25, characterized in that, The R second electronic devices include a mobile device, and the mobile device includes a second ultra-wideband module. The first electronic device's position measurement of the first device includes: The first electronic device measures the position of the mobile device; and measures the position of the first device based on the position of the mobile device.

27. An automatic control method based on human perception, applied to a communication system based on human perception, characterized in that, The system includes a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; The R second electronic devices include routing devices and terminal devices; R is a positive integer greater than or equal to 1; the method includes: The first electronic device determines the coordinates of the R second electronic devices in the first coordinate system of the first electronic device, and locates the user to obtain the user's coordinates in the fourth coordinate system; The first electronic device sends to the central device the coordinates of the R second electronic devices in the first coordinate system and the coordinates of the user in the fourth coordinate system. The central device transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the coordinates of the user in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the R second electronic devices and the location information of the user in the whole-house coordinate system; The central device sends a first message to the routing device; Upon receiving the first message, the routing device adjusts its beam according to its location and the user's location, such that the maximum gain point of the adjusted beam points towards the user.

28. The method according to claim 27, characterized in that, Before the central device sends the first message to the routing device, the method further includes: The central device obtains that the distance between the user and the terminal device is less than a preset error range.

29. The method according to claim 27 or 28, characterized in that, Before the central device obtains the location information of the R second electronic devices and the user's location information in the whole-house coordinate system provided by the central device, the method further includes: The central device detects that the user's location change exceeds a first preset range; or... The central device obtains that the position change of the terminal device is greater than a second preset range.

30. An automatic control method based on human perception, applied to a communication system based on human perception, characterized in that, The system includes a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; The R second electronic devices include routing devices and N terminal devices; R and N are positive integers greater than or equal to 1; the method includes: The first electronic device determines the coordinates of the R second electronic devices in the first coordinate system of the first electronic device, and locates the M users to obtain the coordinates of the M users in the fourth coordinate system; The first electronic device sends to the central device the coordinates of the R second electronic devices in the first coordinate system and the coordinates of the M users in the fourth coordinate system. The central device transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the coordinates of the M users in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the R second electronic devices and the location information of the M users in the whole-house coordinate system; the number of the M users and the N terminal devices whose distances are within the preset error range is M1, where M1>0; The central device sends a first message to the routing device; The routing device receives the first message and adjusts the beam according to the location of the routing device and the locations of M1 users, so that the maximum gain point of the beam points to the locations of M1 users in turn in a time-division multiplexing manner.

31. The method according to claim 30, characterized in that, Before the central device acquires the location information of the R second electronic devices and the location information of the M users in the whole-house coordinate system provided by the central device, the method further includes: The central device detects that the position change of at least one of the M users is greater than a first preset range; or... The central device obtains that the position change of at least one of the N terminal devices is greater than a second preset range.

32. An automatic control method based on human perception, applied to a communication system based on human perception, characterized in that, The system includes a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a first device and a mobile device, the mobile device including a second ultra-wideband module; R is a positive integer greater than or equal to 1; the method includes: The first electronic device determines the coordinates of the R second electronic devices in the first coordinate system of the first electronic device, and locates the user to obtain the user's coordinates in the fourth coordinate system; The first electronic device sends to the central device the coordinates of the R second electronic devices in the first coordinate system and the coordinates of the user in the fourth coordinate system. The central device transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the coordinates of the user in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the first device and the location information of the user in the whole-house coordinate system. The central device sends a first message to the first device; The first device receives the first message and cleans all areas of the house except for the first area where the user belongs.

33. The method according to claim 32, characterized in that, Before the central device sends the first message to the first device, the method further includes: Based on the position measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the position information of M pieces of furniture in the whole-house coordinate system provided by the central device; The central device detects that the distance between the user and one of the M pieces of furniture is less than a preset first error range.

34. The method according to claim 33, characterized in that, Before the central device sends the first message to the first device, the method further includes: The central device obtains that the user's posture is either lying down or sitting.

35. The method according to any one of claims 32-34, characterized in that, The method further includes: If the user and the first device belong to the same area, the first device, after receiving the first message, leaves the first area to which the user belongs.

