Position information determination method, control system, equipment and storage medium

Abstract

The invention is suitable for the technical field of positioning, and provides a position information determination method, a control system, a device and a storage medium, the method is applied to a plurality of terminal devices, each terminal device is provided with a plurality of communication modules, and the plurality of communication modules can respectively send signals to different directions; any two adjacent terminal devices can communicate through the corresponding communication modules and determine relative position information; and after the reference device in the multiple terminal devices receives a relative position calibration request of the control device, the reference device determines target relative position information of all the terminal devices in the combined device and the reference device according to the relative position information of any two adjacent terminal devices. Each terminal device can communicate with each other in various complex indoor and outdoor environments through setting a plurality of communication modules, and automatic pairing among the terminal devices is realized, so that accurate relative position identification among the plurality of terminal devices can be realized, and the terminal devices can be accurately controlled.

Description

Technical Field

[0001] The present invention relates to the field of wireless positioning technology, and in particular to a method for determining position information, a control system, a device and a storage medium. Background Art

[0002] With the development of the electronics industry, intelligent devices will be used more indoors, and the demand for relative position information of indoor and outdoor devices will become higher and higher.

[0003] Common positioning solutions include GPS (Global Positioning System) positioning, Beidou satellite positioning, base station positioning, etc. These positioning solutions communicate with the device to be positioned through at least three base stations and calculate the position relative to the base station to achieve spatial positioning. However, the accuracy of these positioning solutions is severely limited by the physical location of the device under test. The device under test needs to be in a relatively open space. It can only identify the position relative to the base station, and cannot accurately determine the relative position relationship of close-range devices, making it difficult to accurately control the device. Summary of the invention

[0004] The present invention provides a method for determining position information, a control system, a device and a storage medium to solve the problem that traditional positioning methods cannot accurately determine the relative position of close-range devices, resulting in difficulty in accurately controlling the devices.

[0005] In a first aspect, an embodiment of the present application provides a method for determining location information, which is applied to multiple terminal devices, each of which has multiple communication modules, and the multiple communication modules can send signals in different directions respectively; any two adjacent terminal devices can communicate through corresponding communication modules and determine relative location information; the method includes:

[0006] When the reference device in the plurality of terminal devices receives the relative position calibration request from the control device, the reference device determines the target relative position information of all the terminal devices in the combination device and the reference device according to the relative position information of any two adjacent terminal devices.

[0007] Optionally, determining target relative position information of all terminal devices in the combined device and the reference device according to the relative position information of any two adjacent terminal devices includes:

[0008] The reference device initiates a relative position calibration request through the communication module, so that the adjacent terminal device responds to the relative position calibration request, performs relative position calibration and feeds back relative position information;

[0009] The reference device performs relative position calibration according to the relative position information fed back by the adjacent terminal devices until the target relative position information of all the terminal devices in the combined device and the reference device is obtained.

[0010] Optionally, the communication module is a near field communication module, and a relative position calibration request is initiated through the communication module, so that the adjacent terminal device responds to the relative position calibration request to perform relative position calibration and feed back relative position information, including:

[0011] The reference device initiates near field communication of a relative position calibration request through a near field communication module to form a near field communication link in the same direction through adjacent terminal devices, so that all terminal devices on the near field communication link perform relative position calibration to obtain relative position information;

[0012] The reference device acquires the relative position information transmitted through the near field communication link through the adjacent terminal device, and obtains the relative position information fed back by the adjacent terminal device.

[0013] Optionally, after determining the target relative position information of all terminal devices in the combined device and the reference device, the method further includes:

[0014] The target relative position information of all terminal devices in the combined device and the reference device is fed back to the control device that sends the relative position calibration request, so that the control device controls the terminal devices in the combined device according to the target relative position information.

[0015] In a second aspect, an embodiment of the present application provides a method for determining position information, which is applied to a control device in a device control system, wherein each terminal device in the device control system has multiple communication modules, and the multiple communication modules can send signals in different directions respectively; any two adjacent terminal devices can communicate through corresponding communication modules and determine relative position information; the method includes:

[0016] Sending a relative position calibration request to a reference device in a plurality of terminal devices, so that the reference device determines and feeds back target relative position information of all terminal devices and the reference device in the combined device according to the relative position information of any two adjacent terminal devices;

[0017] Receive the target relative position information of all terminal devices and the reference device fed back by the reference device, so as to control the terminal devices in the combined device according to the target relative position information.

