Equipment pointing control method and system

Abstract

The embodiment of the invention discloses an equipment pointing control method and system. The method comprises the following steps: in response to a gesture action of a user, sending a UWB signal to each UWB anchor point, and receiving signal arrival time recorded by each UWB anchor point; determining target position information of the control terminal in the three-dimensional space based on the signal arrival time and a preset positioning algorithm; determining signal parameter information from the target equipment to the control terminal when the control terminal points to the target equipment, and locking the pointed target equipment based on the target position information and the signal parameter information; and determining gesture motion track information based on the acquired acceleration data, and matching a control instruction based on the gesture motion track information and a preset track template so as to send a corresponding control instruction to the target equipment. According to the technical scheme, the pointing accuracy and the pointing success rate of the equipment can be improved, and centimeter-level precision non-inductive control is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of Internet of Things control, and in particular to a device pointing control method and system. BACKGROUND

[0002] With the rapid development of Internet of Things and intelligent technology, more and more devices can be intelligent and interconnected, such as televisions, curtains, cameras, drones, game consoles, etc. Users can control the devices through remote controllers, mobile phones, etc. For the control of the above-mentioned related devices, in the prior art, traditional gesture recognition is usually used, which relies on visual sensors (such as cameras, infrared), and this method has the following disadvantages: 1) greatly affected by light and obstruction; 2) complex calculation and poor privacy; 3) insufficient pointing accuracy: large error in Bluetooth / WI-FI positioning; 4) complicated interaction logic: need to select a device first and then operate, and cannot execute multiple device instructions synchronously. SUMMARY

[0003] Therefore, the present application provides a device pointing control method and system, and at least one embodiment can solve the technical problems of low accuracy and low success rate of device pointing.

[0004] According to an aspect of the present application, the present application embodiment provides a device pointing control method applied to a control terminal in a device pointing control system, the device pointing control system comprising: at least three UWB anchor points, a control terminal and a target device; correspondingly, the device pointing control method comprises:

[0005] In response to a gesture action of a user, sending a UWB signal to each of the UWB anchor points and receiving a signal arrival time recorded by each of the UWB anchor points;

[0006] Determining target position information of the control terminal in a three-dimensional space based on the signal arrival time and a preset positioning algorithm;

[0007] Determining signal parameter information of the target device to the control terminal when the control terminal points to the target device, and locking the pointed target device based on the target position information and the signal parameter information;

[0008] Obtaining recorded motion data of the control terminal, determining gesture motion trajectory information based on the motion data, and matching a control instruction based on the gesture motion trajectory information and a preset trajectory template to send a corresponding control instruction to the target device.

[0009] According to another aspect of the present application, the present application embodiment further provides a device pointing control system, the device pointing control system comprising: at least three UWB anchor points, a control terminal and a target device;

[0010] The at least three UWB anchor points are configured to respectively send corresponding signal arrival times to the control terminal when receiving the UWB signal sent by the control terminal.

[0011] The control terminal is configured to perform the device pointing control method according to any of the embodiments of the present application.

[0012] The target device is configured to receive the control instruction sent by the control terminal.

[0013] The above technical solution of the embodiment of the present application determines the target position information of the control terminal in the three-dimensional space through the signal arrival time and the preset positioning algorithm, so as to perform spatial positioning on the control terminal, then determines the signal parameter information from the target device to the control terminal when the control terminal points to the target device, and locks the pointed target device based on the target position information and the signal parameter information, thereby improving the locking precision of the target device. On this basis, the gesture motion trajectory information is determined based on the obtained acceleration data, and the control instruction is matched based on the gesture motion trajectory information and the preset trajectory template, so as to send the corresponding control instruction to the target device, which can improve the accuracy and success rate of device pointing, and realizes the non-sensing control with centimeter-level precision.

[0014] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0016] Figure 1 A flowchart of a device pointing control method provided by an embodiment of the present application;

[0017] Figure 2 A deployment topology diagram of a UWB anchor point provided by an embodiment of the present application;

[0018] Figure 3 A circuit implementation flowchart of dynamic power adjustment provided by an embodiment of the present application;

[0019] Figure 4 A circuit structure diagram of dynamic power adjustment provided by an embodiment of the present application;

[0020] Figure 5 A flowchart of another device pointing control method provided in an embodiment of the present invention;

[0021] Figure 6 This is a schematic diagram of another device pointing control process provided in an embodiment of the present invention;

[0022] Figure 7 This is a structural block diagram of a device pointing control system provided in an embodiment of the present invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] In one embodiment, Figure 1 This is a flowchart of a device pointing control method provided in an embodiment of the present invention. This embodiment can be applied to the situation of device pointing control of smart home and related devices. The method can be executed by the control terminal in the device pointing control system. The control terminal in the device pointing control system can include, but is not limited to, various types of smart terminal devices such as watches and bracelets.

[0026] like Figure 1 As shown, a control terminal is applied in a device pointing control system, which includes at least three UWB anchor points, the control terminal, and the target device; correspondingly, the device pointing control method specifically includes the following steps:

[0027] S110, in response to the gesture action of the user, sending a UWB signal to each UWB anchor point, and receiving the signal arrival time recorded by each UWB anchor point.

[0028] The signal arrival time can be understood as the time when the UWB signal arrives at each UWB anchor point. In this embodiment, the control terminal sends an ultra-wideband (UWB) signal to all anchor points. Due to the different distances between the anchor points and the control terminal, the time of receiving the UWB signal is different. Therefore, each anchor point will record the corresponding signal arrival time of the UWB signal when receiving the UWB signal.

[0029] In this embodiment, since the pointing control system includes multiple UWB anchor points, when deploying the positions of the UWB anchor points, the multiple UWB anchor points have a certain height difference. It can be understood that the height between each two anchor points needs to be greater than a preset height requirement, so that a certain topological structure can be formed between each anchor point. For example, when deploying the UWB anchor points, three anchor points are selected, and the height difference between each anchor point is greater than 50 cm to form a triangular topological structure. In this embodiment, in order to better understand the deployment of multiple UWB anchor points, Figure 2 A deployment topological structure diagram of a UWB anchor point is provided for an embodiment of the present application. As shown in Figure 2 The three UWB anchor points deployed in the detection area are A1, A2 and A3, and the height difference between the anchor points is greater than 50 cm, forming an inverted triangular topological structure.

