CN114339593A - Mobile device, control method thereof, control device thereof, and readable storage medium - Google Patents
Mobile device, control method thereof, control device thereof, and readable storage medium Download PDFInfo
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- CN114339593A CN114339593A CN202111571270.4A CN202111571270A CN114339593A CN 114339593 A CN114339593 A CN 114339593A CN 202111571270 A CN202111571270 A CN 202111571270A CN 114339593 A CN114339593 A CN 114339593A
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Abstract
The invention provides a movable device, a control method, a control device and a readable storage medium thereof, wherein the movable device can move in at least one room, a positioning label is arranged in the room, and the movable device comprises: a positioning device for communicating with a positioning tag; a controller connected to the positioning device, the controller being configured to: acquiring the communication state of a positioning device and a positioning label; determining a target room where the movable equipment is located according to the communication state; and acquiring control information corresponding to the target room, and controlling the movable equipment to work according to the control information. In the embodiment of the invention, the positioning of the room where the movable equipment is located can be realized through the positioning device of the movable equipment and the unique positioning tag in the room, the accuracy of room positioning is improved, and the movable equipment can be controlled more accurately.
Description
Technical Field
The present invention relates to the field of device control technologies, and in particular, to a mobile device, a control method for the mobile device, a control apparatus for the mobile device, and a readable storage medium.
Background
At present, the robot of sweeping the floor is more and more intelligent, can carry out different modes of cleaning according to the room of difference. In the related art, the sweeping robot determines the room by visually recognizing a specific object in the room, for example, if recognizing a bed, the room is a bedroom, and if recognizing a sofa or a television, the room is a living room. Alternatively, the user manually identifies different rooms on the map of the handset App.
However, with the first method, if a room lacks a specific object, the specific object in the room is moved, or there is no light at night, the sweeping robot cannot determine the room or is prone to misjudge. For the second method, manual room identification is troublesome, and the map of the App is updated or lost, which results in lost room classification information, and the user needs to manually identify the room again, which brings troubles to the user.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, one aspect of the invention is to propose a mobile device.
Another aspect of the present invention is to provide a method of controlling a mobile device.
Yet another aspect of the present invention is to provide a control apparatus for a movable equipment.
Yet another aspect of the present invention is to provide a readable storage medium.
In view of the above, according to one aspect of the present invention, there is provided a mobile device capable of moving within at least one room in which a location tag is provided, the mobile device comprising: a positioning device for communicating with a positioning tag; a controller connected to the positioning device, the controller being configured to: acquiring the communication state of a positioning device and a positioning label; determining a target room where the movable equipment is located according to the communication state; and acquiring control information corresponding to the target room, and controlling the movable equipment to work according to the control information.
In the technical scheme, the movable equipment can be equipment such as a sweeping robot and an artificial intelligence assistant, and can move in a plurality of rooms, so that the purpose of working in different rooms is achieved.
The movable equipment is provided with a positioning device and a controller, the positioning device is used for communicating with the positioning tags, the positioning tags are placed in each room, and the positioning tags and the rooms have one-to-one correspondence.
It should be noted that the mobile device may be a communication base station, such as a bluetooth AoA (Angle of Arrival) base station, a WiFi module, etc., and the positioning tag corresponds to a bluetooth AoA tag, a WiFi tag, etc. The location of the positioning tag in the room is not limited, and may be placed in the center of the room without the obstruction to ensure stable communication.
The controller can determine the current position of the mobile device, namely the current room (namely, the target room) of the mobile device according to the communication state between the positioning device and the positioning tag, and further enable the mobile device to work according to the control information corresponding to the room.
In the embodiment of the invention, the positioning device of the movable equipment and the unique positioning tag in the room can realize the positioning of the room where the movable equipment is located, so that the problem that the room cannot be identified or misjudged due to visual identification of the room by the movable equipment is avoided, meanwhile, the manual setting on an App by a user is not needed, the use by the user is facilitated, the accuracy of room positioning is improved, and the control on the movable equipment can be more accurate.
The mobile device according to the invention may also have the following additional features:
in the above technical solution, the controller is specifically configured to determine, based on the communication connection between the positioning device and the target positioning tag, that the target room is a room corresponding to the target positioning tag.
In the technical scheme, the controller judges the communication state between the positioning device and the positioning tag, wherein the communication state specifically comprises communication connection or communication disconnection.
Further, the controller indicates that the mobile device is not located in the room corresponding to the target positioning tag at the moment when the controller determines that the positioning device and the target positioning tag are in the communication disconnection state; and under the condition that the positioning device and the target positioning tag are judged to be in the communication connection state, the movable equipment is shown to be in the room corresponding to the target positioning tag at the moment. Wherein the target positioning tag is one of a plurality of positioning tags.
And when the current room of the movable equipment is determined according to the communication state between the positioning device and the positioning tag, the movable equipment can work according to the control information corresponding to the room.
In the embodiment of the invention, the room in which the movable equipment is located is positioned through the communication state between the positioning device of the movable equipment and the unique positioning tag in the room.
In any of the above technical solutions, the controller is specifically configured to determine that the target room is a room corresponding to the target positioning tag based on the communication connection between the positioning device and the target positioning tag, and the strength of the communication signal is greater than or equal to a preset threshold.
In the technical scheme, the controller judges the communication state between the positioning device and the positioning tag, wherein the communication state specifically comprises communication connection or communication disconnection.
Further, the controller, in case that it is determined that the positioning device and the target positioning tag are in a communication disconnected state, indicates that the mobile device is not located in the room corresponding to the target positioning tag at this time.