[0018] In a third aspect, an embodiment of the present application provides a terminal device, including a control module and multiple communication modules, wherein the multiple communication modules can send signals in different directions respectively; the control module is used to:

[0019] After receiving the relative position calibration request sent by the control device, the relative position calibration request is initiated through the communication module, so that the control module of the adjacent terminal device performs position calibration to obtain relative position information and feedback;

[0020] According to the relative position information fed back by the adjacent terminal devices, the target relative position information of all the terminal devices in the combined device and the reference device is determined.

[0021] In a fourth aspect, an embodiment of the present application provides a combined device, comprising a plurality of terminal devices arranged in an array according to a preset shape, each terminal device having a control module and a plurality of communication modules, and the plurality of communication modules can respectively send signals in different directions;

[0022] Any two adjacent terminal devices can communicate and determine relative position information through corresponding communication modules. The control module determines the target relative position information of all terminal devices and the reference device in the combined device based on the relative position information of any two adjacent terminal devices.

[0023] In a fifth aspect, an embodiment of the present application provides a control system based on relative position, comprising at least one combined device, the combined device comprising a plurality of terminal devices, each of which has a control module and a plurality of communication modules, the plurality of communication modules being capable of sending signals in different directions respectively; any two adjacent terminal devices can communicate through corresponding communication modules and determine relative position information;

[0024] There is one reference device for multiple terminal devices. After receiving a relative position calibration request from a control device, a control module of the reference device determines target relative position information of all terminal devices in the combined device and the reference device based on relative position information of any two adjacent terminal devices.

[0025] In a sixth aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps in the above-mentioned method for determining location information, or the functions of each device, when executing the computer program.

[0026] In a seventh aspect, an embodiment of the present application provides a readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps in the above-mentioned method for determining location information, or the functions of each device.

[0027] In a solution provided by the above-mentioned method for determining position information, control system, device and storage medium, the method is applied to multiple terminal devices, each of which has multiple communication modules, and the multiple communication modules can send signals in different directions respectively; any two adjacent terminal devices can communicate through corresponding communication modules and determine relative position information; when the reference device in the multiple terminal devices receives the relative position calibration request of the control device, the reference device determines the target relative position information of all terminal devices and the reference device in the combined device according to the relative position information of any two adjacent terminal devices. By setting multiple communication modules in different directions, each terminal device can communicate with each other in various complex indoor and outdoor environments, and can realize automatic pairing between each terminal device, so as to realize accurate relative position identification between multiple terminal devices, and then can accurately control the terminal devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0029] Figure 1 is a structural schematic diagram of a control system based on relative position in one embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of the structure of a terminal device in one embodiment of the present invention;

[0031] Figure 3 is a structural schematic diagram of a combined device in one embodiment of the present invention;

[0032] Figure 4 is a signaling interaction diagram of a relative position determination method in one embodiment of the present invention;

[0033] Figure 5 is another signaling interaction diagram of a relative position determination method according to an embodiment of the present invention;

[0034] Figure 6 yes Figure 4 or Figure 5 A schematic diagram of an implementation process of step S20;

[0035] Figure 7 is another structural schematic diagram of a terminal device in one embodiment of the present invention;

[0036] Figure 8 is a schematic diagram of a structure of a control device in an embodiment of the present invention;

[0037] Fig. 9 It is a schematic diagram of the structure of an electronic device in one embodiment of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or their collections. It should also be understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0040] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0041] References to "one embodiment" or "some embodiments" etc. described in the present specification mean that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0042] It should be understood that the order of execution of the steps in the following embodiments does not imply a precedence of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0043] In order to illustrate the technical solution of the present invention, specific embodiments are provided below for illustration.

[0044] The location information determination method provided by the embodiment of the present invention can be applied in the following aspects: Figure 1In the control system based on relative position shown, the control system based on relative position includes a control device and at least one combination device. The combination device includes multiple terminal devices. At least one terminal device in the combination device communicates with the control device through a network. Each terminal device has a control module and multiple communication modules, and the multiple communication modules can send signals in different directions respectively. Any two adjacent terminal devices can communicate through corresponding communication modules and determine relative position information.

[0045] Among them, there is one reference device among the multiple terminal devices. After receiving the relative position calibration request from the control device, the reference device determines the target relative position information of all terminal devices in the combination device and the reference device according to the relative position information of any two adjacent terminal devices. The control device determines the reference device among the multiple terminal devices, sends a relative position calibration request to the reference device, and controls the multiple terminal devices in the combination device according to the target relative position information of all terminal devices in the combination device and the reference device fed back by the reference device.