36. The method according to any one of claims 32-34, characterized in that, The method further includes: The central device obtains that the user's change within a preset time period is greater than or equal to a preset second error range; The central device sends a third message to the first device; Upon receiving the third message, the first device enters the first area to which the user belongs.

37. The method according to any one of claims 32-34, characterized in that, The method further includes: Based on the location measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the coordinate range of each area in the whole house under the whole house coordinate system provided by the central device; The central device sends the coordinate range information of each area in the entire house to the first device; The first device cleans according to the coordinate range information of each area in the whole house.

38. An automatic control method based on human perception, applied to a communication system based on human perception, characterized in that, The system includes a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; The R second electronic devices include one first device; R is a positive integer greater than or equal to 1; the method includes: The first electronic device determines the coordinates of the R second electronic devices in the first coordinate system of the first electronic device, and locates the user to obtain the user's coordinates in the fourth coordinate system; The first electronic device sends to the central device the coordinates of the R second electronic devices in the first coordinate system and the coordinates of the user in the fourth coordinate system. The central device transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the coordinates of the user in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the first device and the location information of one or more users in the whole-house coordinate system. The central device identifies a first user among the one or more users whose distance from the first device is less than a preset first error range; The central device acquires at least one of the first user's height information, respiratory rate information, and heart rate information; The central device sends a first message to the first device, the first message including at least one of the first user's height information, respiratory rate information, and heart rate information.

39. The method according to claim 38, characterized in that, The method further includes: The first device receives the first message and obtains at least one of the following parameters of the first user: body fat percentage, body mass index (BMI), muscle mass, basal metabolic rate, and visceral fat level, based on at least one of the first user's height information, respiratory rate information, and heart rate information.

40. The method according to claim 39, characterized in that, Before the central device identifies a first user whose distance from the first device is less than a preset first error range, the method further includes: The first device sends a first request message to the central device, the first request message being used to instruct the central device to obtain user data; The central device receives the first request message.

41. An automatic control method based on human perception, applied to a communication system based on human perception, characterized in that, The system includes a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; The R second electronic devices include one first device; R is a positive integer greater than or equal to 1; the method includes: The first electronic device determines the coordinates of the R second electronic devices in the first coordinate system of the first electronic device, and locates the user to obtain the user's coordinates in the fourth coordinate system; The first electronic device sends to the central device the coordinates of the R second electronic devices in the first coordinate system and the coordinates of the user in the fourth coordinate system. The central device transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the coordinates of the user in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the position information of the first device and the position information of one or more users in the whole-house coordinate system; the first device is at a first height above the ground; The central device receives a first message from the first device if it finds that the distance between the first user and the first device among the one or more users is less than a preset first distance. Upon receiving the first message, the first device descends to a second altitude above the ground; the second altitude is less than the first altitude.

42. The method according to claim 41, characterized in that, The method further includes: The central device acquires the height information of the first user; The central device sends an instruction message to the first device, the instruction message being used to indicate the height of the first user; The first device receives the indication information and obtains the second height based on the indication information.

43. The method according to claim 41 or 42, characterized in that, Before the central device sends the first message to the first device, the method further includes: The central device obtains that the duration for which the distance between the first user and the first device is less than a preset first distance is greater than a preset value.

44. The method according to claim 41 or 42, characterized in that, Before the central device sends the first message to the first device, the method further includes: The central device receives information that the first user has performed a preset action.

45. The method according to claim 41 or 42, characterized in that, The method further includes: The central device obtains that the distance between the first user and the first device is greater than or equal to a preset first distance, and sends a second message to the first device; Upon receiving the second message, the first device ascends to a first altitude above the ground.

46. ​​An automatic control method based on human perception, applied to a communication system based on human perception, characterized in that, The system includes a central device, a first electronic device, and R second electronic devices; any two of the central device, the first electronic device, and any one of the R second electronic devices communicate via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; The R second electronic devices include one first device; R is a positive integer greater than or equal to 1; the method includes: The first electronic device determines the coordinates of the R second electronic devices in the first coordinate system of the first electronic device, and locates the user to obtain the user's coordinates in the fourth coordinate system; The first electronic device sends to the central device the coordinates of the R second electronic devices in the first coordinate system and the coordinates of the user in the fourth coordinate system. The central device transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the coordinates of the user in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the first device and the location information of one or more users in the whole-house coordinate system. If the location of the first device meets a preset condition with the location of the first user among the one or more users, the central device notifies the first device to adjust the lights; The first device adjusts the lights according to the notification from the central device.