And under the condition that the positioning device and the target positioning tag are in the communication connection state, the movable equipment is indicated to be possibly positioned in a room corresponding to the target positioning tag at the moment, the signal strength of the communication connection is further judged, and if the signal strength exceeds a certain threshold value, the movable equipment is determined to be positioned in the room corresponding to the target positioning tag at the moment. Wherein the target positioning tag is one of a plurality of positioning tags.
After the current room where the mobile equipment is located is determined according to the communication state between the positioning device and the positioning tag and the strength of the communication signal, the mobile equipment can work according to the control information corresponding to the room.
In the embodiment of the invention, the room where the movable equipment is located is positioned through the communication state between the positioning device of the movable equipment and the unique positioning tag in the room and the strength of the communication signal, and the accuracy of room positioning is improved.
In any of the above technical solutions, the controller is specifically configured to: acquiring room type information stored in a target positioning tag corresponding to a target room; determining the room type of the target room according to the room type information; control information corresponding to the room type is acquired.
Wherein the room type includes, but is not limited to, bedrooms, living rooms, toilets, kitchens, restaurants, study rooms, balconies, etc.
According to the technical scheme, the room type information of the corresponding room is stored in the positioning tag.
After the room in which the movable equipment is located through the communication state between the locating device of the movable equipment and the unique locating tag in the room, the controller reads the room type information of the room from the locating tag of the room.
Further, control information corresponding to the room type is determined according to a correspondence relationship between the room type and the control information stored in advance. And then, the mobile device is operated according to the control information.
Illustratively, the mobile device is an artificial intelligence assistant, and when the artificial intelligence assistant determines that the mobile device is in a bedroom, the artificial intelligence assistant acquires control information of the intelligent curtain corresponding to the bedroom, so as to control the intelligent curtain.
According to the embodiment of the invention, the movable equipment judges the type of the room where the sweeping robot is located through the communication between the positioning device and the unique positioning tag in the room, so that the problems of instability and uncertainty of visual identification in the related technology are solved, the problem of loss of room classification information caused by updating or losing of a map in an App in the related technology is solved, and the accuracy of room positioning is improved.
In any of the above technical solutions, the movable equipment is a sweeping robot, the control information includes a sweeping mode corresponding to the room type, and the controller is specifically configured to control the sweeping robot to work in the target room according to the sweeping mode.
In this solution, the movable equipment is a sweeping robot, which has different sweeping modes for different room types, for example, sweeping or not sweeping a specific room, or sweeping a specific room alone, or sweeping a specific room intensively, and so on.
After the room where the sweeping robot is located through the communication state between the locating device of the sweeping robot and the unique locating tag in the room, the controller reads the room type information of the room from the locating tag of the room. And determining a cleaning mode corresponding to the room type according to the pre-stored corresponding relation between the room type and the cleaning mode, and controlling the cleaning robot to clean according to the cleaning mode.
In the embodiment of the invention, the sweeping robot can clearly determine the room classification condition of the household environment of the user, so that the intelligent sweeping of the room is realized, and the intelligent requirement of the user on the sweeping robot is met.
In any of the above technical solutions, the positioning device is a bluetooth AoA base station.
In the technical scheme, a Bluetooth AoA base station is added on the mobile equipment, and a Bluetooth AoA label is arranged in a room. This solution has the following advantages: (1) high precision: sub-meter-level high-precision positioning is carried out, and the precision can reach 0.1 meter; (2) low power consumption: the low-power consumption Bluetooth tag has a maximum endurance of more than 5 years; (3) the cost is low: the cost is far lower than other schemes with the same precision, and the label is tens of yuan at the lowest; (4) small size: the bluetooth label form is various, and the minimum dimension is less than 1 yuan coin.
According to the embodiment of the invention, the movable equipment realizes room positioning through a Bluetooth AoA high-precision positioning technology, the problem that the room type cannot be judged due to the fact that a visual recognition technology lacks a specific object is solved, the problem that the room classification information is lost due to the fact that a map is updated or lost when the App manually identifies the room classification is solved, and the accuracy of room positioning is improved.
According to another aspect of the present invention, there is provided a control method of a mobile device, the mobile device being movable within at least one room, a location tag being provided in the room, the mobile device being provided with a location means, the location means being capable of communicating with the location tag, the control method comprising: acquiring the communication state of a positioning device and a positioning label; determining a target room where the movable equipment is located according to the communication state; and acquiring control information corresponding to the target room, and controlling the movable equipment to work according to the control information.
In the technical scheme, the movable equipment can be equipment such as a sweeping robot and an artificial intelligence assistant, and can move in a plurality of rooms, so that the purpose of working in different rooms is achieved.
The movable equipment is provided with a positioning device, the positioning device is used for communicating with the positioning tags, the positioning tags are placed in each room, and the positioning tags and the rooms have one-to-one correspondence.
It should be noted that the mobile device may be a communication base station, for example, a bluetooth AoA base station, a WiFi module, etc., and the positioning tag is a bluetooth AoA tag, a WiFi tag, etc. The location of the positioning tag in the room is not limited, and may be placed in the center of the room without the obstruction to ensure stable communication.
According to the communication state between the positioning device and the positioning tag, the current position of the movable equipment can be determined, namely the current room (namely, the target room) of the movable equipment, and further, the movable equipment is enabled to work according to the control information corresponding to the room.
In the embodiment of the invention, the positioning device of the movable equipment and the unique positioning tag in the room can realize the positioning of the room where the movable equipment is located, so that the problem that the room cannot be identified or misjudged due to visual identification of the room by the movable equipment is avoided, meanwhile, the manual setting on an App by a user is not needed, the use by the user is facilitated, the accuracy of room positioning is improved, and the control on the movable equipment can be more accurate.
The control method of the mobile device according to the present invention may further have the following additional technical features:
in the above technical solution, determining a target room where the mobile device is located according to the communication state includes: and determining the target room as the room corresponding to the target positioning tag based on the communication connection between the positioning device and the target positioning tag.
