Device linkage method and device linkage system

Abstract

The application discloses a device linkage method and a device linkage system. The device linkage system comprises a first device and a second device. The first device comprises a first wireless communication unit and at least two sub-modules. The second device comprises a second wireless communication unit. At least three wireless communication beacons for establishing a wireless mesh network are arranged around the first device. The method is applied to the second device and comprises the following steps: in response to a second signal strength of a currently received wireless mesh network by the second device, determining a target sub-module which is the nearest neighbor of the second device based on the second signal strength and a first signal strength of the first wireless communication unit in the wireless mesh network, and establishing a binding relationship between the target sub-module and the second device for linkage control. The method can automatically determine and match the second device and the target sub-module which is the nearest neighbor of the second device through the wireless mesh network and the signal strength, and pairing operation of the user is not needed, so that the pairing efficiency between the first device and the second device can be improved.

Description

Technical Field

[0001] This application relates to the field of smart homes, and in particular to a device linkage method and device linkage system. Background Technology

[0002] With the development of smart cooking technology, cookware and cooktops can now be matched in kitchen environments to facilitate data exchange. This allows the cookware to intelligently adjust the heating parameters of the cooktop during cooking, resulting in more precise cooking and better cooking outcomes.

[0003] Currently, cookware and stoves are often manually bound on mobile devices, relying on user experience to perform the matching process between different cookware and stoves. This process is cumbersome, prone to mismatches, and has low matching accuracy. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a device linkage method and device linkage system, which determines the signal strength of a first device and a second device located in a wireless mesh network, and automatically determines and matches the second device and its nearest neighbor target sub-module based on the signal strength, without requiring manual pairing operations by the user, thus effectively improving the pairing efficiency between the first device and the second device.

[0005] Firstly, this application provides a device linkage method. Applied to a device linkage system, the system includes a first device and a second device. The first device includes a first wireless communication unit and at least two sub-modules, and the second device includes a second wireless communication unit. At least three wireless communication beacons for establishing a wireless mesh network are arranged around the first device. The method is applied to the second device and includes:

[0006] In response to the second signal strength of the wireless mesh network currently received by the second device, the target sub-module closest to the second device is determined based on the second signal strength and the first signal strength of the first wireless communication unit in the wireless mesh network, and a binding relationship is established between the target sub-module and the second device for linkage control.

[0007] In conjunction with the first aspect, in one possible implementation, the first wireless communication unit includes multiple units, each located at a corresponding sub-module. The step of determining the target sub-module closest to the second device based on the second signal strength and the first signal strength of the first wireless communication unit in the wireless mesh network further includes: obtaining the first signal strength at each of the first wireless communication units through a wireless communication beacon, wherein the first signal strength is predetermined based on the communication connection established between the wireless communication beacon and the first wireless communication unit.

[0008] In conjunction with the first aspect, in one possible implementation, the first signal strength is predetermined based on the communication connection established between the wireless communication beacon and the first wireless communication unit, including: the first signal strength is determined based on a pre-established signal strength distribution map, which divides the horizontal platform area of ​​the first device with the wireless communication beacon as a reference point, and is used to characterize the signal strength corresponding to each grid area. The signal strength distribution map includes at least the first coordinates at the location of the first wireless communication unit, and the first signal strength mean and the first signal strength standard deviation after sampling the signal strength at the first coordinate location N times within a preset period.

[0009] In conjunction with the first aspect, in one possible implementation, the step of determining the target submodule closest to the second device based on the second signal strength and the first signal strength of the first wireless communication unit in the wireless mesh network further includes: determining the second coordinates of the second device and the first coordinates of the first wireless communication unit based on the second signal strength and the first signal strength according to the triangulation method or the signal fingerprinting method; and determining the target submodule closest to the second device based on the second coordinates and the first coordinates.

[0010] In conjunction with the first aspect, in one possible implementation, the first device is provided with only one first wireless communication unit. The step of determining the target sub-module closest to the second device based on the second signal strength and the first signal strength of the first wireless communication unit in the wireless mesh network further includes: obtaining the first signal strength at the first wireless communication unit through a wireless communication beacon; and determining the target sub-module closest to the second device based on the second signal strength, the first signal strength, and the location distribution information of the sub-modules in the first device.

[0011] In conjunction with the first aspect, in one possible implementation, the step of determining the second coordinates of the second device and the first coordinates of the first wireless communication unit based on the second signal strength and the first signal strength according to the triangulation method or the signal fingerprint method includes: a second device candidate position determination step: determining candidate second coordinates corresponding to the candidate position of the second device based on the similarity between the average value of the first signal strength and the second signal strength.

[0012] In conjunction with the first aspect, in one possible implementation, the step of determining the candidate location of the second device further includes: a weighted center determination step: assigning weights to the corresponding candidate second coordinates based on similarity and the first signal strength standard deviation, and calculating the weighted center coordinates corresponding to the candidate second coordinates based on the candidate second coordinates and the weights; wherein, the weights are positively correlated with similarity, and the weights are negatively correlated with the standard deviation.

[0013] In conjunction with the first aspect, in one possible implementation, after the weighted center determination step, the following step is also included: a search circle shrinking step: taking the position corresponding to the weighted center coordinates as the center, the search circle for the next round is determined based on a preset radius, and the second device candidate position determination step, the weighted center determination step, and the search circle shrinking step are repeated until the radius of the search circle is less than a preset threshold, and then the second coordinate is finally determined; wherein, in each round, the candidate second coordinates located outside the search circle are discarded, and the radius of the search circle in the next round is smaller than that in the previous round.

[0014] In conjunction with the first aspect, in one possible implementation, at least four wireless communication beacons are respectively positioned at the four corners of the ceiling of the room where the first device is located.

[0015] In conjunction with the first aspect, in one possible implementation, at least four wireless communication beacons are respectively positioned at the four corners of the third device located above the first device; or, at least four wireless communication beacons are respectively positioned at the four corners of the first device.

[0016] In conjunction with the first aspect, in one possible implementation, the wireless mesh network is a WIFI mesh network, and both the first wireless communication unit and the second wireless communication unit are WIFI communication units; or, the wireless mesh network is a BLE mesh network, and both the first wireless communication unit and the second wireless communication unit are BLE communication units.