[0046] In this embodiment, each terminal device has multiple communication modules that can send signals in different directions; any two adjacent terminal devices can communicate and determine relative position information through corresponding communication modules; when the reference device in multiple terminal devices receives the relative position calibration request of the control device, the control module of the reference device determines the target relative position information of all terminal devices in the combined device and the reference device according to the relative position information of any two adjacent terminal devices. By setting communication modules in different directions, each terminal device can communicate with each other in various complex indoor and outdoor environments, and can realize automatic pairing between each terminal device, so as to realize accurate relative position recognition between a large number of terminal devices at close range, and then can accurately control the terminal devices.

[0047] In addition, when performing position identification between terminal devices, one of the terminal devices is used as the reference device for relative position identification. The control device can quickly identify the position of each terminal device with the reference device as the center, which is more conducive to the subsequent precise control of the control device. At the same time, the relative position identification of all terminal devices is performed through a reference device, and the control device does not need to perform relative position identification calculations, which reduces the data processing volume of the control device, reduces the load of the control device, and is conducive to improving its control accuracy.

[0048] Among them, the terminal device can be a device such as a lighting device that requires multiple devices to work together. The control module of the terminal device is the control unit of the terminal device, such as a microcontroller unit (MCU). The control device can be a remote control unit, such as a master control unit of a lighting device, or various personal computers, laptops, smart phones, tablet computers, and portable wearable devices, or a server implemented by an independent server or a server cluster consisting of multiple servers.

[0049] In one embodiment, the communication module in the terminal device is a communication module capable of short-range communication, that is, the terminal device has multiple short-range communication modules capable of sending signals in different directions. For example, the communication module may be a Near Field Communication (NFC) module or a ZigBee communication module.

[0050] In this embodiment, the terminal devices all have multiple short-distance communication modules that can send signals in different directions; any two adjacent terminal devices can communicate and determine relative position information through the corresponding short-distance communication modules. When the reference device in the multiple terminal devices receives the relative position calibration request of the control device, the reference device determines the target relative position information of all terminal devices in the combined device and the reference device according to the relative position information of any two adjacent terminal devices. The short-distance communication module, especially the NFC module, has a short communication distance, low frequency, and strong anti-interference ability. By setting short-distance communication modules in different directions, each terminal device can achieve stable and accurate short-distance communication in various complex indoor and outdoor environments, and can achieve short-distance automatic pairing between each terminal device, thereby further improving the accuracy of relative position recognition between multiple terminal devices, and then can accurately control the terminal device.

[0051] In one embodiment, a combination device is provided, which includes a plurality of terminal devices arranged in an array according to a preset shape, each terminal device having a control module and a plurality of communication modules, and the plurality of communication modules can send signals in different directions respectively. Any two adjacent terminal devices can communicate and determine relative position information through corresponding communication modules. The control module of any terminal device can determine the target relative position information of all terminal devices in the combination device and a reference device (the reference device is itself at this time) based on the relative position information of any two adjacent terminal devices. By setting NFC modules in different directions, each terminal device can operate in various complex indoor and outdoor environments, can realize automatic pairing between each terminal device, can realize accurate relative position identification between a large number of terminal devices at close range, and can thus accurately control the terminal device.

[0052] In one embodiment, the plurality of terminal devices are arranged along a rectangular array.

[0053] In one embodiment, the terminal device has four communication modules that can send signals in four directions respectively, and the four directions can be the four directions of east, south, west, and north with itself as the center point. For example, each terminal device is a device that is approximately rectangular, and at least one of the four sides of the terminal device is arranged with an adjacent terminal device; the number of communication modules of each terminal device is four, and the four communication modules are respectively arranged on the four sides of the terminal device. Figure 2 As shown, the terminal device includes 4 communication modules: U1, U2, U3 and U4, and a control module U5; the control module U5 is connected and communicated with the 4 communication modules, and is used to read the communication module communication signals, as well as data processing and control the terminal device. In other embodiments, the terminal device may also have multiple communication modules that send signals to other directions, which are set according to needs and will not be repeated here.

[0054] In one embodiment, if Figure 3 As shown, the number of multiple terminal devices in the combined device (combined device 1) can be 9, including device 1, device 2, device 3, device 4, device 5, device 6, device 7, device 8 and device 9. The 9 terminal devices are arranged along a square array, and 3 terminal devices are arranged on each side of the square array. Each terminal device includes 4 communication modules (such as NFC modules): U1, U2, U3 and U4, and a control module U5. The communication modules of adjacent terminal devices communicate with the adjacent communication modules of adjacent terminal devices. For example, the communication module U3 of device 1 is adjacent to the communication module U1 of device 2, and the two communicate.

[0055] In one embodiment, if Figure 4 As shown, a method for determining position information is provided, and the method is applied in Figure 1 The relative position based control system is used as an example to illustrate the following steps:

[0056] S10: The control device sends a relative position calibration request to a reference device among multiple terminal devices.