In the technical scheme, the communication state between the positioning device and the positioning tag is judged, and the communication state specifically comprises communication connection or communication disconnection.
Further, when the positioning device and the target positioning tag are judged to be in a communication disconnection state, the mobile device is not located in a room corresponding to the target positioning tag at the moment; and under the condition that the positioning device and the target positioning tag are judged to be in the communication connection state, the movable equipment is shown to be in the room corresponding to the target positioning tag at the moment. Wherein the target positioning tag is one of a plurality of positioning tags.
And when the current room of the movable equipment is determined according to the communication state between the positioning device and the positioning tag, the movable equipment can work according to the control information corresponding to the room.
In the embodiment of the invention, the room in which the movable equipment is located is positioned through the communication state between the positioning device of the movable equipment and the unique positioning tag in the room.
In any of the above technical solutions, determining, based on a communication connection between the positioning device and the target positioning tag, that the target room is a room corresponding to the target positioning tag includes: and determining the target room as the room corresponding to the target positioning tag based on the communication connection between the positioning device and the target positioning tag and the strength of the communication signal is greater than or equal to a preset threshold value.
In the technical scheme, the communication state between the positioning device and the positioning tag is judged, and the communication state specifically comprises communication connection or communication disconnection.
Further, in the case that the positioning apparatus and the target positioning tag are determined to be in the communication disconnection state, it indicates that the mobile device is not located in the room corresponding to the target positioning tag at this time.
And under the condition that the positioning device and the target positioning tag are in the communication connection state, the movable equipment is indicated to be possibly positioned in a room corresponding to the target positioning tag at the moment, the signal strength of the communication connection is further judged, and if the signal strength exceeds a certain threshold value, the movable equipment is determined to be positioned in the room corresponding to the target positioning tag at the moment. Wherein the target positioning tag is one of a plurality of positioning tags.
After the current room where the mobile equipment is located is determined according to the communication state between the positioning device and the positioning tag and the strength of the communication signal, the mobile equipment can work according to the control information corresponding to the room.
In the embodiment of the invention, the room where the movable equipment is located is positioned through the communication state between the positioning device of the movable equipment and the unique positioning tag in the room and the strength of the communication signal, and the accuracy of room positioning is improved.
In any of the above technical solutions, the obtaining of the control information corresponding to the target room includes: acquiring room type information stored in a target positioning tag corresponding to a target room; determining the room type of the target room according to the room type information; control information corresponding to the room type is acquired.
Wherein the room type includes, but is not limited to, bedrooms, living rooms, toilets, kitchens, restaurants, study rooms, balconies, etc.
According to the technical scheme, the room type information of the corresponding room is stored in the positioning tag.
After the room in which the movable equipment is located through the communication state between the locating device of the movable equipment and the unique locating tag in the room, the room type information of the room is read from the locating tag of the room.
Further, control information corresponding to the room type is determined according to a correspondence relationship between the room type and the control information stored in advance. And then, the mobile device is operated according to the control information.
Illustratively, the mobile device is an artificial intelligence assistant, and when the artificial intelligence assistant determines that the mobile device is in a bedroom, the artificial intelligence assistant acquires control information of the intelligent curtain corresponding to the bedroom, so as to control the intelligent curtain.
According to the embodiment of the invention, the movable equipment judges the type of the room where the sweeping robot is located through the communication between the positioning device and the unique positioning tag in the room, so that the problems of instability and uncertainty of visual identification in the related technology are solved, the problem of loss of room classification information caused by updating or losing of a map in an App in the related technology is solved, and the accuracy of room positioning is improved.
In any one of the above technical solutions, the movable equipment is a sweeping robot, the control information includes a sweeping mode corresponding to the room type, and the movable equipment is controlled to work according to the control information, including: and controlling the sweeping robot to work in the target room according to the sweeping mode.
In this solution, the movable equipment is a sweeping robot, which has different sweeping modes for different room types, for example, sweeping or not sweeping a specific room, or sweeping a specific room alone, or sweeping a specific room intensively, and so on.
After the room where the sweeping robot is located through the communication state between the locating device of the sweeping robot and the unique locating tag in the room, the room type information of the room is read from the locating tag of the room. And determining a cleaning mode corresponding to the room type according to the pre-stored corresponding relation between the room type and the cleaning mode, and controlling the cleaning robot to clean according to the cleaning mode.
In the embodiment of the invention, the sweeping robot can clearly determine the room classification condition of the household environment of the user, so that the intelligent sweeping of the room is realized, and the intelligent requirement of the user on the sweeping robot is met.
According to still another aspect of the present invention, there is provided a control apparatus for a mobile device, the mobile device being capable of moving within at least one room, a location tag being provided in the room, the mobile device being provided with a location device, the location device being capable of communicating with the location tag, the control apparatus comprising: the first acquisition module is used for acquiring the communication state of the positioning device and the positioning tag; the determining module is used for determining a target room where the movable equipment is located according to the communication state; the second acquisition module is used for acquiring control information corresponding to the target room; and the control module is used for controlling the movable equipment to work according to the control information.
In the technical scheme, the movable equipment can be equipment such as a sweeping robot and an artificial intelligence assistant, and can move in a plurality of rooms, so that the purpose of working in different rooms is achieved.
The movable equipment is provided with a positioning device, the positioning device is used for communicating with the positioning tags, the positioning tags are placed in each room, and the positioning tags and the rooms have one-to-one correspondence.
It should be noted that the mobile device may be a communication base station, for example, a bluetooth AoA base station, a WiFi module, etc., and the positioning tag is a bluetooth AoA tag, a WiFi tag, etc. The location of the positioning tag in the room is not limited, and may be placed in the center of the room without the obstruction to ensure stable communication.