47. The method according to claim 46, characterized in that, The preset conditions include: the first user entering the first area to which the first device belongs; or, the distance between the first user and the first device is less than or equal to a preset distance; or, the first user entering the second area in a preset direction of the first device. The central device instructs the first device to adjust the lighting, including: The central device sends a first message to the first device; the first message is used to instruct the first device to turn on.

48. The method according to claim 47, characterized in that, The method further includes: The central device acquires the identity of the first user and the first brightness value corresponding to the identity of the first user; The central device sends a first indication information to the first device, the first indication information being used to indicate a first brightness value; The first device receives the first instruction information and illuminates the first brightness value according to the first instruction information.

49. The method according to claim 47, characterized in that, The method further includes: The central device acquires the identity of the first user and the first color corresponding to the identity of the first user; The central device sends a second indication information to the first device, the second indication information being used to indicate the first color; The first device receives the second instruction information and illuminates the first color according to the second instruction information.

50. The method according to claim 46, characterized in that, The preset conditions include: the first user leaving the first area to which the first device belongs; or, the distance between the first user and the first device is greater than a preset distance; or, the first user leaving the second area in a preset direction of the first device. The central device instructs the first device to adjust the lighting, including: The central device sends a second message to the first device, the second message being used to instruct the first device to turn off.

51. The method according to claim 46, characterized in that, The preset conditions include: the distance between the first user and the first device changes; The central device instructs the first device to adjust the lighting, including: The central device sends a third message to the first device, the third message instructing the first device to reduce the brightness; or... The central device sends a fourth message to the first device, the fourth message being used to instruct the first device to increase the brightness.

52. The method according to any one of claims 46-51, characterized in that, The R second electronic devices include a mobile device, and the mobile device includes a second ultra-wideband module. The first electronic device's position measurement of the first device includes: The first electronic device measures the position of the mobile device; and measures the position of the first device based on the position of the mobile device.

53. A central device, characterized in that, The central device communicates with any two of the first electronic device and any one of the R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include routing devices and terminal devices; R is a positive integer greater than or equal to 1; The central device includes a memory and one or more processors; the memory is coupled to the processors, and the memory stores computer program code, which includes computer instructions that, when executed by the one or more processors, cause the central device to perform the following operations: The system receives the coordinates of the R second electronic devices in the first coordinate system and the user's coordinates in the fourth coordinate system sent by the first electronic device. It then transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the user's coordinates in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the R second electronic devices and the user in the whole-house coordinate system. A first message is sent to the routing device, the first message being used to instruct the routing device to adjust the beam according to the location of the routing device and the location of the user, such that the maximum gain point of the adjusted beam points to the user.

54. The central device according to claim 53, characterized in that, When the computer instructions are executed by the one or more processors, the central device also performs the following operations: Before sending the first message to the routing device, the distance between the user and the terminal device is determined to be less than a preset error range.

55. The central device according to claim 53 or 54, characterized in that, When the computer instructions are executed by the one or more processors, the central device also performs the following operations: Before the central device obtains the location information of the R second electronic devices and the user's location information in the whole-house coordinate system provided by the central device, it is found that the user's location change is greater than a first preset range. or, The location change of the terminal device is found to be greater than a second preset range.

56. A central device, characterized in that, The central device communicates with any two of the first electronic device and any one of the R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a routing device and N terminal devices; R and N are positive integers greater than or equal to 1. The central device includes a memory and one or more processors; the memory is coupled to the processors, and the memory stores computer program code, which includes computer instructions that, when executed by the one or more processors, cause the central device to perform the following operations: The system receives the coordinates of the R second electronic devices in a first coordinate system and the coordinates of the M users in a fourth coordinate system sent by the first electronic device. It then transforms the coordinates of the R second electronic devices in the first coordinate system and the coordinates of the M users in the fourth coordinate system to the whole-house coordinate system provided by the central device, thereby obtaining the location information of the R second electronic devices and the location information of the M users in the whole-house coordinate system. The number of M users whose distances to the N terminal devices are within a preset error range is M1, where M1 > 0. Send a first message to the routing device, the first message being used to instruct the routing device to adjust the beam according to the location of the routing device and the locations of M1 users, so that the maximum gain point of the beam points to the locations of M1 users in turn in a time-division multiplexing manner.