[0030] In this embodiment, the user carries the control terminal (for example, a smart terminal device such as a watch or a bracelet supporting UWB) into the smart home scene. Since the control terminal integrates a UWB communication module, an array antenna, an acceleration sensor, a gyroscope and a microcontroller (MCU), when the user raises his hand, the gyroscope in the control terminal can detect the angle of the wrist upward and the corresponding duration. At this time, the UWB communication module can be activated based on the user's actions, so that the control terminal sends corresponding UWB signals to each anchor point. Each UWB anchor point records the corresponding signal arrival time after receiving the UWB signal, and then returns the corresponding signal arrival time to the control terminal, so that the control terminal can receive the response signal from each anchor point, i.e. the signal arrival time corresponding to each anchor point.

[0031] S120, determining the target position information of the control terminal in the three-dimensional space based on the signal arrival time and a preset positioning algorithm.

[0032] The preset positioning algorithm is a positioning algorithm for positioning the terminal position, and can include but is not limited to a combined positioning algorithm of a time difference of arrival (TDOA) algorithm and a phase difference of arrival (PDOA) algorithm, and a positioning algorithm combining the TDOA algorithm and a time of flight (TOF) algorithm. The target position information is a position coordinate of the control terminal determined by positioning, which represents the coordinate information of the control terminal in a three-dimensional space.

[0033] In this embodiment, the TDOA algorithm determines the position of the signal source by measuring the time difference of the same signal arriving at multiple different receivers. The PDOA algorithm calculates an extremely accurate time difference of arrival (TDOA) by measuring the carrier phase difference generated when the same frequency signal arrives at two receivers, thereby positioning. The TOF algorithm is a direct measurement of the total time taken by a signal (light, radio wave or sound wave) from a transmitter to a target and then returning to a receiver. Since the propagation speed of the signal is known, the accurate distance can be calculated from this time.

[0034] In this embodiment, the target position information of the control terminal in the three-dimensional space can be obtained by the signal arrival time and the preset positioning algorithm. In some embodiments, the distance difference between the control terminal and each UWB anchor point can be determined by the signal arrival time and the TDOA algorithm, and the corresponding distance difference is obtained. Then, the initial position information of the control terminal in the three-dimensional space is determined according to the distance difference. Since the initial position information may not be accurate, the initial position information can be corrected by the preset PDOA algorithm to obtain the target position information of the control terminal. In other embodiments, the initial position information of the control terminal in the three-dimensional space can be determined in the same way as described above. Then, the spatial position information of each UWB anchor point is obtained, and the distance information between the spatial position information of each UWB anchor point and the initial position information of the control terminal in the three-dimensional space is determined. On this basis, the distance information from the target device to each UWB anchor point is determined by the TOF algorithm. Thus, the initial position information is corrected by the two distance information obtained above to obtain the target position information. Of course, the target position information of the control terminal in the three-dimensional space can also be determined by other ways, which are not limited in this embodiment.

[0035] S130, when the control terminal points to the target device, the signal parameter information from the target device to the control terminal is determined, and the target device pointed to is locked based on the target position information and the signal parameter information.

[0036] The target device can include, but is not limited to, a living room light, an air conditioner, a security control, a smart lamp, and the like in a smart home scene. The signal parameter information can include a signal strength between the target device and the control terminal and an angle of arrival, wherein the signal strength is a signal strength value between the two, and the larger the value, the stronger the corresponding signal; on the contrary, the smaller the value, the weaker the corresponding signal; and the angle of arrival can represent the direction of the signal.

[0037] In this embodiment, when the control terminal points to the target device, the signal parameter information such as the angle of arrival and the signal strength is calculated, and the direction of the target device relative to the control terminal is calculated by analyzing the signal from the target device. It can be understood that when the control terminal points to a specific target device, the angle of arrival of the target device to the control device is calculated, and the control terminal detects the signal strength value of the target device, so as to take the angle of arrival and the signal strength value as the signal parameter information. In this embodiment, after obtaining the signal parameter information and the position information of the control terminal in the three-dimensional space, the target device can be locked through multiple mechanisms. In some embodiments, when the user points to a device, the angle of arrival (AOA) + signal strength (RSSI) threshold is calculated, and the position information of the control device in the three-dimensional space is combined to correct the accuracy of pointing to the target device. Specifically, whether the target device pointed to by the control terminal is in the expected direction can be determined by the angle of arrival and a preset angle of arrival threshold to lock the pointed target device, then whether the target device pointed to by the control terminal is in the expected direction can be determined by the signal strength and a preset signal strength threshold to lock the pointed target device, the angle of arrival is corrected based on the target position information to obtain a corrected target angle of arrival, the signal strength is corrected based on the target position information to obtain a corrected target signal strength, and the pointed target device is locked according to the target position information, the target angle of arrival, and the target signal strength, which is not limited in this embodiment.

[0038] S140, acquiring the recorded motion data of the control terminal, determining gesture motion trajectory information based on the motion data, and matching a control instruction based on the gesture motion trajectory information and a preset trajectory template to send a corresponding control instruction to the target device.

[0039] The recorded motion data of the control terminal can include, but is not limited to, acceleration data of an accelerometer in the control terminal and three-axis angular velocity data of a gyroscope. The acceleration data is acceleration, deceleration, and other motion data of the control terminal recorded by a three-axis accelerometer in the control terminal in real time. The gesture motion trajectory information can be understood as a gesture operation performed by the user wearing the control terminal, which causes the control terminal to record motion data, thereby obtaining a gesture motion trajectory point of the user. The preset trajectory template can include, but is not limited to, a trajectory template pre-described for different gestures such as a clockwise circle, a counterclockwise circle, and a horizontal left line. Of course, the pre-described trajectory template can be user-defined or a trajectory operated by the user when controlling the smart home device in the past. This embodiment does not make specific limitations here.