According to the communication state between the positioning device and the positioning tag, the current position of the movable equipment can be determined, namely the current room (namely, the target room) of the movable equipment, and further, the movable equipment is enabled to work according to the control information corresponding to the room.
In the embodiment of the invention, the positioning device of the movable equipment and the unique positioning tag in the room can realize the positioning of the room where the movable equipment is located, so that the problem that the room cannot be identified or misjudged due to visual identification of the room by the movable equipment is avoided, meanwhile, the manual setting on an App by a user is not needed, the use by the user is facilitated, the accuracy of room positioning is improved, and the control on the movable equipment can be more accurate.
According to a further aspect of the present invention, a readable storage medium is proposed, on which a program or instructions are stored, which when executed by a processor implement the steps of the control method of a removable device as in any of the above-mentioned solutions.
The readable storage medium, the program or the instructions provided by the present invention, when executed by the processor, implement the steps of the control method of the mobile device according to any of the above technical solutions, and therefore the readable storage medium includes all the advantages of the control method of the mobile device according to any of the above technical solutions.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 shows a schematic block diagram of a removable device of an embodiment of the present invention;
FIG. 2 shows a schematic diagram of a room setting locator tag of an embodiment of the invention;
FIG. 3 shows a schematic diagram of a positioning device communicating with a positioning tag, in accordance with an embodiment of the present invention;
FIG. 4 is a flow chart illustrating a method of controlling a mobile device according to an embodiment of the present invention;
FIG. 5 shows a schematic block diagram of a control apparatus of a mobile device of an embodiment of the present invention;
FIG. 6 shows a schematic block diagram of a removable device of an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The removable device, the control method of the removable device, the control apparatus of the removable device, and the readable storage medium provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Example one
In an embodiment of the present invention, a mobile device is provided, as shown in fig. 1, the mobile device 100 is provided with a positioning device 102 and a controller 104, and the positioning device 102 and the controller 104 are connected to each other for communication.
As shown in fig. 2, each room is provided with a positioning tag 202, a living room is provided with a positioning tag 204, a bedroom 1 is provided with a positioning tag 206, a bedroom 2 is provided with a positioning tag 208, a kitchen is provided with a positioning tag 210, a washroom is provided with a positioning tag 212, a study is provided with a positioning tag 214, and the mobile device 100 provided with the positioning device 102 can move in any room.
As shown in fig. 3, the locating means 102 of the mobile device 100 can communicate with the locating tag in any one room, and specifically, the locating means 102 communicates with the locating tag that is closest to the locating tag, that is, in which room the mobile device 100 is located, the locating means 102 communicates with the locating tag in which room.
The controller 104 of the mobile device 100 obtains the communication state between the positioning apparatus 102 and the positioning tag, determines a target room in which the mobile device 100 is currently located based on the communication state, obtains control information corresponding to the target room, and operates the mobile device 100 according to the control information.
In this technical solution, the movable device 100 may be a sweeping robot, an artificial intelligence assistant, or other devices, and may move in a plurality of rooms, so as to achieve the purpose of working in different rooms.
The mobile device 100 is provided with a positioning device 102 and a controller 104, the positioning device 102 is used for communicating with positioning tags, the positioning tags are placed in each room, and the positioning tags have a one-to-one correspondence relationship with the rooms.
It should be noted that the mobile device 100 may be a communication base station, such as a bluetooth AoA base station, a WiFi module, etc., and the positioning tag is a bluetooth AoA tag, a WiFi tag, etc. The location of the positioning tag in the room is not limited, and may be placed in the center of the room without the obstruction to ensure stable communication.
The controller 104 can determine the current location of the mobile device 100, that is, the room (i.e., the target room) in which the mobile device 100 is currently located according to the communication state between the positioning apparatus 102 and the positioning tag, and further, enable the mobile device 100 to operate according to the control information corresponding to the room.
In the embodiment of the invention, the positioning device 102 of the movable equipment 100 and the unique positioning tag in the room can position the room where the movable equipment 100 is located, so that the problem that the room cannot be identified or misjudged due to visual identification of the room by the movable equipment 100 is avoided, meanwhile, manual setting on an App by a user is not needed, the use of the user is facilitated, the accuracy of room positioning is improved, and the control on the movable equipment 100 can be more accurate.
Example two
In this embodiment, the controller 104 determines that the target room is the room in which the target location tag is located if it determines that the communication of the positioning device 102 with the target location tag is in a connected state.
In this embodiment, the controller 104 determines a communication state between the positioning device 102 and the positioning tag, where the communication state specifically includes communication connection or communication disconnection.
Further, in the case that the controller 104 determines that the positioning device 102 and the target positioning tag are in the communication disconnection state, it indicates that the mobile device 100 is not located in the room corresponding to the target positioning tag at this time; if it is determined that the positioning device 102 and the target positioning tag are communicatively coupled, this indicates that the mobile device 100 is now in the room corresponding to the target positioning tag. Wherein the target positioning tag is one of a plurality of positioning tags.
When the current room in which the mobile device 100 is located is determined according to the communication state between the positioning device 102 and the positioning tag, the mobile device 100 can operate according to the control information corresponding to the room.
In the embodiment of the present invention, the location of the room in which the mobile device 100 is located is realized through the communication state between the location device 102 of the mobile device 100 and the unique location tag in the room.
EXAMPLE III
In this embodiment, the controller 104 determines that the target room is the room in which the target location tag is located if it is determined that the communication between the positioning device 102 and the target location tag is in a connected state and the strength of the communication signal exceeds a preset threshold.