57. The central device according to claim 56, characterized in that, When the computer instructions are executed by the one or more processors, the central device also performs the following operations: Before the central device obtains the location information of the R second electronic devices and the location information of the M users in the whole-house coordinate system provided by the central device, it is obtained that the location change of at least one of the M users is greater than a first preset range; or, The position change of at least one of the N terminal devices is found to be greater than a second preset range.

58. A central device, characterized in that, The central device communicates with any two of the first electronic device and any one of the R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a first device and a mobile device, the mobile device including a second ultra-wideband module; R is a positive integer greater than or equal to 1; The central device includes a memory and one or more processors; the memory is coupled to the processors, and the memory stores computer program code, which includes computer instructions that, when executed by the one or more processors, cause the central device to perform the following operations: The system receives the coordinates of the R second electronic devices in the first coordinate system and the user's coordinates in the fourth coordinate system sent by the first electronic device. It then transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the user's coordinates in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the first device and the user in the whole-house coordinate system. Send a first message to the first device; the first message is used to instruct the first device to clean the entire house except for the first area where the user belongs.

59. The central device according to claim 58, characterized in that, When the computer instructions are executed by the one or more processors, the central device also performs the following operations: Before the central device sends the first message to the first device, based on the position measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the position information of M pieces of furniture in the whole-house coordinate system provided by the central device; The distance between the user and one of the M pieces of furniture is found to be less than a preset first error range.

60. The central device according to claim 59, characterized in that, When the computer instructions are executed by the one or more processors, the central device also performs the following operations: Before the central device sends the first message to the first device, it obtains that the user's posture is either lying down or sitting.

61. The central device according to any one of claims 58-60, characterized in that, When the computer instructions are executed by the one or more processors, the central device also performs the following operations: The user's change within a preset time period is found to be greater than or equal to a preset second error range; A third message is sent to the first device, the third message being used to instruct the first device to enter the first area to which the user belongs.

62. The central device according to any one of claims 58-60, characterized in that, When the computer instructions are executed by the one or more processors, the central device also performs the following operations: Based on the location measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the coordinate range of each area in the whole house under the whole house coordinate system provided by the central device; Send the coordinate range information of each area in the entire house to the first device.

63. A central device, characterized in that, The central device communicates with any two of the first electronic device and any one of the R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include one first device; R is a positive integer greater than or equal to 1; The central device includes a memory and one or more processors; the memory is coupled to the processors, and the memory stores computer program code, which includes computer instructions that, when executed by the one or more processors, cause the central device to perform the following operations: The system receives the coordinates of the R second electronic devices in the first coordinate system and the user's coordinates in the fourth coordinate system sent by the first electronic device. It then transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the user's coordinates in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the first device and the location information of one or more users in the whole-house coordinate system. The first user among the one or more users whose distance from the first device is less than a preset first error range is identified. Obtain at least one of the following information from the first user: height, respiratory rate, and heart rate. Send a first message to the first device, the first message including at least one of the first user's height information, respiratory rate information, and heart rate information.

64. The central device according to claim 63, characterized in that, When the computer instructions are executed by the one or more processors, the central device also performs the following operations: Before identifying the first user whose distance from the first device is less than a preset first error range. The first request message is received from the first device, which instructs the central device to obtain user data.

65. A central device, characterized in that, The central device communicates with any two of the first electronic device and any one of the R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include one first device; R is a positive integer greater than or equal to 1; The central device includes a memory and one or more processors; the memory is coupled to the processors, and the memory stores computer program code, which includes computer instructions that, when executed by the one or more processors, cause the central device to perform the following operations: The system receives the coordinates of the R second electronic devices in a first coordinate system and the user's coordinates in a fourth coordinate system sent by the first electronic device. It then transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the user's coordinates in the fourth coordinate system to the whole-house coordinate system provided by the central device, thereby obtaining the location information of the first device and one or more users in the whole-house coordinate system. The first device is at a first height above the ground. If the distance between the first user and the first device is less than a preset first distance, a first message is sent to the first device; the first message is used to instruct the first device to descend to a second height above the ground; the second height is less than the first height.