[0040] In this embodiment, because the length of each arm and the amplitude of the motion are different, the user can define the sensitivity and recognition range of the motion when defining the user-defined trajectory template according to the length of the arm and the amplitude of the motion, such as the radius range of the circle and the amplitude of the horizontal sliding. It can be understood that dynamic radius and adaptive acceleration threshold can be introduced to realize user gesture customization.

[0041] It should be noted that the preset trajectory template can include gestures, corresponding recognition logic of the gestures, and control instructions corresponding to the recognition logic, respectively. It can be understood that the gestures, the recognition logic, and the control instructions are in a one-to-one correspondence.

[0042] In this embodiment, in the scenario of controlling the smart home device by the user wearing a smart control device such as a watch, when the user performs a certain control instruction on the control target device, the user will first perform some action gestures (for example, a counterclockwise vertical circle), and then the accelerometer and the gyroscope in the control terminal will collect the acceleration and gyroscope data in this period of time to determine the gesture motion trajectory information. Of course, in addition to the above control instruction sending logic, other control instruction logics of the smart home device in the prior art can also be used, and this embodiment does not make limitations here. In some embodiments, the gesture motion trajectory information can be matched with the preset trajectory template to obtain a matching result, and a control instruction corresponding to the gesture motion trajectory information is sent to the target device according to the matching result.

[0043] The technical scheme of the embodiment of the present application determines the target position information of the control terminal in the three-dimensional space through the signal arrival time and the preset positioning algorithm, to position the control terminal in space, and then determines the signal parameter information of the target device to the control terminal when the control terminal points to the target device, and locks the pointed target device based on the target position information and the signal parameter information, to improve the locking precision of the target device. On this basis, the gesture motion track information is determined based on the obtained acceleration data, and the control instruction is matched based on the gesture motion track information and the preset track template, to send the corresponding control instruction to the target device, so as to improve the pointing precision and the pointing success rate of the device, and to realize the centimeter-level precision non-sensing control.

[0044] In an embodiment, the control terminal is built-in with a dynamic power adjustment circuit; and the device pointing control method further comprises:

[0045] The transmission power is automatically adjusted according to the distance from the target device.

[0046] In the embodiment, the control terminal is built-in with a dynamic power adjustment circuit, and the control terminal can automatically adjust the transmission power according to the distance from the target device. Specifically, the corresponding distance limit can be set, and the corresponding transmission power is set when each set distance limit is reached, to adaptively adjust the transmission power, so that the low-power-consumption hardware architecture is adapted to the home scene.

[0047] In an embodiment, the transmission power is automatically adjusted according to the distance from the target device, comprising:

[0048] When the distance is less than or equal to a first preset distance, the signal is transmitted using a first transmission power; when the distance is greater than the first preset distance and less than a second preset distance, the signal is adaptively transmitted using a dynamic transmission power; and when the distance is greater than or equal to the second preset distance, the signal is transmitted using a second transmission power.

[0049] In the embodiment, the first preset distance is less than the second preset distance; the second preset distance is less than a third preset distance; the first transmission power is less than the dynamic transmission power; and the dynamic transmission power is less than the second transmission power. The dynamic transmission power in the embodiment is a dynamic adjustment form of adaptively adjusting the transmission power according to the current distance, rather than a fixed transmission power.

[0050] In the embodiment, when the distance is less than or equal to the first preset distance, the signal is transmitted by using the first transmission power; when the distance is greater than the first preset distance and less than a second preset distance, the signal is adaptively transmitted by using the dynamic transmission power; and when the distance is greater than or equal to the second preset distance, the signal is transmitted by using the second transmission power. For example, the first preset distance is 1 m, the second preset distance is 1-5 m, and the third preset distance is greater than 5 m. In this case, the signal is transmitted by using the lowest power in the near distance (less than or equal to 1 m) to avoid radiation waste; the signal is adaptively transmitted by using the dynamic power in the middle distance (1-5 m); and the signal is transmitted by using the full power in the far distance (greater than 5 m) to maintain the communication.

[0051] In the embodiment, the low-power consumption structure design and the process of dynamic power adjustment are better understood. Figure 3 A circuit implementation flowchart of dynamic power adjustment is provided for an embodiment of the application. Figure 4 A circuit structure diagram of dynamic power adjustment is provided for an embodiment of the application. In the embodiment, since the UWB signal attenuation is proportional to the square of the distance, the path loss is compensated to ensure the signal stability. The signal is transmitted by using the lowest power in the near distance (less than or equal to 1 m) to avoid radiation waste; the signal is adaptively transmitted by using the dynamic power in the middle distance (1-5 m). In the formula, represents the path loss at the distance d; represents the lowest power; represents the path loss constant term (the path loss value under the reference distance, unit: dB); represents the distance-related attenuation (n=2.7-3.5 conforms to the indoor multipath environment); d is the distance between the control terminal and the device, and the maximum power is used when the distance is greater than 5 m; represents the shadow fading margin (0.8-1.2). The signal is transmitted by using the full power in the far distance (greater than 5 m) to maintain the communication.

[0052] In an embodiment, Figure 5 A flowchart of another device pointing control method is provided for an embodiment of the application. Based on the signal arrival time and the preset positioning algorithm, the target position information of the control terminal in the three-dimensional space is determined; based on the target position information and the signal parameter information, the target device pointed to is locked; and based on the gesture motion trajectory information and the preset trajectory template matching control instruction, the corresponding control instruction is sent to the target device for further refinement.

[0053] As shown in FIG. 13, Figure 5 The device pointing control method in the embodiment can specifically include the following steps:

[0054] S510, in response to the gesture action of the user, sending a UWB signal to each UWB anchor point, and receiving the signal arrival time recorded by each UWB anchor point.

[0055] S520, determining the distance difference between the control terminal and each UWB anchor point according to the signal arrival time and the preset time difference of arrival (TDOA) algorithm.