In this embodiment, the controller 104 determines a communication state between the positioning device 102 and the positioning tag, where the communication state specifically includes communication connection or communication disconnection.
Further, if the controller 104 determines that the positioning device 102 and the target positioning tag are in a disconnected state, it indicates that the mobile device 100 is not located in the room corresponding to the target positioning tag.
If the positioning device 102 and the target positioning tag are determined to be in a communication connection state, it indicates that the mobile device 100 may be located in a room corresponding to the target positioning tag at this time, and further determines the signal strength of the communication connection, and if the signal strength exceeds a certain threshold, it is determined that the mobile device is located in the room corresponding to the target positioning tag at this time. Wherein the target positioning tag is one of a plurality of positioning tags.
When the current room in which the mobile device 100 is located is determined according to the communication state between the positioning device 102 and the positioning tag and the strength of the communication signal, the mobile device 100 can operate according to the control information corresponding to the room.
In the embodiment of the present invention, the location of the room in which the mobile device 100 is located is implemented through the communication state between the location device 102 of the mobile device 100 and the unique location tag in the room and the strength of the communication signal, and the accuracy of the location of the room is improved.
Example four
In this embodiment, the controller 104 reads the room type information stored in the target positioning tag corresponding to the target room, determines the room type of the target room based on the room type information, and further obtains the control information according to the corresponding relationship between the room type and the control information.
Wherein the room type includes, but is not limited to, bedrooms, living rooms, toilets, kitchens, restaurants, study rooms, balconies, etc.
According to the technical scheme, the room type information of the corresponding room is stored in the positioning tag.
After the location of the room in which the mobile device 100 is located is achieved through the communication state between the location device 102 of the mobile device 100 and the unique location tag in the room, the controller 104 reads the room type information of the room from the location tag of the room.
Further, control information corresponding to the room type is determined according to a correspondence relationship between the room type and the control information stored in advance. And then, the portable device 100 is operated based on the control information.
Illustratively, the mobile device 100 is an artificial intelligence assistant, and when the artificial intelligence assistant determines that the mobile device is in a bedroom, the artificial intelligence assistant acquires control information of the intelligent curtain corresponding to the bedroom, so as to control the intelligent curtain.
According to the embodiment of the invention, the movable equipment 100 judges the type of the room where the sweeping robot is located through the communication between the positioning device 102 and the unique positioning tag in the room, so that the problems of instability and uncertainty of visual identification in the related technology are solved, the problem of loss of room classification information caused by updating or losing of a map in App in the related technology is solved, and the accuracy of room positioning is improved.
EXAMPLE five
In this embodiment, in the case that the mobile device 100 is a sweeping robot, the control information includes a sweeping mode corresponding to the type of the room, and the controller 104 can control the sweeping robot to sweep the target room according to the sweeping mode.
In this embodiment, the mobile device 100 is a sweeping robot that has different sweeping modes for different room types, such as sweeping or not sweeping a particular room, or sweeping a particular room individually, or sweeping a particular room intensively, and so on.
After the room in which the sweeping robot is located through the communication state between the locating device 102 of the sweeping robot and the unique locating tag in the room, the controller 104 reads the room type information of the room from the locating tag of the room. And determining a cleaning mode corresponding to the room type according to the pre-stored corresponding relation between the room type and the cleaning mode, and controlling the cleaning robot to clean according to the cleaning mode.
In the embodiment of the invention, the sweeping robot can clearly determine the room classification condition of the household environment of the user, so that the intelligent sweeping of the room is realized, and the intelligent requirement of the user on the sweeping robot is met.
EXAMPLE six
In this embodiment, the positioning device 102 is a bluetooth AoA base station.
In this solution, a bluetooth AoA base station is added to the mobile device 100, and a bluetooth AoA tag is set in the room. This solution has the following advantages: (1) high precision: sub-meter-level high-precision positioning is carried out, and the precision can reach 0.1 meter; (2) low power consumption: the low-power consumption Bluetooth tag has a maximum endurance of more than 5 years; (3) the cost is low: the cost is far lower than other schemes with the same precision, and the label is tens of yuan at the lowest; (4) small size: the bluetooth label form is various, and the minimum dimension is less than 1 yuan coin.
According to the embodiment of the invention, the movable equipment 100 realizes room positioning through a Bluetooth AoA high-precision positioning technology, the problem that the room type cannot be judged due to the fact that a visual identification technology lacks a specific object is solved, the problem that the room classification information is lost due to the fact that a map is updated or lost when the room classification is manually identified in an App is solved, and the accuracy of room positioning is improved.
EXAMPLE seven
The embodiment of the invention provides a control method of movable equipment, wherein the movable equipment is provided with a positioning device, each room is provided with a positioning tag, the movable equipment which can be provided with the positioning device can move in any room, the positioning device can communicate with the positioning tag in any room, and specifically, the positioning device communicates with the positioning tag which is closest to the positioning device, namely, the positioning device communicates with the positioning tag in any room in which the movable equipment is positioned.
Fig. 4 is a flowchart illustrating a control method of a mobile device according to an embodiment of the present invention, where the control method includes:
and 406, acquiring control information corresponding to the target room, and enabling the movable equipment to work according to the control information.
In the technical scheme, the movable equipment can be equipment such as a sweeping robot and an artificial intelligence assistant, and can move in a plurality of rooms, so that the purpose of working in different rooms is achieved.
The movable equipment is provided with a positioning device, the positioning device is used for communicating with the positioning tags, the positioning tags are placed in each room, and the positioning tags and the rooms have one-to-one correspondence.
It should be noted that the mobile device may be a communication base station, for example, a bluetooth AoA base station, a WiFi module, etc., and the positioning tag is a bluetooth AoA tag, a WiFi tag, etc. The location of the positioning tag in the room is not limited, and may be placed in the center of the room without the obstruction to ensure stable communication.