[0017] Secondly, a device linkage method is provided, including a first device and a second device. The first device includes a first wireless communication unit and at least two sub-modules, and the second device includes a second wireless communication unit. At least three wireless communication beacons for establishing a wireless mesh network are arranged around the first device. The method is applied to the first device and includes:

[0018] In response to the binding request of the target submodule sent by the second device, a binding relationship is established between the target submodule and the second device for linkage control; the target submodule is the submodule that is closest to the second device, determined by the second device in response to the second signal strength of the currently received wireless mesh network and the first signal strength of the first wireless communication unit in the wireless mesh network.

[0019] In conjunction with the second aspect, in one possible implementation, the first wireless communication unit comprises multiple units, each located at a corresponding sub-module. The first signal strength of the first wireless communication unit in the wireless mesh network is obtained through a wireless communication beacon. This first signal strength is predetermined based on the communication connection established between the wireless communication beacon and the first wireless communication unit.

[0020] In conjunction with the second aspect, in one possible implementation, the first signal strength is predetermined based on the communication connection established between the wireless communication beacon and the first wireless communication unit, including: the first signal strength is determined based on a pre-established signal strength distribution map, which is used to divide the horizontal platform area of ​​the first device with the wireless communication beacon as a reference point, and is used to characterize the signal strength corresponding to each grid area. The signal strength distribution map includes at least the first coordinates of the location of the first wireless communication unit, and the first signal strength mean and the first signal strength standard deviation after sampling the signal strength at the first coordinate location N times within a preset period.

[0021] In conjunction with the second aspect, in one possible implementation, the target submodule closest to the second device is determined based on the second coordinates of the second device and the first coordinates of the first wireless communication unit; the first and second coordinates are determined based on the second signal strength and the first signal strength according to the triangulation method or the signal fingerprinting method.

[0022] In conjunction with the second aspect, in one possible implementation, the first device is provided with only one first wireless communication unit. The first signal strength is predetermined based on the communication connection established between the wireless communication beacon and the first device. The first signal strength is used to determine the target sub-module that is closest to the second device by combining the location distribution information of each sub-module in the first device and the second signal strength.

[0023] In conjunction with the second aspect, in one possible implementation, at least four wireless communication beacons are respectively positioned at the four corners of the ceiling of the room where the first device is located.

[0024] In conjunction with the second aspect, in one possible implementation, at least four wireless communication beacons are respectively positioned at the four corners of the third device located above the first device; or, at least four wireless communication beacons are respectively positioned at the four corners of the first device.

[0025] In conjunction with the second aspect, in one possible implementation, the wireless mesh network is a WIFI mesh network, and both the first wireless communication unit and the second wireless communication unit are WIFI communication units; or, the wireless mesh network is a BLE mesh network, and both the first wireless communication unit and the second wireless communication unit are BLE communication units.

[0026] Thirdly, this application also provides a device linkage system. The system includes a first device and a second device. The first device includes a first wireless communication unit and at least two sub-modules. The second device includes a second wireless communication unit. At least three wireless communication beacons for establishing a wireless mesh network are arranged around the first device.

[0027] The second device is configured to respond to the second signal strength of the currently received wireless mesh network, determine the target sub-module that is closest to the second device based on the second signal strength and the first signal strength of the first wireless communication unit in the wireless mesh network, and send a binding request of the target sub-module to the first device.

[0028] The first device is used to respond to the binding request and establish a binding relationship between the target submodule and the second device for linkage control.

[0029] This application provides a device linkage method and system. It establishes a wireless mesh network covering the surface area of ​​a platform where a first device is located, based on at least three wireless communication beacons. The second signal strength of a second device and the first signal strength of the first wireless communication unit of the first device are determined through the wireless mesh network. By matching the signal strengths, the target sub-module closest to the second device within the first device can be identified. After the second device establishes a binding relationship with the target sub-module, linkage control between the two can be achieved. In other words, this application embodiment can determine the signal strengths of the first and second devices located within the wireless mesh network, and automatically determine and match the second device and its nearest neighbor target sub-module based on the signal strength, without requiring manual binding configuration by the user, effectively improving the matching efficiency between the first and second devices. Attached Figure Description

[0030] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0031] Figure 1 This is a schematic diagram of the architecture of a device linkage system in one embodiment;

[0032] Figure 2 This is a schematic diagram of another architecture of the device linkage system in one embodiment;

[0033] Figure 3 This is a schematic diagram of the second coordinate estimation of the second device in one embodiment;

[0034] Figure 4 This is a schematic diagram of the second coordinate estimation of another second device in one embodiment;

[0035] Figure 5 This is a schematic diagram of the layout of wireless communication beacons in one embodiment;

[0036] Figure 6 This is a schematic diagram of another layout of a wireless communication beacon in one embodiment. Detailed Implementation

[0037] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0038] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present application will now be described in detail with reference to the accompanying drawings and embodiments. Furthermore, the term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The terms "first" and "second," etc., in the specification and claims of the embodiments of this application are used to distinguish different objects, not to describe a specific order of objects.

[0039] With the development of smart cooking technology, cookware and cooktops can now be matched in kitchen environments to facilitate data exchange. This allows the cookware to intelligently adjust the heating parameters of the cooktop during cooking, resulting in more precise cooking and better cooking outcomes.

[0040] Currently, cookware and stoves are often manually bound on mobile devices, relying on user experience to perform the matching process between different cookware and stoves. This process is cumbersome, prone to mismatches, and has low matching accuracy.

[0041] Based on this, embodiments of this application provide a device linkage method and a device linkage system, which determine the signal strength of a first device and a second device located in a wireless mesh network, and automatically determine and match the second device and its nearest neighbor target sub-module based on the signal strength, without requiring manual pairing by the user, thus effectively improving the pairing efficiency between the first device and the second device.