[0056] In the embodiment, the distance difference between the control terminal and each UWB anchor point can be calculated by the signal arrival time recorded by each UWB anchor point and the preset time difference of arrival (TDOA) algorithm. Specifically, the arrival time difference between each UWB anchor point and the control device can be calculated first, and then the distance difference between the control terminal and each UWB anchor point is determined according to the arrival time difference.

[0057] In an embodiment, determining the distance difference between the control terminal and each UWB anchor point according to the signal arrival time and the preset time difference of arrival (TDOA) algorithm comprises: determining the arrival time difference between each UWB anchor point and the control device according to the signal arrival time; and determining the distance difference between the control terminal and each UWB anchor point according to the arrival time difference.

[0058] In the embodiment, the arrival time difference between each anchor point and the control device is determined first according to the signal arrival time, and on this basis, the distance difference between the control terminal and each UWB anchor point is determined. Specifically, assuming that each anchor point records the arrival time after receiving the signal (where i=1, 2, 3 represents different anchor points), the arrival time difference is: , and , in which, represents the time difference between the device receiving two different anchor points (anchor point i and anchor point j, i≠j). At this time, the corresponding distance difference can be represented as: , and , in which c represents the speed of light, represents the distance difference between the control terminal and anchor point i and anchor point j.

[0059] S530, obtaining the spatial position information preset by each UWB anchor point, and determining the initial position information of the control terminal in the three-dimensional space according to the distance difference, the spatial position information and the least squares method.

[0060] The least squares method is a mathematical optimization technique in the prior art, also known as the least squares method, which finds the best function matching of data by minimizing the sum of squares of errors, and is used for parameter estimation and curve fitting. The embodiment will not be explained and described too much.

[0061] In this embodiment, after obtaining the distance difference between the control terminal and each UWB anchor point, the spatial position coordinates set by each anchor point can be obtained, for example, , , wherein P1 represents the spatial position coordinates of the first anchor point; P2 represents the spatial position coordinates of the first anchor point; P3 represents the spatial position coordinates of the first anchor point; the initial position information of the control terminal in the three-dimensional space is taken as an unknown quantity, and an equation is constructed by the spatial position coordinates, the initial position information and the distance difference, so as to solve the constructed equation by the least square method, thereby obtaining the initial position information of the control terminal in the three-dimensional space. Exemplarily, ; ; wherein, is the distance difference between the control terminal and the anchor point 1 and the anchor point 2; is the distance difference between the control terminal and the anchor point 1 and the anchor point 3; , , wherein P1 represents the spatial position coordinates of the first anchor point; P2 represents the spatial position coordinates of the second anchor point; P3 represents the spatial position coordinates of the third anchor point; the initial position information of the control terminal in the three-dimensional space is (x, y, z); first, the target position is calculated by the least square algorithm through the closed-form solution method, and then the rationality of the obtained three-dimensional coordinates is checked, and finally the initial position information (x, y, z) is output, that is, the initial position information of the control terminal in the three-dimensional space is (x, y, z).

[0062] S540, position correction is performed on the initial position information based on a preset PDOA algorithm, to obtain a first modified coordinate of the control terminal in the three-dimensional space after position correction, and the first modified coordinate is taken as the target position information.

[0063] wherein the first modified coordinate is a modified coordinate obtained by performing coordinate correction on the initial position information.

[0064] In this embodiment, the initial position information can be position-corrected by a PDOA algorithm to obtain a modified coordinate of the control terminal in the three-dimensional space after position correction. The PDOA algorithm can optimize the phase difference processing, thereby optimizing the initial position. Specifically, the theoretical phase difference of each pair of UWB anchor points to the target device can be obtained by estimating the distance from the spatial position information of each anchor point to the initial position information, and on this basis, the geometric coefficients corresponding to each pair of UWB anchor points are determined by the actual phase difference and the theoretical phase difference, and then a corresponding matrix equation is constructed, thereby correcting the initial position.

[0065] In an embodiment, the initial position information is positionally corrected based on a preset PDOA algorithm to obtain a first corrected coordinate of the control terminal in a three-dimensional coordinate space, including:

[0066] determining an estimated distance from the spatial position information of each anchor point to the initial position information;

[0067] determining a theoretical phase difference of each pair of UWB anchor points to the target device according to the estimated distance;

[0068] obtaining an actual phase difference, and determining an integer ambiguity according to the actual phase difference and the theoretical phase difference;

[0069] determining a geometric coefficient corresponding to each pair of UWB anchor points according to the integer ambiguity;

[0070] determining a distance difference measurement value without ambiguity according to the integer ambiguity;

[0071] determining a first residual error vector of each pair of UWB anchor points according to the distance difference measurement value;

[0072] constructing a first matrix equation according to the geometric coefficient and the first residual error vector, and solving the first matrix equation to obtain a first coordinate correction amount;

[0073] performing initial position correction on the initial position information according to the first coordinate correction amount to obtain an initial corrected coordinate;

[0074] performing secondary correction on the initial corrected coordinate according to the acceleration data and the displacement data of the control terminal to obtain a first corrected coordinate of the control terminal in the three-dimensional space.

[0075] In this embodiment, when performing position correction on the initial position information, an estimated distance from the spatial position information of each anchor point to the initial position information needs to be determined. For example, the estimated distance can be represented by the following formula: ; in the formula, represents the estimated distance from the i-th anchor point to the initial position information of the control terminal; is the pre-set spatial position information of anchor point i; i=1, 2, 3 is an anchor point; (x, y, z) is the initial position information. Then, the theoretical phase difference of each pair of UWB anchor points (anchor point (i, j)) to the target device is calculated according to the estimated distance obtained above. For example, the calculation of the theoretical phase difference can be represented by the following formula: ; in the formula, represents the predicted phase difference of anchor point i and anchor point j to the device, i.e., the theoretical phase difference; represents the carrier wavelength, represents the estimated distance from the ith anchor point to the initial coordinate of the control terminal; represents the estimated distance from the jth anchor point to the initial coordinate of the control terminal, i and j are not equal. After obtaining the theoretical phase difference, the actual phase difference is obtained, and the integer ambiguity is determined according to the actual phase difference and the theoretical phase difference. The calculation formula of the integer ambiguity in the embodiment can be represented as: ; in the formula, the rounding function, represents the predicted phase difference of the anchor point i and the anchor point j to the device, that is, the theoretical phase difference; represents the actual phase difference of the anchor point i and the anchor point j to the device.