[0057] When the control device receives control instructions for multiple terminal devices and needs to identify the multiple terminal devices to independently control the terminal devices, the control device sends a relative position calibration request to a reference device among the multiple terminal devices.

[0058] The reference device may be a pre-marked terminal device. In other embodiments, the reference device may also be a reference device arbitrarily designated by the control device during the device process. For example, the control device sends a relative position calibration request to any one of the multiple terminal devices, and the terminal device that receives the relative position calibration request from the control device is the current reference device.

[0059] S20: After receiving the relative position calibration request from the control device, the reference device determines the target relative position information of all terminal devices in the combination device and the reference device according to the relative position information of any two adjacent terminal devices, and sends it to the control device.

[0060] In this embodiment, each terminal device in the combined device has multiple communication modules, and the multiple communication modules can send signals in different directions respectively; any two adjacent terminal devices can communicate through the corresponding communication modules and determine relative position information.

[0061] After receiving the relative position calibration request from the control device, the terminal device needs to act as a reference device and determine the target relative position information of all terminal devices in the combined device and the reference device based on the relative position information of any two adjacent terminal devices, and send it to the control device.

[0062] For example, adjacent terminal devices are not necessarily terminal devices that are adjacent in physical space, but can also be terminal devices that can receive signals from the communication module. After receiving the relative position calibration request of the control device, the reference device sends relative position calibration requests in different directions through its own multiple communication modules or other forms (such as a network), and waits to receive feedback information from other terminal devices so as to perform relative position calibration later. After receiving the relative position calibration request of the reference device, other terminal devices perform close-range communication with adjacent terminal devices through their own communication modules, and perform position calibration to obtain relative position information between themselves and adjacent terminal devices, improve the accuracy of relative positioning information, and feed back the relative position information to the reference device through the communication module or other forms (network). The reference device receives the relative position information fed back by other terminal devices, and performs position calibration based on itself (i.e., the reference device) on all terminal devices in the combination device according to the relative position information of the received terminal device, obtains the target relative position information of all terminal devices in all combination devices and the reference device, and remotely sends the target relative position information of all terminal devices in the combination device and the reference device to the control device.

[0063] S30: The control device receives the target relative position information of all the terminal devices in the combined device and the reference device sent by the reference device.

[0064] In this embodiment, each terminal device has multiple communication modules that can send signals in different directions; any two adjacent terminal devices can communicate and determine relative position information through corresponding communication modules; when the reference device in multiple terminal devices receives the relative position calibration request of the control device, the control module of the reference device determines the target relative position information of all terminal devices in the combined device and the reference device according to the relative position information of any two adjacent terminal devices. By setting communication modules in different directions, each terminal device can communicate with each other in various complex indoor and outdoor environments, and can realize automatic pairing between each terminal device, so as to realize accurate relative position recognition between a large number of terminal devices at close range, and then can accurately control the terminal devices.

[0065] In one embodiment, if Figure 5 As shown, after step S30, that is, after the control device receives the target relative position information of all terminal devices in the combined device and the reference device sent by the reference device, the method further includes the following steps:

[0066] S40: The control device controls the terminal devices in the combined device according to the target relative position information of all the terminal devices in the combined device and the reference device.

[0067] The control device receives the target relative position information of all terminal devices in the combined device and the reference device sent by the reference device, and controls the terminal devices in the combined device according to the target relative position information of all terminal devices in the combined device and the reference device. For example, the terminal devices in the combined device can be controlled individually, or multiple terminal devices in the combined device can be controlled in different areas.

[0068] In this embodiment, the control device controls the terminal devices in the combination device according to the target relative position information of all the terminal devices in the combination device and the reference device. It can realize individual control of a single terminal device in the combination device based on the accurate target relative position information between the terminal device and the reference device, and can also realize partition control of multiple terminal devices in the combination device with higher accuracy.

[0069] In other embodiments, the control device may also perform other analysis and processing based on the target relative position information of all terminal devices in the combined device and the reference device, such as feeding back to other devices for terminal device position analysis and status identification, which will not be repeated here.

[0070] In one embodiment, if Figure 6 As shown, in step S20, the target relative position information of all terminal devices in the combined device and the reference device is determined according to the relative position information of any two adjacent terminal devices, which specifically includes the following steps:

[0071] S21: The reference device initiates a relative position calibration request through the communication module, so that the adjacent terminal device responds to the relative position calibration request, performs relative position calibration and feeds back relative position information.

[0072] It should be understood that, in this embodiment, when each terminal device performs relative position calibration, it calibrates the relative position relationship between itself and other terminal devices, thereby obtaining relative position information of itself and other terminal devices.