According to the communication state between the positioning device and the positioning tag, the current position of the movable equipment can be determined, namely the current room (namely, the target room) of the movable equipment, and further, the movable equipment is enabled to work according to the control information corresponding to the room.
In the embodiment of the invention, the positioning device of the movable equipment and the unique positioning tag in the room can realize the positioning of the room where the movable equipment is located, so that the problem that the room cannot be identified or misjudged due to visual identification of the room by the movable equipment is avoided, meanwhile, the manual setting on an App by a user is not needed, the use by the user is facilitated, the accuracy of room positioning is improved, and the control on the movable equipment can be more accurate.
In one embodiment of the invention, the positioning device 102 is a bluetooth AoA base station.
In this solution, a bluetooth AoA base station is added to the mobile device 100, and a bluetooth AoA tag is set in the room. This solution has the following advantages: (1) high precision: sub-meter-level high-precision positioning is carried out, and the precision can reach 0.1 meter; (2) low power consumption: the low-power consumption Bluetooth tag has a maximum endurance of more than 5 years; (3) the cost is low: the cost is far lower than other schemes with the same precision, and the label is tens of yuan at the lowest; (4) small size: the bluetooth label form is various, and the minimum dimension is less than 1 yuan coin.
According to the embodiment of the invention, the movable equipment 100 realizes room positioning through a Bluetooth AoA high-precision positioning technology, the problem that the room type cannot be judged due to the fact that a visual identification technology lacks a specific object is solved, the problem that the room classification information is lost due to the fact that a map is updated or lost when the room classification is manually identified in an App is solved, and the accuracy of room positioning is improved.
Example eight
In this embodiment, the step of determining the target room in which the mobile device is currently located based on the communication status specifically includes: when it is determined that the communication between the positioning device and the target positioning tag is in a connected state, it is determined that the target room is the room in which the target positioning tag is located.
In the technical scheme, the communication state between the positioning device and the positioning tag is judged, and the communication state specifically comprises communication connection or communication disconnection.
Further, when the positioning device and the target positioning tag are judged to be in a communication disconnection state, the mobile device is not located in a room corresponding to the target positioning tag at the moment; and under the condition that the positioning device and the target positioning tag are judged to be in the communication connection state, the movable equipment is shown to be in the room corresponding to the target positioning tag at the moment. Wherein the target positioning tag is one of a plurality of positioning tags.
And when the current room of the movable equipment is determined according to the communication state between the positioning device and the positioning tag, the movable equipment can work according to the control information corresponding to the room.
In the embodiment of the invention, the room in which the movable equipment is located is positioned through the communication state between the positioning device of the movable equipment and the unique positioning tag in the room.
Example nine
In this embodiment, the step of determining the target room in which the mobile device is currently located based on the communication status specifically includes: and determining that the target room is the room where the target positioning tag is located under the condition that the communication between the positioning device and the target positioning tag is determined to be in a connection state and the intensity of the communication signal exceeds a preset threshold value.
In the technical scheme, the communication state between the positioning device and the positioning tag is judged, and the communication state specifically comprises communication connection or communication disconnection.
Further, in the case that the positioning apparatus and the target positioning tag are determined to be in the communication disconnection state, it indicates that the mobile device is not located in the room corresponding to the target positioning tag at this time.
And under the condition that the positioning device and the target positioning tag are in the communication connection state, the movable equipment is indicated to be possibly positioned in a room corresponding to the target positioning tag at the moment, the signal strength of the communication connection is further judged, and if the signal strength exceeds a certain threshold value, the movable equipment is determined to be positioned in the room corresponding to the target positioning tag at the moment. Wherein the target positioning tag is one of a plurality of positioning tags.
After the current room where the mobile equipment is located is determined according to the communication state between the positioning device and the positioning tag and the strength of the communication signal, the mobile equipment can work according to the control information corresponding to the room.
In the embodiment of the invention, the room where the movable equipment is located is positioned through the communication state between the positioning device of the movable equipment and the unique positioning tag in the room and the strength of the communication signal, and the accuracy of room positioning is improved.
Example ten
In this embodiment, the step of acquiring the control information corresponding to the target room specifically includes: and reading the room type information stored in the target positioning tag corresponding to the target room, determining the room type of the target room based on the room type information, and further acquiring the control information according to the corresponding relation between the room type and the control information.
Wherein the room type includes, but is not limited to, bedrooms, living rooms, toilets, kitchens, restaurants, study rooms, balconies, etc.
According to the technical scheme, the room type information of the corresponding room is stored in the positioning tag.
After the room in which the movable equipment is located through the communication state between the locating device of the movable equipment and the unique locating tag in the room, the room type information of the room is read from the locating tag of the room.
Further, control information corresponding to the room type is determined according to a correspondence relationship between the room type and the control information stored in advance. And then, the mobile device is operated according to the control information.
Illustratively, the mobile device is an artificial intelligence assistant, and when the artificial intelligence assistant determines that the mobile device is in a bedroom, the artificial intelligence assistant acquires control information of the intelligent curtain corresponding to the bedroom, so as to control the intelligent curtain.
According to the embodiment of the invention, the movable equipment judges the type of the room where the sweeping robot is located through the communication between the positioning device and the unique positioning tag in the room, so that the problems of instability and uncertainty of visual identification in the related technology are solved, the problem of loss of room classification information caused by updating or losing of a map in an App in the related technology is solved, and the accuracy of room positioning is improved.
EXAMPLE eleven
In this embodiment, when the movable device is a sweeping robot, the control information includes a sweeping mode corresponding to the type of the room, and the step of operating the movable device according to the control information specifically includes: and controlling the sweeping robot to sweep the target room according to the sweeping mode.