[0076] In the embodiment, the geometric coefficient corresponding to each UWB anchor point pair can be determined by the integer ambiguity, the distance difference measurement value without ambiguity is determined according to the integer ambiguity, the first residual vector of each UWB anchor point pair is determined according to the distance difference measurement value, the first matrix equation is constructed according to the geometric coefficient and the first residual vector, and the first matrix equation is solved to obtain the first coordinate correction amount. The initial position information is corrected according to the initial position correction amount to obtain the initial corrected coordinate. The initial corrected coordinate is corrected again according to the acceleration data and the displacement data of the control terminal to obtain the first corrected coordinate of the control terminal in the three-dimensional space. More specifically, the distance difference measurement value without ambiguity can be represented by the formula: ; in the formula, , respectively represent the distance of the target device to the anchor points i and j, represents the carrier wavelength; represents the integer ambiguity; represents the actual phase difference, that is, the measured phase difference. The geometric coefficient of the anchor point pair can be represented by the formula ; ; ; in the formula, represents the geometric coefficient of the anchor point pair i and j in the x-axis; represents the geometric coefficient of the anchor point pair i and j in the y-axis; represents the geometric coefficient of the anchor point pair i and j in the z-axis; represents the estimated distance from the ith anchor point to the initial coordinate of the control terminal, represents the estimated distance from the jth anchor point to the initial coordinate of the control terminal, i and j are not equal; represents the spatial position information preset by the anchor point i; i=1, 2, 3 is the anchor point; (x, y, z) is the initial position information. The first matrix equation can be represented by the formula , in which each row of H is the geometric coefficient of an anchor point pair ; is expressed as a position correction vector to be solved ; D is expressed as a residual vector ; wherein the residual vector can be solved by ; the solution of the equation is the correction (i.e. the first coordinate correction mentioned above) , , , the corrected coordinate is the initial correction coordinate mentioned above.

[0077] In this embodiment, when the corrected coordinate is corrected, the initial correction coordinate is corrected again according to the acceleration data and displacement data of the control terminal, and the first correction coordinate of the control terminal in the three-dimensional space is obtained. Specifically, the acceleration is obtained first and the gravity is compensated, which can be expressed as , wherein respectively represent the acceleration of the x-axis, the y-axis and the z-axis, and 9.8 is the compensation gravity of the z-axis gravity acceleration; then the displacement is calculated by the acceleration, which can include: ; ; ; in the formula, represents the sampling time, in seconds; respectively represent the x-axis displacement, the y-axis displacement and the z-axis displacement; the formula of the correction coordinate is ; ; .

[0078] S550, according to the signal arrival time and the preset arrival time TDOA algorithm, the distance difference between the control terminal and each UWB anchor point is determined.

[0079] S560, the spatial position information of each UWB anchor point is obtained, and the initial position information of the control terminal in the three-dimensional space is determined according to the distance difference, the spatial position information and the least square method.

[0080] S570, the first distance information between the spatial position information of each UWB anchor point and the initial position information is determined.

[0081] In this embodiment, the spatial position information of each UWB anchor point is the spatial position coordinate of each anchor point set in advance. In the case where the spatial position information of each UWB anchor point and the initial position information are known, the first distance information between the two positions can be calculated. Specifically, it can be expressed by the formula: ; in the formula, (x, y, z) is the initial position information obtained by geometric positioning; the spatial position information set in advance by anchor point i; i=1, 2, 3 is the anchor point.

[0082] S580, determine the second distance information of the target device to each UWB anchor point according to the preset time of flight TOF algorithm.

[0083] In this embodiment, the second distance information of the target device to each UWB anchor point is determined by the time of flight TOF algorithm, and the calculation formula can be represented as ; In the formula, c represents the speed of light, and t represents the time of flight.

[0084] S590, construct the second residual vector corresponding to the control terminal according to the first distance information and the second distance information.

[0085] In this embodiment, the second residual vector corresponding to the control terminal is constructed according to the first distance information and the second distance information. Assuming that there are 3 anchor points, the second residual vector can be represented by the formula ; In the formula, represents the distance information of the target device to the first UWB anchor point; represents the distance information of the target device to the second UWB anchor point; represents the distance information of the target device to the third UWB anchor point; represents the distance information between the spatial position information of each UWB anchor point and the initial position information; i=1, 2, 3.

[0086] S5100, construct a second matrix equation according to the second residual vector, and solve the second matrix equation to obtain the second coordinate correction amount corresponding to the control terminal.

[0087] In this embodiment, a second matrix equation is constructed according to the second residual vector, and the second coordinate correction amount corresponding to the control terminal is obtained by solving the second matrix equation; specifically, the second matrix equation is represented as ; Wherein, ; ; That is, the formula for solving the second coordinate correction amount can be represented as , and the correction amount is obtained by solving .

[0088] S5110, position correction is performed on the initial position information according to the second coordinate correction amount, to obtain a second corrected coordinate after position correction, and the second corrected coordinate is taken as the target position information.

[0089] In this embodiment, position correction is performed on the initial position information according to the second coordinate correction amount, to obtain a second corrected coordinate after position correction, and the second corrected coordinate is taken as the target position information. Exemplarily, the corrected coordinate .

[0090] It should be noted that the execution processes of steps S520 to S540 and steps S550 to S5110 are parallel schemes.

[0091] S5120, determining whether the target device pointed by the control terminal is in the expected direction according to the arrival angle and a preset arrival angle threshold, to lock the pointed target device.

[0092] The preset arrival angle threshold is a threshold of the arrival angle defined by the user according to experience, experiment or requirement, which is not specifically limited in this embodiment.