[0042] The device control method provided in this application embodiment can be applied to, for example, Figure 1 The illustrated device linkage system includes a first device 10 and a second device 20. The first device 10 includes a first wireless communication unit 11 and at least two sub-modules 12, and the second device 20 includes a second wireless communication unit 21. At least three wireless communication beacons 30 for establishing a wireless mesh network are arranged around the first device 10. The first device 10 can be a kitchen appliance with a fixed location in the kitchen environment, such as a stove; the sub-modules 12 can be the burners of the stove. The second device 20 can be a kitchen appliance with a non-fixed location in the kitchen environment, such as a pot. The wireless communication beacons 30 are set at a reference point, which can be any spatial location within the kitchen environment where the kitchen appliance is located.

[0043] In one embodiment, a device linkage method is provided, in which the method is applied to Figure 1 Taking the second device 20 as an example, the explanation includes the following steps:

[0044] In response to the second signal strength of the wireless mesh network currently received by the second device 20, the target sub-module closest to the second device 20 is determined based on the second signal strength and the first signal strength of the first wireless communication unit 11 in the wireless mesh network, and a binding relationship is established between the target sub-module and the second device 20 for linkage control.

[0045] In this embodiment, the horizontal platform area occupied by the first device 10 can be pre-divided into multiple grid areas using at least three wireless communication beacons 30. These grid areas and the at least three wireless communication beacons 30 constitute a wireless mesh network. The location information of each grid area can be the two-dimensional coordinates of its center point within the horizontal platform area. For example, regarding 4.2... A 3.6-meter-wide platform surface area can be divided into sections of 0.2 meters in length and width, resulting in a surface area of ​​(4.2 / 0.2). (3.6 / 0.2) = 378 grid regions. The location information of the first grid region can be two-dimensional coordinates (0.1, 0.1). The location information of each grid region can also be determined by the wireless communication unit pre-positioned in that grid region sending detection signals to at least three wireless communication beacons 30. The at least three wireless communication beacons 30 determine the location information using triangulation based on the transmission time, direction, and other information of the detection signals received from that grid region. After determining the location information of each grid region in the platform area, a signal strength distribution map of the platform area can be constructed based on the location information and signal strength of each grid region.

[0046] Due to multipath effects (refraction, reflection, etc.), obstacle obstruction, and varying distances from the reference point in the kitchen environment, the signal strength relative to the same reference point differs at different locations on the water platform surface. Therefore, in constructing the signal strength distribution map, wireless communication units can be moved to different grid areas on the water platform surface, or wireless communication units can be placed in each grid area of ​​the water platform surface. Then, for any wireless communication unit in any grid area, the wireless communication unit is controlled to transmit a detection signal to the wireless communication beacon 30 located at the reference point within the corresponding grid area. The wireless communication beacon 30 receives the detection signals from the grid areas and determines the received signal strength indicator (RSSI) of the received detection signal (also called the received signal), thereby obtaining the RSSI corresponding to each grid area.

[0047] The received signal is the signal from the probe signal transmitted from the grid area to the reference point. Due to various interference factors in the kitchen environment, it is attenuated relative to the transmitted probe signal. It is understandable that descriptions such as "probe signal received by wireless communication beacon 30" and "probe signal from the grid area" refer to the received signal, not the probe signal transmitted by the wireless communication unit located in the grid area.

[0048] In this configuration, the wireless mesh network is a Wi-Fi mesh network, and both the first and second wireless communication units are Wi-Fi communication units. In this configuration, the first device 10, the second device 20, and the wireless communication beacon 30 transmit data (e.g., signal strength) via Wi-Fi. Alternatively, the wireless mesh network is a BLE mesh network, and both the first and second wireless communication units are BLE communication units. In this configuration, the first device 10, the second device 20, and the wireless communication beacon 30 transmit data (e.g., signal strength) via BLE.

[0049] The number of wireless communication beacons 30 can be at least four, with each of the four wireless communication beacons positioned at one of the four corners of the ceiling of the room where the first device is located; or, at least four wireless communication beacons positioned at one of the four corners of a third device located above the first device; or, at least four wireless communication beacons positioned at one of the four corners of the first device. The arrangement of the wireless communication beacons 30 is sufficient to construct a wireless mesh network covering the horizontal surface area where the first device 10 is located. The first device can be a cookware, the second device can be a stove, and the third device can be a range hood.

[0050] In one possible implementation, to ensure the richness and accuracy of the signal strength distribution map, for each grid area, a probe signal can be sent multiple times to the same wireless communication beacon 30 (target reference calibration device) within that grid area via a wireless communication unit. The wireless communication beacon 30 determines the signal strength of each received signal (received signal) from that grid area at different times, then calculates the average signal strength of the multiple received signals to obtain the average signal strength of that grid area, and stores it in the signal strength distribution map. Characterizing the signal strength of a grid area using the average signal strength avoids the influence of random factors on the signal strength of the grid area, avoiding the problem of inaccurate data caused by a single signal strength acquisition. Alternatively, the standard deviation of the signal strength of the multiple received signals can be calculated to obtain the standard deviation of the signal strength of that grid area, and stored in the signal strength distribution map. This standard deviation can be used to determine the signal stability of the grid area, and thus can be used to subsequently determine whether to use the average signal strength of that grid area, or to subsequently determine how to use the average signal strength of that grid area (e.g., the weighting of the average signal strength of that grid area). That is, the signal strength distribution map includes the location, mean signal strength and standard deviation of each grid region in the multiple grid regions divided by the horizontal platform area occupied by the first device 10.

[0051] Furthermore, in addition to the relevant information (location information, signal strength, mean signal strength, and standard deviation of signal strength) of each grid area divided by the platform area occupied by the first device 10, the signal strength distribution map should at least include the first coordinates of the location of the first wireless communication unit 11, and the first mean signal strength and the first standard deviation of the N signal strengths obtained by sampling the signal strength at the first coordinate location N times within a preset period.

[0052] As is understood, the mean signal strength (standard deviation of signal strength) in the embodiments of this application refers to the mean (standard deviation) of the signal strength of the detected signal of a grid area or a first wireless communication unit 11 at different times, which can characterize the signal strength (signal stability) of a grid area or a first wireless communication unit 11. It is not the mean (standard deviation) of the signal strength corresponding to multiple grid areas or multiple first wireless communication units 11.