66. The central device according to claim 65, characterized in that, When the computer instructions are executed by the one or more processors, the central device also performs the following operations: Obtain the height information of the first user; Send indication information to the first device, the indication information being used to indicate the height of the first user; the height of the first user is used to obtain the second height.

67. The central device according to claim 65 or 66, characterized in that, When the computer instructions are executed by the one or more processors, the central device also performs the following operations: Before sending the first message to the first device, The duration during which the distance between the first user and the first device is less than a preset first distance is greater than a preset value.

68. The central device according to claim 65 or 66, characterized in that, When the computer instructions are executed by the one or more processors, the central device also performs the following operations: Before the central device sends the first message to the first device, it obtains information that the first user has performed a preset action.

69. The central device according to claim 65 or 66, characterized in that, When the computer instructions are executed by the one or more processors, the central device also performs the following operations: If the distance between the first user and the first device is greater than or equal to a preset first distance, a second message is sent to the first device; the second message is used to instruct the first device to rise to a first height above the ground.

70. A central device, characterized in that, The central device communicates with any two of the first electronic device and any one of the R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include one first device; R is a positive integer greater than or equal to 1; The central device includes a memory and one or more processors; the memory is coupled to the processors, and the memory stores computer program code, which includes computer instructions that, when executed by the one or more processors, cause the central device to perform the following operations: The system receives the coordinates of the R second electronic devices in the first coordinate system and the user's coordinates in the fourth coordinate system sent by the first electronic device. It then transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the user's coordinates in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the first device and the location information of one or more users in the whole-house coordinate system. If the location of the first device meets a preset condition with the location of the first user among the one or more users, the first device is notified to adjust the lights.

71. The central device according to claim 70, characterized in that, The preset conditions include: the first user entering the first area to which the first device belongs; or, the distance between the first user and the first device is less than or equal to a preset distance; or, the first user entering the second area in a preset direction of the first device. When the computer instructions are executed by the one or more processors, the central device also performs the following operations: Send a first message to the first device; the first message is used to instruct the first device to turn on.

72. The central device according to claim 71, characterized in that, When the computer instructions are executed by the one or more processors, the central device also performs the following operations: Obtain the identity of the first user and the first brightness value corresponding to the identity of the first user; Send a first indication message to the first device, the first indication message being used to indicate a first brightness value.

73. The central device according to claim 71, characterized in that, When the computer instructions are executed by the one or more processors, the central device also performs the following operations: Obtain the identity of the first user and the first color corresponding to the identity of the first user; Send a second indication message to the first device, the second indication message being used to indicate the first color.

74. The central device according to claim 70, characterized in that, The preset conditions include: the first user leaving the first area to which the first device belongs; or, the distance between the first user and the first device is greater than a preset distance; or, the first user leaving the second area in a preset direction of the first device. When the computer instructions are executed by the one or more processors, the central device also performs the following operations: sends a second message to the first device, the second message being used to instruct the first device to turn off.

75. The central device according to claim 70, characterized in that, The preset conditions include: the distance between the first user and the first device changes; When the computer instructions are executed by the one or more processors, the central device also performs the following operations: Send a third message to the first device, the third message being used to instruct the first device to reduce the brightness; or... A fourth message is sent to the first device, the fourth message being used to instruct the first device to increase the brightness.

76. An automatic control method based on human perception, applied to central nervous system equipment, characterized in that, The central device communicates with any two of the first electronic device and any one of the R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include routing devices and terminal devices; R is a positive integer greater than or equal to 1; the method includes: The central device receives the coordinates of the R second electronic devices in the first coordinate system and the user's coordinates in the fourth coordinate system sent by the first electronic device. It then transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the user's coordinates in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the R second electronic devices and the location information of the user in the whole-house coordinate system. The central device sends a first message to the routing device, the first message being used to instruct the routing device to adjust the beam according to the location of the routing device and the location of the user, so that the maximum gain point of the adjusted beam points to the user.