[0093] In this embodiment, the pointed target device can be locked by determining whether the target device pointed by the control terminal is in the expected direction according to the arrival angle and the preset arrival angle threshold. Specifically, if the arrival angle is less than the preset arrival angle threshold, it is determined that the target device pointed by the control terminal is in the expected direction; if the arrival angle is greater than or equal to the preset arrival angle threshold, it is determined that the target device pointed by the control terminal is not in the expected direction. For example, the preset arrival angle threshold is 10 degrees, and the arrival angle is less than 10 degrees. The target device pointed by the control terminal is considered to be in the expected direction.

[0094] S5130, determining whether the target device pointed by the control terminal is in the expected direction according to the signal strength and a preset signal strength threshold, to lock the pointed target device.

[0095] The preset signal strength threshold is also a threshold of the signal strength defined by the user according to experience, experiment or requirement, which is not specifically limited in this embodiment. For example, the RSSI is greater than -70 dBm.

[0096] In this embodiment, the pointed target device can be locked by determining whether the target device pointed by the control terminal is in the expected direction according to the signal strength and the preset signal strength threshold. Specifically, if the signal strength does not exceed the preset signal strength threshold, it is determined that the target device pointed by the control terminal is in the expected direction; if the signal strength exceeds the preset signal strength threshold, it is determined that the target device pointed by the control terminal is not in the expected direction.

[0097] S5140, determining whether the target position information is in a preset range, to lock the pointed target device.

[0098] The preset range is a range defined by the user, and the pointed target device can be locked by determining whether the target position information is in the preset range.

[0099] Specifically, the target position information in the preset range can directly lock the pointed target device. ​​

[0100] S5150, correct the angle of arrival based on the target position information to obtain a corrected target angle of arrival, correct the signal strength based on the target position information to obtain a corrected target signal strength, and lock the target device pointed to according to the target position information, the target angle of arrival and the target signal strength.

[0101] In this embodiment, the angle of arrival and the signal strength are respectively corrected based on the target position information to obtain a corrected target angle of arrival and a corrected target signal strength. Specifically, when correcting the angle of arrival, the relative position information is determined through the coordinate information of the target device and the target position information, and then the theoretical angle of arrival value is determined through the relative position information, so that the corrected target angle of arrival is obtained through the theoretical angle of arrival value and the actual angle of arrival value. When correcting the signal strength, the theoretical distance is determined through the coordinate information of the target device and the target position information, and then the theoretical value of the signal strength is determined according to the theoretical distance, so that the corrected target signal strength is obtained through the theoretical value of the signal strength and the actual value of the signal strength.

[0102] In an embodiment, the angle of arrival is corrected based on the target position information to obtain a corrected target angle of arrival, including: obtaining coordinate information of the target device; determining relative position information according to the coordinate information of the target device and the target position information; determining a theoretical angle of arrival value according to the relative position information; obtaining an actual angle of arrival value, and determining an angle of arrival difference value according to the actual angle of arrival value and the theoretical angle of arrival value; obtaining a corrected angle of arrival value according to the angle of arrival difference value and the actual angle of arrival value, and taking the corrected angle of arrival value as the target angle of arrival.

[0103] Wherein, the relative position information represents the position offset of the target device relative to the control terminal; wherein, the theoretical angle of arrival value includes: a theoretical azimuth angle and a theoretical pitch angle.

[0104] In this embodiment, the relative position information is determined according to the obtained coordinate information of the target device and the target position information; the theoretical angle of arrival value is determined according to the relative position information; the actual angle of arrival value is obtained, and the angle of arrival difference value is determined according to the actual angle of arrival value and the theoretical angle of arrival value; the corrected angle of arrival value is obtained according to the angle of arrival difference value and the actual angle of arrival value, and the corrected angle of arrival value is taken as the target angle of arrival. Specifically, the step of calibrating the angle of arrival can include the following: step 1: the coordinate A of the target device, , the coordinate C of the control terminal, ; step 2: calculate the relative coordinate: ; , ; in the formula, respectively represent the offset of the target device in x, y, z direction relative to the control terminal, which is used to calculate the theoretical value. Step 3: calculate the AOA value with the measured AOA value comparing, in which, , respectively represent the theoretical azimuth angle and the pitch angle; , respectively represent the actual measured azimuth angle and the pitch angle; wherein, ; ; ; in which, is represented as the deviation of the azimuth angle theoretical value and the measured value; , in which, is represented as the deviation of the pitch angle theoretical value and the measured value.

[0105] In an embodiment, the signal strength is corrected based on the target position information to obtain a corrected target signal strength, including: obtaining coordinate information of a target device; determining a theoretical distance according to the coordinate information of the target device and the target position information; determining a theoretical value of the signal strength according to the theoretical distance; obtaining an actual value of the signal strength, and determining a signal strength difference value according to the theoretical value of the signal strength and the actual value of the signal strength; and taking the sum of the signal strength difference value and the theoretical value of the signal strength as the corrected target signal strength.

[0106] In the embodiment, the theoretical distance is determined according to the obtained coordinate information of the target device and the target position information; the theoretical value of the signal strength is determined according to the theoretical distance; the actual value of the signal strength is obtained, and the signal strength difference value is determined according to the theoretical value of the signal strength and the actual value of the signal strength; and the sum of the signal strength difference value and the theoretical value of the signal strength is taken as the corrected target signal strength. Specifically, the step of calibrating the signal strength can include the following: Step 1: calculating the theoretical distance: the coordinate of the target device , the coordinate of the control terminal ; the calculation formula can be represented as: ; Step 2: obtaining the theoretical value of RSSI according to the distance : ; in which, d represents the distance (unit: meter); f represents the frequency (unit: MHz); Step 3: comparing the actually obtained RSSI value with the theoretical value: ; Step 4: obtaining the corrected RSSI value : .

[0107] S5160, obtaining the recorded motion data of the control terminal, determining gesture motion trajectory information based on the motion data, and matching the gesture motion trajectory information with a preset trajectory template to obtain a matching result.

[0108] In the embodiment, since each gesture corresponds to a corresponding recognition logic, and each recognition logic corresponds to a corresponding control instruction, when a user controls a target device to execute a control instruction, the user will first perform some action gestures (for example, counterclockwise drawing of a vertical circle), match the gestures in the preset trajectory template, obtain the corresponding recognition logic through the gestures, and then obtain the corresponding control instruction, and then send the corresponding control instruction to the target device.