[0073] For example, adjacent terminal devices are not necessarily terminal devices that are adjacent in physical space, but can also be terminal devices that can receive signals from the communication module. After receiving the relative position calibration request of the control device, the reference device sends relative position calibration requests in different directions through its own multiple communication modules, and waits to receive feedback information from other terminal devices, so as to perform relative position calibration later. After receiving the relative position calibration request of the reference device, other terminal devices perform close-range communication with adjacent terminal devices through their own communication modules, and perform position calibration to obtain relative position information between themselves and adjacent terminal devices, and feed back the relative position information to the reference device through the communication module through the adjacent terminal devices of the reference device. The reference device receives the relative position information fed back by the adjacent terminal devices, and performs position calibration based on itself (i.e., the reference device) on all terminal devices in the combination device according to the received relative position information, obtains the target relative position information of all terminal devices in all combination devices and the reference device, and remotely sends the target relative position information of all terminal devices in the combination device and the reference device to the control device.

[0074] In this embodiment, the relative position information fed back by the adjacent terminal device of the reference device may be the relative position information of the adjacent terminal device and other terminal devices. In other embodiments, the relative position information fed back by the adjacent terminal device of the reference device may include the relative position information of the adjacent terminal device and the adjacent terminal device of the adjacent terminal device, that is, the relative position information of the adjacent terminal device itself, and the relative position information of other terminal devices sent by other terminal devices through the adjacent terminal device.

[0075] S22: The reference device performs relative position calibration according to the relative position information fed back by the adjacent terminal devices, until the target relative position information of all the terminal devices in the combined device and the reference device is obtained.

[0076] The reference device receives the relative position information fed back by its adjacent terminal device, and performs relative position calibration according to the relative position information fed back by its adjacent terminal device, so as to obtain the target relative position information of all terminal devices in the combined device and the reference device.

[0077] In this embodiment, the reference device initiates a relative position calibration request through the communication module, so that the adjacent terminal device responds to the relative position calibration request to perform relative position calibration and feedback relative position information, and then performs relative position calibration according to the relative position information feedback from the adjacent terminal device until the target relative position information of all terminal devices in the combined device and the reference device is obtained, and the specific process of the target relative position information is refined. The reference device only needs to communicate with the adjacent terminal device to traverse and obtain the relative position relationship between all terminal devices in the combined device and itself, which is simple and convenient.

[0078] In one embodiment, the multiple communication modules of the terminal device are all near field communication modules. In step S21, a relative position calibration request is initiated through the communication module, so that the adjacent terminal device responds to the relative position calibration request to perform relative position calibration and feedback relative position information, which specifically includes the following steps:

[0079] S211: The reference device initiates near field communication of a relative position calibration request through a near field communication module to form a near field communication link in the same direction through adjacent terminal devices, so that all terminal devices on the near field communication link perform relative position calibration to obtain relative position information.

[0080] S212: The reference device acquires the relative position information transmitted through the near field communication link through the adjacent terminal device, and obtains the relative position information fed back by the adjacent terminal device.

[0081] In this embodiment, multiple communication modules of the terminal device are all near-field communication modules. The reference device initiates near-field communication of a relative position calibration request through the near-field communication module to form multiple near-field communication links through adjacent terminal devices, so that all terminal devices on each near-field communication link can receive the relative position calibration request, and respond to the relative position calibration request to perform relative position calibration to obtain relative position information. Then, the reference device obtains the relative position information transmitted through each near-field communication link through the adjacent terminal device, and obtains the relative position information fed back by the adjacent terminal device. When device communication is performed through the near-field communication module, the positioning accuracy can be further improved. In addition, all terminal devices are positioned using a near-field communication link to ensure that all terminal devices can participate in positioning, reduce the risk of the device being too far away to receive the communication signal of the reference device, and improve the accuracy of relative positioning.

[0082] Among them, the relative position information fed back by the adjacent terminal device of the reference device can be the relative position information between the adjacent terminal device and other terminal devices. At this time, the relative position information of the adjacent terminal device and other terminal devices is obtained by the adjacent terminal device performing relative position calibration based on the relative position information fed back by its adjacent terminal device. That is, the relative position information of each terminal device in the near-field communication link is obtained by the terminal device performing relative position calibration based on the relative position information of the next terminal device in the near-field communication link. After the reference device receives the relative position information fed back by the adjacent terminal device, it only needs to identify the relative position relationship between all terminal devices and itself based on the relative position information between itself and the adjacent terminal device, and the relative position information between the adjacent terminal device and other terminal devices, and distribute the relative position relationship calculation amount to other terminal devices. It is only responsible for the final result and can retrieve the data calculation amount of the reference device.