77. The method according to claim 76, characterized in that, Before the central device sends the first message to the routing device, the method further includes: The central device obtains that the distance between the user and the terminal device is less than a preset error range.

78. The method according to claim 76 or 77, characterized in that, Before the central device obtains the location information of the R second electronic devices and the user's location information in the whole-house coordinate system provided by the central device, the method further includes: The central device detects that the user's location change exceeds a first preset range; or... The central device obtains that the position change of the terminal device is greater than a second preset range.

79. An automatic control method based on human perception, applied to central nervous system equipment, characterized in that, The central device communicates with any two of the first electronic device and any one of the R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include routing devices and N terminal devices; R and N are positive integers greater than or equal to 1; the method includes: The central device receives the coordinates of the R second electronic devices in the first coordinate system and the coordinates of the M users in the fourth coordinate system sent by the first electronic device. It then transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the coordinates of the M users in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the R second electronic devices and the location information of the M users in the whole-house coordinate system. The number of M users and N terminal devices whose distances are within a preset error range is M1, where M1>0; The central device sends a first message to the routing device, the first message being used to instruct the routing device to adjust the beam according to the location of the routing device and the locations of M1 users, so that the maximum gain point of the beam alternately points to the locations of M1 users in a time-division multiplexing manner.

80. The method according to claim 79, characterized in that, Before the central device acquires the location information of the R second electronic devices and the location information of the M users in the whole-house coordinate system provided by the central device, the method further includes: The central device detects that the position change of at least one of the M users is greater than a first preset range; or... The central device obtains that the position change of at least one of the N terminal devices is greater than a second preset range.

81. An automatic control method based on human perception, applied to central nervous system equipment, characterized in that, The central device communicates with any two of the first electronic device and any one of the R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module; the R second electronic devices include a first device and a mobile device, the mobile device including a second ultra-wideband module; R is a positive integer greater than or equal to 1; the method includes: The central device receives the coordinates of the R second electronic devices in the first coordinate system and the user's coordinates in the fourth coordinate system sent by the first electronic device. It then transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the user's coordinates in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the first device and the user in the whole-house coordinate system. The central device sends a first message to the first device; the first message is used to instruct the first device to clean all areas of the house except for the first area where the user belongs.

82. The method according to claim 81, characterized in that, Before the central device sends the first message to the first device, the method further includes: Based on the position measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the position information of M pieces of furniture in the whole-house coordinate system provided by the central device; The central device detects that the distance between the user and one of the M pieces of furniture is less than a preset first error range.

83. The method according to claim 82, characterized in that, Before the central device sends the first message to the first device, the method further includes: The central device obtains that the user's posture is either lying down or sitting.

84. The method according to any one of claims 81-83, characterized in that, The method further includes: The central device obtains that the user's change within a preset time period is greater than or equal to a preset second error range; The central device sends a third message to the first device, the third message being used to instruct the first device to enter the first area to which the user belongs.

85. The method according to any one of claims 81-83, characterized in that, The method further includes: Based on the location measurement and conversion of the mobile device by the first electronic device and the communication between the central device and the first electronic device, the central device obtains the coordinate range of each area in the whole house under the whole house coordinate system provided by the central device; The central device sends the coordinate range information of each area in the entire house to the first device.

86. An automatic control method based on human perception, applied to central nervous system equipment, characterized in that, The central device communicates with any two of the first electronic device and any one of the R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include one first device; R is a positive integer greater than or equal to 1; the method includes: The central device receives the coordinates of the R second electronic devices in the first coordinate system and the user's coordinates in the fourth coordinate system sent by the first electronic device. It then transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the user's coordinates in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the first device and the location information of one or more users in the whole-house coordinate system. The central device identifies a first user among the one or more users whose distance from the first device is less than a preset first error range; The central device acquires at least one of the first user's height information, respiratory rate information, and heart rate information; The central device sends a first message to the first device, the first message including at least one of the first user's height information, respiratory rate information, and heart rate information.