In this solution, the movable equipment is a sweeping robot, which has different sweeping modes for different room types, for example, sweeping or not sweeping a specific room, or sweeping a specific room alone, or sweeping a specific room intensively, and so on.
After the room where the sweeping robot is located through the communication state between the locating device of the sweeping robot and the unique locating tag in the room, the room type information of the room is read from the locating tag of the room. And determining a cleaning mode corresponding to the room type according to the pre-stored corresponding relation between the room type and the cleaning mode, and controlling the cleaning robot to clean according to the cleaning mode.
In the embodiment of the invention, the sweeping robot can clearly determine the room classification condition of the household environment of the user, so that the intelligent sweeping of the room is realized, and the intelligent requirement of the user on the sweeping robot is met.
Example twelve
The embodiment of the invention provides a control device of movable equipment, wherein the movable equipment is provided with a positioning device, each room is provided with a positioning tag, the movable equipment which can be provided with the positioning device can move in any room, the positioning device can communicate with the positioning tag in any room, and specifically, the positioning device communicates with the positioning tag which is closest to the positioning device, namely, the positioning device communicates with the positioning tag in any room in which the movable equipment is positioned.
Fig. 5 shows a schematic block diagram of a control apparatus 500 of a removable device according to an embodiment of the present invention, wherein the control apparatus 500 of the removable device comprises a first obtaining module 502, a determining module 504, a second obtaining module 506 and a control module 508.
The first obtaining module 502 can obtain a communication state between the positioning device and the positioning tag; the determination module 504 can determine a target room in which the movable device is currently located based on the communication status; the second obtaining module 506 can obtain control information corresponding to the target room; the control module 508 can cause the removable device to operate in accordance with the control information.
In the technical scheme, the movable equipment can be equipment such as a sweeping robot and an artificial intelligence assistant, and can move in a plurality of rooms, so that the purpose of working in different rooms is achieved.
The movable equipment is provided with a positioning device, the positioning device is used for communicating with the positioning tags, the positioning tags are placed in each room, and the positioning tags and the rooms have one-to-one correspondence.
It should be noted that the mobile device may be a communication base station, for example, a bluetooth AoA base station, a WiFi module, etc., and the positioning tag is a bluetooth AoA tag, a WiFi tag, etc. The location of the positioning tag in the room is not limited, and may be placed in the center of the room without the obstruction to ensure stable communication.
According to the communication state between the positioning device and the positioning tag, the current position of the movable equipment can be determined, namely the current room (namely, the target room) of the movable equipment, and further, the movable equipment is enabled to work according to the control information corresponding to the room.
In the embodiment of the invention, the positioning device of the movable equipment and the unique positioning tag in the room can realize the positioning of the room where the movable equipment is located, so that the problem that the room cannot be identified or misjudged due to visual identification of the room by the movable equipment is avoided, meanwhile, the manual setting on an App by a user is not needed, the use by the user is facilitated, the accuracy of room positioning is improved, and the control on the movable equipment can be more accurate.
In the technical scheme, the communication state between the positioning device and the positioning tag is judged, and the communication state specifically comprises communication connection or communication disconnection. Further, when the positioning device and the target positioning tag are judged to be in a communication disconnection state, the mobile device is not located in a room corresponding to the target positioning tag at the moment; and under the condition that the positioning device and the target positioning tag are judged to be in the communication connection state, the movable equipment is shown to be in the room corresponding to the target positioning tag at the moment. Wherein the target positioning tag is one of a plurality of positioning tags. And when the current room of the movable equipment is determined according to the communication state between the positioning device and the positioning tag, the movable equipment can work according to the control information corresponding to the room. In the embodiment of the invention, the room in which the movable equipment is located is positioned through the communication state between the positioning device of the movable equipment and the unique positioning tag in the room.
In the technical scheme, the communication state between the positioning device and the positioning tag is judged, and the communication state specifically comprises communication connection or communication disconnection. Further, in the case that the positioning apparatus and the target positioning tag are determined to be in the communication disconnection state, it indicates that the mobile device is not located in the room corresponding to the target positioning tag at this time. And under the condition that the positioning device and the target positioning tag are in the communication connection state, the movable equipment is indicated to be possibly positioned in a room corresponding to the target positioning tag at the moment, the signal strength of the communication connection is further judged, and if the signal strength exceeds a certain threshold value, the movable equipment is determined to be positioned in the room corresponding to the target positioning tag at the moment. Wherein the target positioning tag is one of a plurality of positioning tags. After the current room where the mobile equipment is located is determined according to the communication state between the positioning device and the positioning tag and the strength of the communication signal, the mobile equipment can work according to the control information corresponding to the room. In the embodiment of the invention, the room where the movable equipment is located is positioned through the communication state between the positioning device of the movable equipment and the unique positioning tag in the room and the strength of the communication signal, and the accuracy of room positioning is improved.
According to the technical scheme, the room type information of the corresponding room is stored in the positioning tag. After the room in which the movable equipment is located through the communication state between the locating device of the movable equipment and the unique locating tag in the room, the room type information of the room is read from the locating tag of the room. Further, control information corresponding to the room type is determined according to a correspondence relationship between the room type and the control information stored in advance. And then, the mobile device is operated according to the control information. According to the embodiment of the invention, the movable equipment judges the type of the room where the sweeping robot is located through the communication between the positioning device and the unique positioning tag in the room, so that the problems of instability and uncertainty of visual identification in the related technology are solved, the problem of loss of room classification information caused by updating or losing of a map in an App in the related technology is solved, and the accuracy of room positioning is improved.