[0109] In the embodiment, in order to better understand the preset trajectory template, Table 1 is a schematic table of a preset trajectory template provided by the embodiment of the application.

[0110] Table 1: Schematic table of preset trajectory template

[0111]

[0112] S5170, sending a control instruction corresponding to the gesture motion trajectory information to the target device according to the matching result.

[0113] In the above technical solution in the embodiment, the distance difference between the control terminal and each UWB anchor point is determined by the signal arrival time and the preset arrival time TDOA algorithm, the initial position information of the control terminal in the three-dimensional space is determined according to the distance difference and the least square method, the initial position information is corrected based on the preset arrival phase difference PDOA algorithm to obtain the target position information, as a parallel solution of the above solution, the initial position information of the control terminal in the three-dimensional space can also be determined by the distance difference, the spatial position information of each UWB anchor point preset in advance, and the least square method, and the first distance information between the spatial position information of each UWB anchor point and the initial position information, and the second distance information of the target device to each UWB anchor point determined by the preset time of flight TOF algorithm, a second residual vector corresponding to the control terminal is constructed, a second matrix equation is constructed according to the second residual vector, and a second coordinate correction amount corresponding to the control terminal is obtained by solving the second matrix equation to correct the position, so that the position information of the control terminal can be accurately positioned; on this basis, the angle of arrival (AOA) and the signal strength (RSSI) are calculated, and the target position information of the control device position correction is combined to correct the accuracy of pointing to the target device, and the target device pointed to is locked, so that the control instruction based on the gesture motion trajectory information and the preset trajectory template is matched, and the corresponding control instruction is sent to the target device, the target device can be further locked in multiple ways, the pointing success rate is improved, and the centimeter-level precision non-sensing control is realized.

[0114] In an embodiment, in order to better understand the device pointing control method based on the acceleration sensor, Figure 6Another flowchart of device pointing control provided by an embodiment of the present application is shown. In this embodiment, at least three UWB anchor points are deployed. Specifically, the flow of device pointing control can include the following steps:

[0115] a1. A user gesture activates the UWB module in the control terminal to transmit UWB signals to each UWB anchor point.

[0116] For example, when the user raises his hand, the gyroscope detects that the wrist is raised by 30 degrees and the duration is greater than 1 second, the control terminal UWB module is activated to transmit UWB signals.

[0117] a2. Each UWB anchor point receives the UWB signal and returns the corresponding signal arrival time to the control terminal to determine the target position information of the control terminal in three-dimensional space through a related positioning algorithm.

[0118] a3. When the user points to a device, the angle of arrival (AOA) + signal strength (RSSI) threshold (e.g., RSSI greater than -70 dBm) is calculated, and the accuracy of pointing to the target device is corrected in combination with the target position information of the control terminal in three-dimensional space to lock the device.

[0119] a4. The gesture trajectory information is determined by the acceleration data recorded by the control terminal.

[0120] a5. The control instruction is matched according to the gesture trajectory information and the preset trajectory template to send the corresponding control instruction to the target device.

[0121] In an embodiment, Figure 7 A structural block diagram of a device pointing control system provided by an embodiment of the present application is shown. The system is suitable for device pointing control of smart home and related devices.

[0122] The device pointing control system includes at least three UWB anchor points 710, a control terminal 720, and a target device 730.

[0123] The at least three UWB anchor points 710 are configured to send the corresponding signal arrival time to the control terminal 720 when receiving the UWB signal sent by the control terminal 720.

[0124] The control terminal 720 is configured to execute any of the device pointing control methods described in the embodiments of the present application.

[0125] The target device 730 is configured to receive the control instruction sent by the control terminal 720.

[0126] In an embodiment, the at least three UWB anchor points form a target topology anchor point structure, and the height difference between the at least three UWB anchor points is greater than a preset height threshold.

[0127] In an embodiment, the control terminal comprises: a UWB communication module, an array antenna, an acceleration sensor, a gyroscope and a microcontroller;

[0128] The at least three UWB anchors each comprise a directional antenna;

[0129] The target device is built-in with a UWB communication module.

[0130] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, the steps described in the present application can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0131] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A device pointing control method, characterized by, The application discloses a control terminal applied to a device pointing control system, and a device pointing control method. In response to a gesture action of a user, UWB signals are sent to each UWB anchor point, and the signal arrival time recorded by each UWB anchor point is received; Based on the signal arrival time and a preset positioning algorithm, target position information of the control terminal in a three-dimensional space is determined; When the control terminal points to a target device, signal parameter information of the target device to the control terminal is determined, and the target device pointed to is locked based on the target position information and the signal parameter information; Recorded motion data of the control terminal is obtained, gesture motion trajectory information is determined based on the motion data, and a control instruction is matched based on the gesture motion trajectory information and a preset trajectory template to send a corresponding control instruction to the target device.

2. The method of claim 1, wherein, The target position information of the control terminal in the three-dimensional space is determined based on the signal arrival time and a preset positioning algorithm, and includes: The distance difference between the control terminal and each UWB anchor point is determined according to the signal arrival time and a preset time difference of arrival (TDOA) algorithm; The spatial position information of each UWB anchor point is obtained, and the initial position information of the control terminal in the three-dimensional space is determined according to the distance difference, the spatial position information and a least square method; The initial position information is corrected based on a preset phase difference of arrival (PDOA) algorithm to obtain the first corrected coordinate of the control terminal in the three-dimensional space, and the first corrected coordinate is taken as the target position information.

3. The method of claim 2, wherein, The distance difference between the control terminal and each UWB anchor point is determined according to the signal arrival time and a preset time difference of arrival (TDOA) algorithm, and includes: The time difference of arrival between each UWB anchor point and the control terminal is determined according to the signal arrival time; The distance difference between the control terminal and each UWB anchor point is determined according to the time difference of arrival.