[0083] For example, Figure 3 As shown, multiple terminal devices of the combined device 1 are arranged in a matrix manner, and the multiple terminal devices include device 1, device 2, device 3, device 4, device 5, device 6, device 7, device 8 and device 9, a total of 9 terminal devices. The 9 terminal devices are arranged in a matrix manner, with a total of three columns, and 3 terminal devices in each column; each device includes 4 communication modules, which are near field communication modules, namely NFC modules: U1, U2, U3 and U4, and a control module U5.

[0084] Among them, device 1 is the reference device designated by the control device. Before position calibration, the NFC module U1 flag of reference device 1 is 11, the NFC module U2 flag is 12, the NFC module U3 flag is 13, and the NFC module U4 flag is 14. At the same time, the position information of reference device 1 itself is defined as (1,1). When device 1 receives the relative position calibration request of the control device, the four NFC modules of device 1 communicate in four directions, the NFC module U1 of device 2 and the NFC module U3 of device 1 are paired for communication, the NFC module U1 of device 3 and the NFC module U3 of device 1 are paired for communication, and so on. That is, multiple near-field communication links can be formed through device 2, such as the near-field communication link formed by device 2, device 3 (or device 5), device 6, and device 9, or the near-field communication link formed by device 2, device 5, device 6 (or device 8), and device 6. By analogy, the NFC module U2 of device 4 and the NFC module U4 of device 1 are paired for communication, that is, multiple near-field communication links can be formed through device 4, such as a near-field communication link formed by device 4, device 5, device 8 (or device 6), and device 9, or a near-field communication link formed by device 4, device 7, device 8, and device 6. All terminal devices on the near-field communication link can receive the relative position calibration request, and respond to the relative position calibration request to perform relative position calibration to obtain relative position information.

[0085] In the near field communication link including device 2, the NFC module U5 of device 1 initiates a relative position calibration request to calibrate the relative position information, and can calibrate its own relative position information with the adjacent terminal device according to the pairing signal of the near field communication module, that is, obtain flag bits 110, 120, 131, and 141, where 110 indicates that there is no device in the direction of the NFC module U1 of device 1, 120 indicates that there is no device in the direction of the NFC module U2 of device 1, 131 indicates that there is a device in the direction of the NFC module U3 of device 1, and 141 indicates that there is a device in the direction of the NFC module U4 of device 1. Device 1 successfully communicates with device 2, and device 2 starts position information calibration. The NFC module U5 of device 2 obtains the relative position information between itself and the adjacent terminal device, that is, obtains the flag bits 211, 220, 231, and 241; at the same time, the flag bits are transmitted to the NFC module U5 of device 1 through the NFC module U1 of device 2 and the NFC module U3 of device 1, and device 1 re-calibrates the position to obtain new relative position information, that is, new flag bits 10, 20, 311, and 410; and so on until all devices in the near-field communication link are traversed. In the near-field communication link including device 4, device 1 successfully communicates with device 4, and device 4 starts position information calibration. The NFC module U5 of device 4 calibrates to obtain relative position information, that is, flag bits 410, 421, 431, and 441; at the same time, the flag bits are transmitted to the NFC module U5 of device 1 through the NFC module U2 of device 4 and the NFC module U4 of device 1, and device 1 re-calibrates the position to obtain new relative position information, that is, flag bits 10, 20, 311, and 411. Among them, 10 indicates that there is no device in the direction of NFC module U1 of device 1, 20 indicates that there is no device in the direction of NFC module U2 of device 1, 311 indicates that there are two devices in the direction of NFC module U3 of device 1, which are marked as device (1,2) and device (1,3), and 411 indicates that there are two devices in the direction of NFC module U4 of device 1, which are marked as device (2,1) and device (3,1). This method is repeated until all devices in the near field communication link are traversed, and the target relative position information of all terminal devices corresponding to the reference device (i.e., device 1) can be obtained. That is, the target relative position information includes the relative position information of 1-9 terminal devices, which are (1,1), (1,2), (1,3), (2,1), (2,2), (2,3), (3,1), (3,2), (3,3); finally, device 1 sends the position information to the control device (such as a lighting console), and the control device can control each device separately through the position information.

[0086] In this embodiment, the number and arrangement of terminal devices in the combination device are only exemplary. In other embodiments, the number and arrangement of terminal devices in the combination device may be other, and they may be arranged in other ways, which will not be described in detail here.