In this solution, the movable equipment is a sweeping robot, which has different sweeping modes for different room types, for example, sweeping or not sweeping a specific room, or sweeping a specific room alone, or sweeping a specific room intensively, and so on. After the room where the sweeping robot is located through the communication state between the locating device of the sweeping robot and the unique locating tag in the room, the room type information of the room is read from the locating tag of the room. And determining a cleaning mode corresponding to the room type according to the pre-stored corresponding relation between the room type and the cleaning mode, and controlling the cleaning robot to clean according to the cleaning mode. In the embodiment of the invention, the sweeping robot can clearly determine the room classification condition of the household environment of the user, so that the intelligent sweeping of the room is realized, and the intelligent requirement of the user on the sweeping robot is met.
EXAMPLE thirteen
In an embodiment of the present invention, a removable device is proposed, and fig. 6 shows a schematic block diagram of the removable device 600 according to the embodiment of the present invention, where the removable device 600 includes a memory 602 and a processor 604, the memory 602 stores a program or an instruction, and the processor 604 executes the program or the instruction to implement the steps of the method for controlling the removable device according to any one of the above technical solutions.
Wherein the memory 602 and the processor 604 may be connected by a bus or otherwise. The Processor 604 may include one or more Processing units, and the Processor 604 may be a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or the like.
The mobile device 600 provided by the present invention, when the program or the instructions are executed by the processor 604, implements the steps of the control method of the mobile device according to any of the above technical solutions, and therefore the mobile device 600 includes all the beneficial effects of the control method of the mobile device according to any of the above technical solutions.
Example fourteen
An embodiment of the present invention provides a readable storage medium, on which a program or instructions are stored, where the program or instructions, when executed by a processor, implement the steps of the control method for a mobile device according to any one of the above technical solutions.
The readable storage medium includes a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
The readable storage medium, the program or the instructions provided by the present invention, when executed by the processor, implement the steps of the control method of the mobile device according to any of the above technical solutions, and therefore the readable storage medium includes all the advantages of the control method of the mobile device according to any of the above technical solutions.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (15)
1. A mobile device capable of movement within at least one room having a location tag disposed therein, the mobile device comprising:
a positioning device for communicating with the positioning tag;
a controller coupled to the positioning device, the controller configured to:
acquiring the communication state of the positioning device and the positioning tag;
determining a target room where the movable equipment is located according to the communication state;
and acquiring control information corresponding to the target room, and controlling the movable equipment to work according to the control information.
2. The removable device of claim 1,
the controller is specifically configured to determine, based on a communication connection between the positioning device and a target positioning tag, that the target room is a room corresponding to the target positioning tag.
3. The removable device of claim 2,
the controller is specifically configured to determine that the target room is a room corresponding to the target positioning tag based on the communication connection between the positioning device and the target positioning tag and the strength of the communication signal is greater than or equal to a preset threshold value.
4. The mobile device according to any of claims 1 to 3, wherein the controller is specifically configured to:
acquiring room type information stored in a target positioning tag corresponding to the target room;
determining the room type of the target room according to the room type information;
and acquiring control information corresponding to the room type.
5. The removable device of claim 4,
the room type includes any one of: bedrooms, living rooms, toilets, kitchens, dining rooms, study rooms and balconies.
6. The mobile device according to claim 4, wherein the mobile device is a sweeping robot, the control information includes a sweeping mode corresponding to the room type, and the controller is specifically configured to control the sweeping robot to work in the target room according to the sweeping mode.
7. The mobile device according to any of claims 1 to 3,
the positioning device is a Bluetooth AoA base station.
8. A control method of a mobile device, wherein the mobile device is capable of moving within at least one room, wherein a positioning tag is provided in the room, wherein the mobile device is provided with a positioning apparatus capable of communicating with the positioning tag, the control method comprising:
acquiring the communication state of the positioning device and the positioning tag;
determining a target room where the movable equipment is located according to the communication state;
and acquiring control information corresponding to the target room, and controlling the movable equipment to work according to the control information.
9. The method of claim 8, wherein the determining a target room in which the mobile device is located based on the communication status comprises:
and determining the target room as a room corresponding to the target positioning tag based on the communication connection between the positioning device and the target positioning tag.
10. The method of claim 9, wherein the determining the target room as the room corresponding to the target positioning tag based on the communication connection between the positioning device and the target positioning tag comprises:
and determining the target room as the room corresponding to the target positioning tag based on the communication connection between the positioning device and the target positioning tag and the strength of the communication signal is greater than or equal to a preset threshold value.
11. The control method according to any one of claims 8 to 10, wherein the acquiring control information corresponding to the target room includes:
acquiring room type information stored in a target positioning tag corresponding to the target room;
determining the room type of the target room according to the room type information;
and acquiring control information corresponding to the room type.
12. The control method according to claim 11,
the room type includes any one of: bedrooms, living rooms, toilets, kitchens, dining rooms, study rooms and balconies.
13. The control method according to claim 11, wherein the movable equipment is a sweeping robot, the control information includes a sweeping mode corresponding to the room type, and the controlling the movable equipment to operate according to the control information includes:
and controlling the sweeping robot to work in the target room according to the sweeping mode.
14. A control apparatus for a mobile device, the mobile device being capable of moving within at least one room, a location tag being provided within the room, the mobile device being provided with a location apparatus capable of communicating with the location tag, the control apparatus comprising:
the first acquisition module is used for acquiring the communication state of the positioning device and the positioning tag;
the determining module is used for determining a target room where the movable equipment is located according to the communication state;
the second acquisition module is used for acquiring control information corresponding to the target room;
and the control module is used for controlling the movable equipment to work according to the control information.
15. A readable storage medium on which a program or instructions are stored, characterized in that the program or instructions, when executed by a processor, implement the steps of the control method of a removable device according to any one of claims 8 to 13.
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