[0053] Among them, such as Figure 2 As shown, the first wireless communication unit 11 may include multiple units, each disposed at the location of each submodule 12, or integrated within each submodule 12. For example... Figure 1As shown, the first device 10 may also have only one first wireless communication unit 11, which can be set at any position in the horizontal platform area where the first device 10 is located; preferably, it can be set at the center of the horizontal platform area, or at the middle position of multiple sub-modules 12.

[0054] The first wireless communication unit 11 can send detection signals to at least three wireless communication beacons 30. The at least three wireless communication beacons 30 determine the first coordinates of the first wireless communication unit 11 using triangulation based on information such as the transmission time and direction of the received detection signals. Simultaneously, the wireless communication beacons 30 calculate the mean and standard deviation of the first signal strength corresponding to the first wireless communication unit 11 based on the signal strength of the N detection signals received from the first wireless communication unit 11. Finally, the first coordinates, mean first signal strength, and standard deviation of the first signal strength of each first wireless communication unit 11 are recorded in a signal strength distribution map, completing the construction of the signal strength distribution map.

[0055] That is, the signal strength distribution map includes at least the first coordinates of each first wireless communication unit 11, the first mean signal strength at the first coordinate position, and the first standard deviation of the signal strength; it may also include the position information, mean signal strength, and standard deviation of the signal strength of each grid region divided by the horizontal platform area of ​​the first device 10. After the signal strength distribution map is constructed, it can be stored in the second device 20. For example, it can be stored in the microcontroller unit (MCU) of the second device 20.

[0056] In this embodiment, when the second device 20 moves or is activated, it can continuously transmit detection signals to multiple wireless communication beacons 30 set up in the kitchen environment via its built-in wireless communication unit. After receiving the detection signal (received signal) from the second device 20, each wireless communication beacon 30 can determine the signal strength of the received signal, and take the average of multiple signal strengths to obtain a second signal strength, which is then sent to the second device 20. Simultaneously, the multiple wireless communication beacons 30 can also determine the second coordinates of the second device 20 using triangulation based on information such as the transmission time and direction of the received detection signal.

[0057] In one possible implementation, the second device 20 can also determine the second coordinates based on the received second signal strength using a signal fingerprinting method. The database upon which the signal fingerprinting method relies is the signal strength distribution map constructed above. Specifically, the second device 20 matches the received second signal strength with the pre-stored signal strength distribution map to determine the location information of the grid area corresponding to the average signal strength that matches the second device 20's second signal strength, and uses this location information as the second coordinates of the second device 20.

[0058] After determining the second coordinate of the second device 20, the target sub-module closest to the second device 20 among the multiple sub-modules 12 can be determined according to the second coordinate and the first coordinate of the first wireless communication unit 11. Specifically, for the case where the first wireless communication unit 11 is provided at the position of each sub-module 12, the distance between the second coordinate and the first coordinate of each first wireless communication unit 11 can be directly calculated, and the sub-module corresponding to the first coordinate with the closest distance to the second coordinate is determined as the target sub-module.

[0059] For the case where the first device 10 includes only one first wireless communication unit 11, the first coordinate of the first wireless communication unit 11 in the horizontal tabletop area can be obtained from the signal strength distribution map first, and then the position distribution information of the multiple sub-modules 12 in the first device 10 stored locally in advance can be obtained. Among them, the position distribution information can be the relative position information of each sub-module with respect to the first wireless communication unit 11, such as information on the direction and distance of the sub-module with respect to the first wireless communication unit 11. The position distribution information can be specifically determined and constructed when the first wireless communication unit 11 is set in the horizontal tabletop area. Then, based on the first coordinate and the relative position information of each sub-module 12, the coordinates of each sub-module in the horizontal tabletop area can be calculated. Finally, the distance between the second coordinate and the coordinates of each sub-module is calculated, and the sub-module corresponding to the coordinate with the closest distance to the second coordinate is determined as the target sub-module.

[0060] The second device 20 can establish a wireless communication channel WIFI with the target sub-module, establish a binding relationship with the target sub-module, and realize the linkage control between the second device 20 and the target sub-module. For example, when the second device 20 is a cooking utensil, the first device 10 is a cooking stove, and the target sub-module is the burner closest to the position of the cooking utensil, a binding relationship between the cooking utensil and the burner is established. During the cooking process, the second device 20 can obtain the real-time heating parameters of the target sub-module, such as parameters like heating temperature, heating power, and gear. At the same time, the second device 20 can determine the temperature deviation of the cooking object based on the current cooking parameters (for example, the current temperature of the cooking object) and the standard heating curve of the cooking object. Then, based on the temperature deviation, the heating parameters of the target sub-module are adjusted in real time to reduce the temperature deviation, realizing the real-time feedback adjustment of the heating parameters of the target sub-module and effectively improving the cooking effect of the cooking object.

[0061] Taking the second device 20 as a cookware, the first device 10 as a cooker, and the sub-module as a burner head as an example for illustration. When the cookware is moving or being opened, it can continuously transmit detection signals to the wireless communication beacon 30 of the wireless Mesh network through the built-in wireless communication unit, and receive the second signal strength returned by the wireless Mesh network. Then, obtain the first signal strength average value of each burner head in the signal strength distribution map stored locally, match the second signal strength with the first signal strength average value of each burner head respectively, and determine the burner head corresponding to the first signal strength average value that matches the second signal strength as the burner head used by the cookware. Specifically, the matching determination can be: calculate the difference between the second signal strength of the cookware and the first signal strength average value of each burner head. Compare the difference corresponding to each burner head with the preset difference threshold, and determine the burner head corresponding to the difference that is less than or equal to the preset difference threshold as the burner head used by the cookware. It can be understood that the smaller the difference, the higher the similarity between the second signal strength of the cookware and the first signal strength average value of the burner head, and the closer the distance between the cookware and the burner head. Therefore, a difference threshold can be preset to represent the maximum difference between the second signal strength of the cookware and the first signal strength average value of the burner head when the cookware uses the burner head. After determining the burner head on which the cookware is placed and used based on the signal strength, the pairing relationship between the two can be automatically established to achieve the linkage control of the cookware and the burner head, and achieve the effect of being able to use the cookware immediately after placing it.