[0087] In other embodiments, the relative position information fed back by the adjacent terminal device of the reference device may include the relative position information of the adjacent terminal device and the adjacent terminal device of the adjacent terminal device, that is, the relative position information of the adjacent terminal device itself, and the relative position information of other terminal devices sent by other terminal devices through the adjacent terminal device. That is, all terminal devices in each near-field communication link determine the relative position information between themselves and the adjacent terminal devices according to the communication pairing signal of their own near-field communication module, and will not re-calibrate the position according to the relative position information fed back by their adjacent terminal devices; after calibrating and obtaining the relative position information between themselves and the adjacent terminal devices, each terminal device transmits its own relative position information and the relative position information of other terminal devices received to the reference device through the near-field communication module. The reference device calculates the relative position relationship between all terminal devices and itself according to the relative position information of each terminal device, and obtains the target relative position information of all terminal devices and the reference device.

[0088] In this embodiment, the reference device initiates near field communication of a relative position calibration request through a near field communication module to form a near field communication link in the same direction through adjacent terminal devices, so that all terminal devices on the near field communication link can perform relative position calibration to obtain relative position information; the relative position information transmitted through the near field communication link is obtained through the adjacent terminal device to obtain the relative position information fed back by the adjacent terminal device. When the devices communicate through the near field communication module, the positioning accuracy can be further improved. In addition, all terminal devices are positioned using a near field communication link to ensure that all terminal devices can participate in positioning, reduce the risk of the device being too far away to receive the communication signal of the reference device, and improve the accuracy of relative positioning.

[0089] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0090] In one embodiment, a terminal device is provided, which corresponds one-to-one to the positioning information determination method in the above embodiment. Figure 7 As shown, the terminal device includes a control module 701 and multiple communication modules 702, wherein the multiple communication modules include communication module 1 ... communication module n, where n is an integer greater than 1. The control module 701 is used to:

[0091] After receiving the relative position calibration request sent by the control device, the relative position calibration request is initiated through the communication module 703, so that the control module of the adjacent terminal device performs position calibration to obtain relative position information and feedback;

[0092] According to the relative position information fed back by the adjacent terminal devices, the target relative position information of all the terminal devices in the combined device and the reference device is determined.

[0093] Optionally, the control module 701 is further configured to:

[0094] The reference device initiates a relative position calibration request through the communication module, so that the adjacent terminal device responds to the relative position calibration request, performs relative position calibration and feeds back relative position information;

[0095] The reference device performs relative position calibration according to the relative position information fed back by the adjacent terminal devices until the target relative position information of all the terminal devices in the combined device and the reference device is obtained.

[0096] Optionally, the communication module is a near field communication module, and the control module 701 is further used for:

[0097] The reference device initiates near field communication of a relative position calibration request through a near field communication module to form a near field communication link in the same direction through adjacent terminal devices, so that all terminal devices on the near field communication link perform relative position calibration to obtain relative position information;

[0098] The reference device acquires the relative position information transmitted through the near field communication link through the adjacent terminal device, and obtains the relative position information fed back by the adjacent terminal device.

[0099] Optionally, the terminal device further includes a transmission module 703. After determining the target relative position information of all the terminal devices in the combined device and the reference device, the transmission module 703 is used to:

[0100] The target relative position information of all terminal devices in the combined device and the reference device is fed back to the control device that sends the relative position calibration request, so that the control device controls the terminal devices in the combined device according to the target relative position information.

[0101] In one embodiment, a control device is provided, which corresponds one-to-one to the positioning information determination method in the above embodiment. Figure 8 As shown, the control device includes a communication module 801 and a control module 802. Each functional module is described in detail as follows:

[0102] The communication module 801 is used to send a relative position calibration request to a reference device in a plurality of terminal devices, and receive target relative position information of all terminal devices and the reference device fed back by the reference device; wherein each terminal device has a plurality of communication modules, and the plurality of communication modules can respectively send signals in different directions; any two adjacent terminal devices can communicate and determine relative position information through corresponding communication modules, and after receiving the relative position calibration request, the reference device determines target relative position information of all terminal devices and the reference device in the combined device according to the relative position information of any two adjacent terminal devices and feeds back the information;

[0103] The control module 802 is used to control the terminal devices in the combined device according to the target relative position information of all the terminal devices in the combined device and the reference device.

[0104] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0105] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0106] The present application also provides an electronic device, such as Fig. 9 As shown, the electronic device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the above-mentioned method embodiments when executing the computer program, or implements the functions of the modules / units in the above-mentioned device embodiments when executing the computer program.

[0107] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program in the electronic device.

[0108] Those skilled in the art will understand that Fig. 9 These are merely examples of the electronic device and do not constitute a limitation of the electronic device. The electronic device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0109] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0110] The memory may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. The memory may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Furthermore, the memory may also include both an internal storage unit of the electronic device and an external storage device.