87. The method according to claim 86, characterized in that, Before the central device identifies a first user whose distance from the first device is less than a preset first error range, the method further includes: The central device receives a first request message from the first device, the first request message being used to instruct the central device to obtain user data.

88. An automatic control method based on human perception, applied to central nervous system equipment, characterized in that, The central device communicates with any two of the first electronic device and any one of the R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include one first device; R is a positive integer greater than or equal to 1; the method includes: The central device receives the coordinates of the R second electronic devices in the first coordinate system and the user's coordinates in the fourth coordinate system sent by the first electronic device. It then transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the user's coordinates in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the first device and the location information of one or more users in the whole-house coordinate system. The first device is at a first height above the ground. The central device detects that the distance between the first user and the first device among the one or more users is less than a preset first distance, and sends a first message to the first device; the first message is used to instruct the first device to descend to a second height above the ground; the second height is less than the first height.

89. The method according to claim 88, characterized in that, The method further includes: The central device acquires the height information of the first user; The central device sends an instruction message to the first device, the instruction message being used to indicate the height of the first user; the height of the first user is used to obtain the second height.

90. The method according to claim 88 or 89, characterized in that, Before the central device sends the first message to the first device, the method further includes: The central device obtains that the duration for which the distance between the first user and the first device is less than a preset first distance is greater than a preset value.

91. The method according to claim 88 or 89, characterized in that, Before the central device sends the first message to the first device, the method further includes: The central device receives information that the first user has performed a preset action.

92. The method according to claim 88 or 89, characterized in that, The method further includes: The central device obtains that the distance between the first user and the first device is greater than or equal to a preset first distance, and sends a second message to the first device; the second message is used to instruct the first device to rise to a first height above the ground.

93. An automatic control method based on human perception, applied to central nervous system equipment, characterized in that, The central device communicates with any two of the first electronic device and any one of the R second electronic devices via wired or wireless communication; the first electronic device includes a first ultra-wideband module and a millimeter-wave radar module. The R second electronic devices include one first device; R is a positive integer greater than or equal to 1; the method includes: The central device receives the coordinates of the R second electronic devices in the first coordinate system and the user's coordinates in the fourth coordinate system sent by the first electronic device. It then transforms the coordinates of the R second electronic devices in the first coordinate system of the first electronic device and the user's coordinates in the fourth coordinate system to the whole-house coordinate system provided by the central device, so as to obtain the location information of the first device and the location information of one or more users in the whole-house coordinate system. If the location of the first device meets a preset condition with the location of the first user among the one or more users, the central device notifies the first device to adjust the lights.

94. The method according to claim 93, characterized in that, The preset conditions include: the first user entering the first area to which the first device belongs; or, the distance between the first user and the first device is less than or equal to a preset distance; or, the first user entering the second area in a preset direction of the first device. The central device instructs the first device to adjust the lighting, including: The central device sends a first message to the first device; the first message is used to instruct the first device to turn on.

95. The method according to claim 94, characterized in that, The method further includes: The central device acquires the identity of the first user and the first brightness value corresponding to the identity of the first user; The central device sends a first indication message to the first device, the first indication message being used to indicate a first brightness value.

96. The method according to claim 94, characterized in that, The method further includes: The central device acquires the identity of the first user and the first color corresponding to the identity of the first user; The central device sends a second indication message to the first device, the second indication message being used to indicate the first color.

97. The method according to claim 93, characterized in that, The preset conditions include: the first user leaving the first area to which the first device belongs; or, the distance between the first user and the first device is greater than a preset distance; or, the first user leaving the second area in a preset direction of the first device. The central device instructs the first device to adjust the lighting, including: The central device sends a second message to the first device, the second message being used to instruct the first device to turn off.

98. The method according to claim 93, characterized in that, The preset conditions include: the distance between the first user and the first device changes; The central device instructs the first device to adjust the lighting, including: The central device sends a third message to the first device, the third message instructing the first device to reduce the brightness; or... The central device sends a fourth message to the first device, the fourth message being used to instruct the first device to increase the brightness.

99. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a computer program that, when run on an electronic device, causes the electronic device to perform the method as described in any one of claims 76-98.

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