[0062] The method provided by the embodiment of the present application can establish a wireless Mesh network covering the horizontal tabletop area where the first device is located based on at least three wireless communication beacons, determine the second signal strength of the second device and the first signal strength of the first wireless communication unit of the first device through the wireless Mesh network, and determine the target sub-module closest to the second device in the first device through signal strength matching. After the second device establishes a binding relationship with the target sub-module, the linkage control between the two can be achieved. That is, the embodiment of the present application can determine the signal strengths of the first device and the second device located therein through the wireless Mesh network, and automatically determine and match the second device and its closest neighboring target sub-module based on the signal strength, without the user manually performing binding configuration, effectively improving the matching efficiency between the first device and the second device.

[0063] The foregoing embodiment introduced the solution for the second device 20 to determine the second coordinate through the signal fingerprint positioning method by combining the second signal strength with the signal strength distribution map. In another embodiment of the present application, the second device 20 can be roughly positioned based on the second signal strength first, and then, based on the rough positioning result, the second device 20 can be accurately positioned to determine the second coordinate. This from-rough-to-fine positioning method is achieved through three steps of cyclic iteration: candidate position determination step, weighted center of gravity determination step, and search circle determination step.

[0064] The step of determining the candidate location of the second device includes: determining the candidate second coordinates corresponding to the candidate location of the second device based on the similarity between the average first signal strength and the second signal strength.

[0065] In this embodiment, during the process of determining the second coordinates of the second device 20 based on the matching of the second signal strength of the second device 20 with the signal strength distribution map, the second device 20 can be coarsely located first, that is, the first coordinates of multiple sub-modules that are relatively close to the second device 20 can be determined as multiple candidate second coordinates corresponding to the second device 20. Specifically, the average first signal strength corresponding to each sub-module 12 of the first device 10 can be obtained from the signal strength distribution map, and then the similarity between each average first signal strength and the second signal strength of the second device 20 can be calculated sequentially. Based on the order of similarity from high to low, the sub-modules 12 corresponding to the top m similarity scores are selected, and the first coordinates of the above m sub-modules 12 are queried in the signal strength distribution map, and the m first coordinates are used as multiple candidate second coordinates corresponding to the second device 20.

[0066] Similarity can be represented by parameters such as cosine similarity, Euclidean distance, and Manhattan distance. Cosine similarity is positively correlated with similarity, Euclidean distance is negatively correlated with similarity, and Manhattan distance is negatively correlated with similarity.

[0067] In one possible implementation, the second device 20 can be coarsely located by identifying multiple grid regions where it may be located. Specifically, the average signal strength of each grid region can be obtained from the signal strength distribution map, and then the similarity between the second signal strength of the second device 20 and each average signal strength can be calculated sequentially. Based on the similarity in descending order, the coordinates of the grid regions corresponding to the top m similarity scores are selected as multiple candidate second coordinates for the second device 20.

[0068] In one possible implementation, after selecting the first m grid regions, a connectivity judgment can be made on the m grid regions, discarding the grid regions that are not adjacent to other grid regions, and determining the position information corresponding to the multiple interconnected grid regions in the m grid regions as multiple candidate coordinates corresponding to the second device 20, and then determining the second candidate coordinates of the second device 20 based on the multiple candidate coordinates.

[0069] In one embodiment, after completing the coarse positioning described above, the second device 20 can be further precisely positioned. That is, the weighted center determination step and the search circle shrinking step described above can be performed.

[0070] The weighted center determination step may include: assigning weights to the corresponding candidate second coordinates based on similarity and the first signal strength standard deviation, and calculating the weighted center coordinates corresponding to the candidate second coordinates based on the candidate second coordinates and the weights.

[0071] Understandably, higher similarity indicates a closer distance between the candidate second coordinate and the second device 20, thus the weight of the candidate second coordinate should be greater. Conversely, a smaller standard deviation of the first signal strength indicates higher signal stability at the candidate second coordinate, making the candidate second coordinate more reliable, and therefore the weight of the candidate second coordinate should be greater. In other words, the weight of the candidate second coordinate is positively correlated with similarity and negatively correlated with the standard deviation of signal strength.

[0072] Therefore, the weights of each candidate second coordinate can be expressed as follows:

[0073]

[0074] Where i is the i-th candidate second coordinate among multiple candidate second coordinates; The second signal strength of the second device 20; The mean signal strength corresponding to the i-th candidate second coordinate; The standard deviation of the signal strength corresponding to the i-th candidate second coordinate; Let be the weight of the i-th candidate second coordinate.

[0075] In one possible implementation, to avoid the problem of weights being uncalculated due to the standard deviation of the intensity of the candidate second coordinate being zero, the weights of the candidate second coordinates can be determined by dividing the standard deviation of the intensity by zero. This division-by-zero process involves adding a small smoothing constant to the standard deviation of the signal intensity of the candidate second coordinate. ,For example It can be 0.001 or 0.01. That is, the standard deviation of the signal strength corresponding to the candidate second coordinate can be... In this case, the weights of the candidate second coordinates can be expressed as follows:

[0076]

[0077] in, This is the smoothing constant.

[0078] After calculating the weights of each candidate second coordinate, a weighted sum can be performed on each candidate second coordinate to obtain the weighted center coordinates of the second device 20. Specifically, the x-coordinates of multiple candidate second coordinates can be weighted and summed separately to obtain the target x-coordinate; the y-coordinates of multiple candidate grid regions can be weighted and summed separately to obtain the target y-coordinate. The target x-coordinate and the target y-coordinate constitute the weighted center coordinates of the second device 20.