4. The method of claim 2, wherein, The initial position information is corrected based on a preset phase difference of arrival (PDOA) algorithm to obtain the first corrected coordinate of the control terminal in the three-dimensional space, and includes: The estimated distance from the spatial position information of each anchor point to the initial position information is determined; The theoretical phase difference of each UWB anchor point pair to the target device is determined according to the estimated distance; The actual phase difference is obtained, and the integer ambiguity is determined according to the actual phase difference and the theoretical phase difference; The geometric coefficient corresponding to each UWB anchor point is determined according to the integer ambiguity; The distance difference measurement value without ambiguity is determined according to the integer ambiguity; The first residual vector of each UWB anchor point pair is determined according to the distance difference measurement value; The first matrix equation is constructed according to the geometric coefficient and the first residual vector, and the first coordinate correction amount is obtained by solving the first matrix equation; The initial position information is corrected according to the first coordinate correction amount to obtain the initial corrected coordinate; Secondly correct the initial correction coordinate according to the acceleration data and the displacement data of the control terminal, to obtain a first correction coordinate of the control terminal in the three-dimensional space after correction.

5. The method of claim 1, wherein, The target position information of the control terminal in the three-dimensional space is determined based on the signal arrival time and a preset positioning algorithm, including: The distance difference between the control terminal and each UWB anchor point is determined according to the signal arrival time and a preset time difference of arrival (TDOA) algorithm; The spatial position information of each UWB anchor point is obtained, and the initial position information of the control terminal in the three-dimensional space is determined according to the distance difference, the spatial position information and a least square method; The first distance information between the spatial position information of each UWB anchor point and the initial position information is determined; The second distance information of the target device to each UWB anchor point is determined according to a preset time of flight (TOF) algorithm; The second residual vector corresponding to the control terminal is constructed according to the first distance information and the second distance information; The second matrix equation is constructed according to the second residual vector, and the second coordinate correction amount corresponding to the control terminal is obtained by solving the second matrix equation; The initial position information is positionally corrected according to the second coordinate correction amount, to obtain a second correction coordinate after position correction, and the second correction coordinate is taken as the target position information.

6. The method of claim 1, wherein, The signal parameter information includes: angle of arrival and signal strength; Correspondingly, the target device pointed to by the control terminal is locked based on the target position information and the signal parameter information, including: It is determined whether the target device pointed to by the control terminal is within the expected direction according to the angle of arrival and a preset angle of arrival threshold, to lock the target device pointed to; It is determined whether the target device pointed to by the control terminal is within the expected direction according to the signal strength and a preset signal strength threshold, to lock the target device pointed to; It is determined whether the target position information is within a preset range, to lock the target device pointed to; The angle of arrival is corrected based on the target position information to obtain a corrected target angle of arrival, the signal strength is corrected based on the target position information to obtain a corrected target signal strength, and the target device pointed to is locked according to the target position information, the target angle of arrival and the target signal strength.

7. The method of claim 6, wherein, The angle of arrival is corrected based on the target position information to obtain a corrected target angle of arrival, including: The coordinate information of the target device is obtained; The relative position information is determined according to the coordinate information of the target device and the target position information; wherein the relative position information represents the position offset of the target device relative to the control terminal; The theoretical angle of arrival value is determined according to the relative position information; wherein the theoretical angle of arrival value includes: theoretical azimuth angle and theoretical pitch angle; The actual angle of arrival value is obtained, and the angle of arrival difference value is determined according to the actual angle of arrival value and the theoretical angle of arrival value; The corrected angle of arrival value is obtained according to the angle of arrival difference value and the actual angle of arrival value, and the corrected angle of arrival value is taken as the target angle of arrival.

8. The method of claim 6, wherein, The correcting the signal strength based on the target position information obtains a corrected target signal strength, and the correcting the signal strength based on the target position information comprises: Obtaining coordinate information of a target device; Determining a theoretical distance according to the coordinate information of the target device and the target position information; Determining a theoretical value of the signal strength according to the theoretical distance; Obtaining an actual value of the signal strength, and determining a signal strength difference value according to the theoretical value of the signal strength and the actual value of the signal strength; Taking the sum of the signal strength difference value and the theoretical value of the signal strength as the corrected target signal strength.

9. The method of claim 1, wherein, The matching the gesture motion trajectory information with the preset trajectory template to obtain a matching result, and the sending a control instruction corresponding to the gesture motion trajectory information to the target device according to the matching result, comprise: The matching the gesture motion trajectory information with the preset trajectory template to obtain a matching result, and the sending a control instruction corresponding to the gesture motion trajectory information to the target device according to the matching result, comprise: The control terminal comprises a dynamic power adjustment circuit; correspondingly, the device pointing control method further comprises:

10. The method of claim 1, wherein, Adjusting the transmission power automatically according to the distance between the target device. The adjusting the transmission power automatically according to the distance between the target device comprises:

11. The method of claim 10, wherein, When the distance is less than or equal to a first preset distance, using a first transmission power to transmit a signal; When the distance is greater than the first preset distance and less than a second preset distance, using a dynamic transmission power to transmit a signal adaptively; When the distance is greater than or equal to the second preset distance, using a second transmission power to transmit a signal; wherein the first preset distance is less than the second preset distance; the second preset distance is less than a third preset distance; the first transmission power is less than the dynamic transmission power; and the dynamic transmission power is less than the second transmission power. The device pointing control system comprises at least three UWB anchor points, a control terminal and a target device.

12. A device pointing control system characterized by, The at least three UWB anchor points are configured to send respective signal arrival times to the control terminal when receiving a UWB signal sent by the control terminal. The control terminal is configured to execute the device pointing control method of any one of claims 1-11. The target device is configured to receive a control instruction sent by the control terminal. The at least three UWB anchor points form a target topology anchor point structure, and a height difference between the at least three UWB anchor points is greater than a preset height threshold.

13. The system of claim 12, wherein, The control terminal comprises a UWB communication module, an array antenna, an acceleration sensor, a gyroscope and a microcontroller.

14. The system of claim 12, wherein, The at least three UWB anchor points each comprise a directional antenna. The target device comprises a UWB communication module. ​

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