[0111] An embodiment of the present application further provides a readable storage medium, which stores a computer program. When the computer program is executed by a processor, it can implement the steps in the above-mentioned method embodiments or the functions of each device.

[0112] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments or the functions of each device when executing the computer program product.

[0113] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0114] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0115] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0116] In the embodiments provided in the present application, it should be understood that the disclosed devices / equipment and methods can be implemented in other ways. For example, the device / equipment embodiments described above are merely schematic, for example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0117] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0118] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for determining location information, characterized in that: Applied to multiple terminal devices, each of the terminal devices has multiple communication modules, and the multiple communication modules can send signals in different directions respectively; any two adjacent terminal devices can communicate through the corresponding communication modules and determine relative position information; the method includes: When a reference device among the plurality of terminal devices receives a relative position calibration request from a control device, the reference device determines target relative position information of all the terminal devices in the combined device and the reference device based on the relative position information of any two adjacent terminal devices.

2. The method for determining location information according to claim 1, wherein: The step of determining target relative position information of all the terminal devices in the combined device and the reference device according to the relative position information of any two adjacent terminal devices includes: The reference device initiates the relative position calibration request through the communication module, so that the adjacent terminal device responds to the relative position calibration request, performs relative position calibration and feeds back relative position information; The reference device performs relative position calibration according to the relative position information fed back by the adjacent terminal device until the target relative position information of all the terminal devices in the combined device and the reference device is obtained.

3. The method for determining location information according to claim 2, wherein: The communication module is a near field communication module, and the relative position calibration request is initiated through the communication module so that the adjacent terminal device responds to the relative position calibration request to perform relative position calibration and feed back relative position information, including: The reference device initiates near field communication of the relative position calibration request through the near field communication module to form a plurality of near field communication links through the adjacent terminal devices, so that all the terminal devices on each of the near field communication links perform relative position calibration to obtain the relative position information; The reference device acquires the relative position information transmitted through each of the near field communication links through the adjacent terminal devices, and obtains the relative position information fed back by the adjacent terminal devices.

4. The method for determining location information according to any one of claims 1 to 3, characterized in that: After determining the target relative position information of all the terminal devices in the combined device and the reference device, the method further includes: The reference device feeds back the target relative position information of all the terminal devices in the combination device to the control device that sends the relative position calibration request, so that the control device controls the terminal devices in the combination device according to the target relative position information.

5. A method for determining location information, characterized in that: Applied to control equipment in an equipment control system, each terminal device in the equipment control system has multiple communication modules, and the multiple communication modules can send signals in different directions respectively; any two adjacent terminal devices can communicate through the corresponding communication modules and determine relative position information; the method includes: Sending a relative position calibration request to a reference device in the plurality of terminal devices, so that the reference device determines and feeds back target relative position information of all the terminal devices and the reference device in the combination device according to the relative position information of any two adjacent terminal devices; Receive the target relative position information of all the terminal devices and the reference device fed back by the reference device.

6. A terminal device, characterized in that: It includes a control module and multiple communication modules, wherein the multiple communication modules can send signals to different directions respectively, and the control module is used for: After receiving the relative position calibration request sent by the control device, the relative position calibration request is initiated through the communication module, so that the control module of the adjacent terminal device performs position calibration to obtain relative position information and feedback; According to the relative position information fed back by the adjacent terminal devices, the target relative position information of all the terminal devices in the combined device and the reference device is determined.

7. A combined device, characterized in that: It includes a plurality of terminal devices, each of which has a control module and a plurality of communication modules, and each of the communication modules can send signals in different directions respectively; Any two adjacent terminal devices can communicate and determine relative position information through the corresponding communication module, and the control module determines the target relative position information of all the terminal devices in the combined device based on the relative position information of any two adjacent terminal devices.

8. A control system based on relative position, characterized in that: The method comprises at least one combined device, wherein the combined device comprises a plurality of terminal devices, each of the terminal devices has a plurality of communication modules, and the plurality of communication modules can respectively send signals in different directions; any two adjacent terminal devices can communicate through the corresponding communication modules and determine relative position information; There is a reference device for the plurality of terminal devices. After receiving a relative position calibration request from a control device, the reference device determines the target relative position information of all the terminal devices in the combination device and the reference device based on the relative position information of any two adjacent terminal devices.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps in the method for determining position information according to any one of claims 1 to 5, or the functions of each device are implemented.

10. A readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps in the method for determining position information according to any one of claims 1 to 5, or the functions of each device are implemented.

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