[0079] At this time, through the candidate position determination step and the weighted center of gravity determination step, a round of rough positioning (positioning to multiple candidate second coordinates with a relatively short distance) and precise positioning (weighted calculation of multiple candidate second coordinates to obtain the weighted center of gravity coordinates) for the second device 20 have been completed. However, a round of positioning process (including one rough positioning and precise positioning) does not necessarily obtain the accurate coordinates of the second device 20. Therefore, after obtaining the weighted center of gravity coordinates at the end of each round of positioning, the regional scope of the second device 20 can be restricted by referring to the weighted center of gravity coordinates, and a round of positioning process is executed again based on the restricted regional scope. Finally, the position of the second device 20 can be continuously corrected through multiple rounds of regional scope restriction and positioning to determine the second coordinates of the accurate second device 20.

[0080] Among them, the above-mentioned multi-round regional scope restriction and positioning scheme, that is, the search circle contraction step, may include: taking the position corresponding to the weighted center of gravity coordinates as the center of the circle, determining the search circle for the next round based on a preset radius, repeating the candidate position determination step, the weighted center of gravity determination step, and the search circle contraction step for the second device until the radius of the search circle is less than the preset threshold, and finally determining the second coordinates. Among them, in each round, the candidate second coordinates located outside the search circle are discarded, and the radius of the search circle for the next round is smaller than that of the previous round.

[0081] In this embodiment, after determining the weighted center of gravity coordinates of the second device 20 through one round of rough positioning and precise positioning, the regional scope of the second device 20 on the horizontal tabletop area (target tabletop area) can be reduced, that is, the search circle is reduced. Specifically, the weighted center of gravity coordinates can be used as the center to determine multiple grid areas (or sub-modules) within the target radius range, and the multiple grid areas form the target tabletop area. For example, as Figure 3 shown, taking the weighted center of gravity coordinates as the center, multiple grid areas within a radius of 0.8 meters are determined to form the target tabletop area (the shaded part in the figure) where the second device 20 is located, where A0 is the weighted center of gravity coordinates.

[0082] For the multiple grid areas included in the target tabletop area, the similarity between the second signal strength of the second device 20 and the average signal strength of each grid area can be calculated in sequence to obtain the similarity corresponding to each grid area in the target tabletop area. Then, a similarity ranking is performed based on the similarity from high to low, and the position information of the top a grid areas corresponding to the a similarities is used as the multiple candidate second coordinates corresponding to the second device 20 in the positioning process of the current round. Among them, a < m. Then, weights are assigned to each candidate second coordinate based on the similarity and the standard deviation of the signal strength corresponding to the a candidate second coordinates, and the a candidate second coordinates are weighted and summed based on the weights to determine the weighted center of gravity coordinates A1 of this round.

[0083] After determining the weighted centroid coordinates of this round, compare the radius of the search circle of this round with the preset threshold. If the radius of the search circle is less than the preset threshold, it means that the second device 20 has been restricted to a smaller range, and the weighted centroid coordinates of this round can already accurately represent the coordinates of the second device 20. Therefore, the weighted centroid coordinates of this round can be used as the second coordinates of the second device 20.

[0084] If the radius of the search circle is still greater than or equal to the preset threshold, then, with the weighted centroid coordinate A1 of this round as the center, shrink the search circle of the second device 20 again, that is, reduce the radius of the search circle. The target tabletop area determined based on the reduced radius is the updated target tabletop area. For example, as Figure 4 shown, reduce the radius of the search circle to 0.6 meters. The circular area determined with the first estimated position A1 as the center and 0.6 meters as the radius is the updated target tabletop area. Among them, the area of the updated target tabletop area is smaller than the area of the target tabletop area before the update, and the number of grid areas included in the updated target tabletop area (such as Figure 4 the shaded part in) is less than the number of grid areas included in the target tabletop area before the update (such as Figure 3 the shaded part in). Then, for the multiple grid areas included in the updated target tabletop area, calculate the similarity between the mean signal strength of each grid area and the second signal strength in turn. Screen out the top b similarities from them in the order from high to low similarity, and use the position information of the b grid areas corresponding to the b similarities as the updated multiple candidate second coordinates corresponding to the second device 20. Among them, b < a. Then, assign weights to each candidate second coordinate based on the similarity and the standard deviation of the signal strength corresponding to the b candidate second coordinates, and perform weighted summation on the b candidate second coordinates based on the weights to determine the weighted centroid coordinate A2 of this round.

[0085] Compare the radius of the search circle of this round with the preset threshold. If the radius of the search circle is less than the preset threshold, it means that the second device 20 has been restricted to a smaller range, and the weighted centroid coordinate A2 of this round can already accurately represent the coordinates of the second device 20. Therefore, the weighted centroid coordinate A2 of this round can be used as the second coordinates of the second device 20. Otherwise, continue to execute the search circle contraction step until the radius of the search circle is less than the preset threshold, that is, until the position of the second device 20 is restricted to a smaller range, then the weighted centroid coordinates of this round can be determined as the final second coordinates of the second device 20.

[0086] In one possible implementation, after determining the weighted center coordinates of the second device 20 twice, the distance between the two adjacent weighted center coordinates, i.e., the second coordinate error, can be calculated. When the second coordinate error is less than or equal to a preset error value, it indicates that the change in the second coordinates of the second device 20 determined in the two consecutive steps is small and relatively accurate. Therefore, the iterative process of the above three steps can be ended, and the weighted center coordinates of the last round can be used as the final second coordinates of the second device 20.

[0087] In one embodiment, a device linkage method is provided, which can be applied to, for example... Figure 1 The method for the first device 10 in the device linkage system shown may include:

[0088] In response to the binding request of the target submodule sent by the second device, a binding relationship is established between the target submodule and the second device for linkage control; the target submodule is the submodule that is closest to the second device, determined by the second device in response to the second signal strength of the currently received wireless mesh network and the first signal strength of the first wireless communication unit in the wireless mesh network.

[0089] In one embodiment, the first wireless communication unit includes multiple units, which are respectively located in corresponding sub-modules. The first signal strength of the first wireless communication unit in the wireless mesh network is obtained through a wireless communication beacon. The first signal strength is predetermined based on the communication connection established between the wireless communication beacon and the first wireless communication unit.

[0090] In one embodiment, the first signal strength is predetermined based on the communication connection established between the wireless communication beacon and the first wireless communication unit, including: the first signal strength is determined based on a pre-established signal strength distribution map, which is a horizontal platform area of ​​the first device divided with the wireless communication beacon as a reference point, used to characterize the signal strength corresponding to each grid area. The signal strength distribution map includes at least the first coordinates of the location of the first wireless communication unit, and the first signal strength mean and the first signal strength standard deviation after N signal strength samples are taken at the first coordinate location within a preset period.

[0091] In one embodiment, the target submodule closest to the second device is determined based on the second coordinates of the second device and the first coordinates of the first wireless communication unit; the first and second coordinates are determined based on the second signal strength and the first signal strength according to the triangulation method or the signal fingerprinting method.

[0092] In one embodiment, the first device is provided with only one first wireless communication unit. The first signal strength is predetermined based on the communication connection established between the wireless communication beacon and the first device. The first signal strength is used to determine the target sub-module that is closest to the second device by combining the location distribution information of each sub-module in the first device and the second signal strength.

[0093] In one embodiment, at least four wireless communication beacons are respectively positioned at the four corners of the ceiling of the room where the first device is located.

[0094] In one embodiment, at least four wireless communication beacons are respectively positioned at the four corners of the third device located above the first device; or, at least four wireless communication beacons are respectively positioned at the four corners of the first device. In one embodiment, the second device can be a stove, and the third device can be a range hood.

[0095] In one embodiment, the wireless mesh network is a WIFI mesh network, and both the first wireless communication unit and the second wireless communication unit are WIFI communication units; or, the wireless mesh network is a BLE mesh network, and both the first wireless communication unit and the second wireless communication unit are BLE communication units.

[0096] The implementation method of the device linkage method applied to the first device 10 can be referred to the above embodiments, and will not be repeated here.

[0097] In one embodiment, such as Figure 1 As shown, a device linkage system is provided, which includes a first device 10 and a second device 20. The first device 10 includes a first wireless communication unit 11 and at least two sub-modules 12. The second device 20 includes a second wireless communication unit 21. At least three wireless communication beacons 30 for establishing a wireless mesh network are arranged around the first device 10. The second device 20 is used to determine the nearest target sub-module to the second device 20 based on the second signal strength of the currently received wireless mesh network and the first signal strength of the first wireless communication unit 11 in the wireless mesh network, and send a binding request of the target sub-module to the first device 10. The first device 10 is used to establish a binding relationship between the target sub-module and the second device in response to the binding request for linkage control.

[0098] The implementation of this embodiment can refer to the above-described embodiment of the device linkage method based on the first device 10 or the second device 20, and will not be repeated here.

[0099] Among them, such as Figure 5 As shown, at least four wireless communication beacons 30 can be respectively positioned at the four corners of the ceiling of the room where the first device is located. Or, as... Figure 6As shown, at least four wireless communication beacons 30 can be respectively positioned at the four corners of the third device located above the first device 10. The third device can be a range hood. Alternatively, as... Figure 1 As shown, at least four wireless communication beacons 30 are respectively positioned at the four corners of the first device 10. The arrangement of the wireless communication beacons 30 is sufficient to construct a wireless mesh network covering the horizontal surface area where the first device 10 is located.

[0100] It should be noted that although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all of the operations shown must be performed to achieve the desired result. On the contrary, the steps depicted in the flowchart may be performed in a different order. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0101] This application provides a computer program product including instructions that, when executed, cause the method described in this application to be performed. For example, it can execute... Figure 2 The steps of the method shown are as follows.

[0102] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0103] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A method for linking equipment, characterized in that, The device includes a first device and a second device. The first device includes at least one first wireless communication unit and at least two sub-modules. The second device includes a second wireless communication unit. At least three wireless communication beacons for establishing a wireless mesh network are arranged around the first device. The method is applied to the second device and includes: In response to the second signal strength of the wireless mesh network currently received by the second device, when the first device includes multiple first wireless communication units and each first wireless communication unit is respectively located at a corresponding sub-module, the target sub-module nearest to the second device is determined based on the second signal strength and the first signal strength of the first wireless communication unit in the wireless mesh network, and a binding relationship is established between the target sub-module and the second device for linkage control; or, In response to the second signal strength of the wireless mesh network currently received by the second device, if the first device includes a first wireless communication unit, a target sub-module that is closest to the second device is determined based on the second signal strength, the first signal strength, and the location distribution information of the sub-modules in the first device, and a binding relationship is established between the target sub-module and the second device for linkage control.

2. The method according to claim 1, characterized in that, The first wireless communication unit includes multiple units, each disposed at a corresponding sub-module. The step of determining the target sub-module nearest to the second device based on the second signal strength and the first signal strength of the first wireless communication unit in the wireless mesh network further includes: A first signal strength at each of the first wireless communication units is obtained through the wireless communication beacon, and the first signal strength is predetermined based on the communication connection established between the wireless communication beacon and the first wireless communication unit.

3. The method according to claim 2, characterized in that, The first signal strength is predetermined based on the communication connection established between the wireless communication beacon and the first wireless communication unit, including: The first signal strength is determined based on a pre-established signal strength distribution map. The signal strength distribution map is used to divide the horizontal surface area of ​​the first device with the wireless communication beacon as a reference point, and is used to characterize the signal strength corresponding to each grid area. The signal strength distribution map includes at least the first coordinate of the location of the first wireless communication unit, as well as the first signal strength mean and the first signal strength standard deviation after sampling the signal strength at the first coordinate location N times within a preset period.

4. The method according to claim 3, characterized in that, The step of determining the target submodule closest to the second device based on the second signal strength and the first signal strength of the first wireless communication unit in the wireless mesh network further includes: Based on the triangulation method or the signal fingerprinting method, the second coordinates of the second device and the first coordinates of the first wireless communication unit are determined according to the second signal strength and the first signal strength. The target submodule that is closest to the second device is determined based on the second coordinate and the first coordinate.

5. The method according to claim 1, characterized in that, The first device is equipped with only one first wireless communication unit. The step of determining the target sub-module nearest to the second device based on the second signal strength and the first signal strength of the first wireless communication unit in the wireless mesh network further includes: The first signal strength at the first wireless communication unit is obtained through the wireless communication beacon; The target submodule that is closest to the second device is determined based on the second signal strength, the first signal strength, and the location distribution information of the submodules in the first device.

6. The method according to claim 4, characterized in that, According to triangulation or signal fingerprinting, the step of determining the second coordinates of the second device and the first coordinates of the first wireless communication unit based on the second signal strength and the first signal strength includes: The second device candidate location determination step is as follows: Based on the similarity between the first signal strength mean and the second signal strength, determine the candidate second coordinates corresponding to the second device candidate location.

7. The method according to claim 6, characterized in that, The second device candidate location determination step is followed by: Weighted center determination steps: Based on the similarity and the first signal intensity standard deviation, assign weights to the corresponding candidate second coordinates, and calculate the weighted center coordinates corresponding to the candidate second coordinates based on the candidate second coordinates and the weights; wherein, the weights are positively correlated with the similarity and negatively correlated with the standard deviation.

8. The method according to claim 7, characterized in that, The step of determining the weighting center also includes: The search circle shrinking step is as follows: taking the position corresponding to the weighted center coordinate as the center, the search circle for the next round is determined based on a preset radius. The second device candidate position determination step, the weighted center determination step, and the search circle shrinking step are repeated until the radius of the search circle is less than a preset threshold, and then the second coordinate is finally determined. In each round, the candidate second coordinates located outside the search circle are discarded, and the radius of the search circle in the next round is smaller than that in the previous round.

9. The method according to claim 1, characterized in that, At least four wireless communication beacons are respectively placed at the four corners of the ceiling of the room where the first device is located.

10. The method according to claim 1, characterized in that, At least four wireless communication beacons are respectively positioned at the four corners of the third device located above the first device; or, at least four wireless communication beacons are respectively positioned at the four corners of the first device.

11. The method according to any one of claims 1-10, characterized in that, The wireless mesh network is a WIFI mesh network, where both the first wireless communication unit and the second wireless communication unit are WIFI communication units; or, the wireless mesh network is a BLE mesh network, where both the first wireless communication unit and the second wireless communication unit are BLE communication units.

12. A method for linking equipment, characterized in that, The device includes a first device and a second device. The first device includes at least one first wireless communication unit and at least two sub-modules. The second device includes a second wireless communication unit. At least three wireless communication beacons for establishing a wireless mesh network are arranged around the first device. The method is applied to the first device and includes: In response to a binding request from the second device for a target submodule, a binding relationship is established between the target submodule and the second device for coordinated control. The target submodule is the submodule closest to the second device, determined by the second device in response to the second signal strength of the currently received wireless mesh network. This is based on the second signal strength and the first signal strength of the first wireless communication unit in the wireless mesh network, when the first device includes multiple first wireless communication units and each first wireless communication unit is located at a corresponding submodule. Alternatively, if the first device includes only one first wireless communication unit, the submodule closest to the second device is determined based on the second signal strength, the first signal strength, and the location distribution information of the submodules within the first device.

13. The method according to claim 12, characterized in that, The first wireless communication unit includes multiple units, which are respectively located at the corresponding sub-modules. The first signal strength of the first wireless communication unit in the wireless mesh network is obtained through the wireless communication beacon. The first signal strength is predetermined based on the communication connection established between the wireless communication beacon and the first wireless communication unit.

14. The method according to claim 13, characterized in that, The first signal strength is predetermined based on the communication connection established between the wireless communication beacon and the first wireless communication unit, including: The first signal strength is determined based on a pre-established signal strength distribution map. The signal strength distribution map is used to divide the horizontal surface area of ​​the first device with the wireless communication beacon as a reference point, and is used to characterize the signal strength corresponding to each grid area. The signal strength distribution map includes at least the first coordinate of the location of the first wireless communication unit, as well as the first signal strength mean and the first signal strength standard deviation after sampling the signal strength at the first coordinate location N times within a preset period.

15. The method according to claim 14, characterized in that, The target submodule closest to the second device is determined based on the second coordinates of the second device and the first coordinates of the first wireless communication unit; the first coordinates and the second coordinates are determined based on the second signal strength and the first signal strength according to the triangulation method or the signal fingerprinting method.

16. The method according to claim 12, characterized in that, The first device is equipped with only one first wireless communication unit. The first signal strength is predetermined based on the communication connection established between the wireless communication beacon and the first device. The first signal strength is used to determine the target sub-module that is closest to the second device by combining the location distribution information of each sub-module in the first device and the second signal strength.

17. The method according to claim 12, characterized in that, At least four wireless communication beacons are respectively placed at the four corners of the ceiling of the room where the first device is located.

18. The method according to claim 12, characterized in that, At least four wireless communication beacons are respectively positioned at the four corners of the third device located above the first device; or, at least four wireless communication beacons are respectively positioned at the four corners of the first device.

19. The method according to any one of claims 12-18, characterized in that, The wireless mesh network is a WIFI mesh network, where both the first wireless communication unit and the second wireless communication unit are WIFI communication units; or, the wireless mesh network is a BLE mesh network, where both the first wireless communication unit and the second wireless communication unit are BLE communication units.

20. A device linkage system, characterized in that, The system includes a first device and a second device. The first device includes at least one first wireless communication unit and at least two sub-modules. The second device includes a second wireless communication unit. At least three wireless communication beacons for establishing a wireless mesh network are arranged around the first device. The second device is configured to, in response to a second signal strength received from the wireless mesh network, determine the nearest neighbor target sub-module to the second device based on the second signal strength and the first signal strength of the first wireless communication unit in the wireless mesh network when the first device includes multiple first wireless communication units and each first wireless communication unit is respectively located at a corresponding sub-module, and send a binding request for the target sub-module to the first device; when the first device includes one first wireless communication unit, determine the nearest neighbor target sub-module to the second device based on the second signal strength, the first signal strength, and the location distribution information of the sub-modules in the first device, and send a binding request for the target sub-module to the first device. The first device is used to respond to the binding request and establish a binding relationship between the target submodule and the second device for linkage control.

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