Motion Control Method, Device, Equipment and Medium of a Mobile Terminal

Abstract

The present invention discloses a motion control method, device, equipment and medium for a mobile terminal. The method includes: when it is detected that the motion time of the mobile terminal reaches a preset time threshold, acquiring a first motion distance between the mobile terminal and a first reference object and a second motion distance between the mobile terminal and a second reference object; determining a first reference distance between a target point and the first reference object and a second reference distance between the target point and the second reference object; determining the target motion direction of the mobile terminal according to the first motion distance, the second motion distance, the first reference distance, the second reference distance and a preset ratio threshold; controlling the mobile terminal to move a target distance based on the target motion direction, and determining that the mobile terminal reaches the target point. The technical solution of the present invention solves the technical problem in the prior art that the positioning method based on model matching is used to control the motion of the mobile terminal, resulting in slow and inaccurate positioning speed, and realizes the fast and accurate control of the mobile terminal to reach the target point.

Description

Technical Field

[0001] The present invention relates to the technical field of terminal control, and particularly to a motion control method, device, equipment and medium for a mobile terminal. Background Art

[0002] With the intelligent development of the power grid, when monitoring equipment in the power grid, it is usually to remotely control a mobile terminal device to quickly move to a specified position to monitor the power equipment in the power grid. For example, images of power equipment are obtained through some mobile terminals for shooting, and users can obtain information related to the operation of the power equipment based on the images.

[0003] In the prior art, remotely controlling a mobile terminal to move to a specified position is achieved based on a model matching-based positioning method. However, the positioning speed of the model matching-based positioning method is relatively slow and the positioning is inaccurate. Summary of the Invention

[0004] The present invention provides a motion control method, device, equipment and medium for a mobile terminal to control the mobile terminal to quickly and accurately reach a target point.

[0005] According to one aspect of the present invention, there is provided a motion control method for a mobile terminal, the method comprising:

[0006] When it is detected that the motion time of the mobile terminal reaches a preset time threshold, obtaining a first motion distance between the mobile terminal and a first reference object and a second motion distance between the mobile terminal and a second reference object;

[0007] Determining a first reference distance between the target point and the first reference object and a second reference distance between the target point and the second reference object;

[0008] Determining a target motion direction of the mobile terminal according to the first motion distance, the second motion distance, the first reference distance, the second reference distance and a preset ratio threshold;

[0009] Controlling the mobile terminal to move a target distance based on the target motion direction to determine that the mobile terminal reaches the target point; wherein the target distance is associated with a ratio of a first distance and a ratio of a second distance, the first distance ratio is the ratio between the first reference distance and the second reference distance, and the second distance ratio is the ratio between the first motion distance and the second motion distance.

[0010] According to another aspect of the present invention, there is provided a motion control device for a mobile terminal, the device comprising:

[0011] A movement distance acquisition module, configured to acquire a first movement distance between the mobile terminal and a first reference object and a second movement distance between the mobile terminal and a second reference object when it is detected that the movement time of the mobile terminal reaches a preset time threshold;

[0012] A reference distance determination module, configured to determine a first reference distance between a target point and the first reference object and a second reference distance between the target point and the second reference object;

[0013] A movement direction determination module, configured to determine a target movement direction of the mobile terminal according to the first movement distance, the second movement distance, the first reference distance, the second reference distance, and a preset ratio threshold;

[0014] A target distance movement module, configured to control the mobile terminal to move a target distance based on the target movement direction and determine that the mobile terminal reaches the target point; wherein the target distance is associated with a first distance ratio and a second distance ratio, the first distance ratio is a ratio between the first reference distance and the second reference distance, and the second distance ratio is a ratio between the first movement distance and the second movement distance.

[0015] According to another aspect of the present invention, there is provided an electronic device, which includes:

[0016] At least one processor;

[0017] And a memory communicatively connected to the at least one processor;

[0018] Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the movement control method of the mobile terminal according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, there is provided a computer-readable storage medium, which stores computer instructions for implementing the movement control method of the mobile terminal according to any embodiment of the present invention when the computer instructions are executed by a processor.

[0020] In the technical solution of the embodiment of the present invention, when it is detected that the movement time of the mobile terminal reaches the preset time threshold, the first movement distance between the mobile terminal and the first reference object and the second movement distance between the mobile terminal and the second reference object are obtained; the first reference distance between the target point and the first reference object and the second reference distance between the target point and the second reference object are determined; the target movement direction of the mobile terminal is determined according to the first movement distance, the second movement distance, the first reference distance, the second reference distance, and the preset ratio threshold; the mobile terminal is controlled to move the target distance based on the target movement direction, and it is determined that the mobile terminal reaches the target point. The technical solution of the present invention first performs rough positioning through the detection of the preset time threshold, and then performs precise positioning based on the first movement distance, the second movement distance, the first reference distance, and the second reference distance to control the mobile terminal to reach the target point, solving the technical problem in the prior art that the positioning method based on model matching is used to control the movement of the mobile terminal, resulting in slow and inaccurate positioning, and realizing fast and precise control of the mobile terminal to reach the target point.

[0021] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0023] Figure 1 It is a flowchart of a method for controlling the movement of a mobile terminal provided in Embodiment 1 of the present invention;

[0024] Figure 2 It is a flowchart of a method for controlling the movement of a mobile terminal provided in Embodiment 2 of the present invention;

[0025] Figure 3 It is a flowchart of a method for controlling the movement of a mobile terminal provided in Embodiment 3 of the present invention;

[0026] Figure 4 It is a schematic structural diagram of a device for controlling the movement of a mobile terminal provided in Embodiment 4 of the present invention;

[0027] Figure 5 It is a schematic structural diagram of an electronic device provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] To enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solution in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0030] Before introducing the technical solution of the present invention, an exemplary description of the application scenario will be given first. The present invention can be applied to the scenario of monitoring devices in the power grid based on mobile terminal devices. It can be understood that when monitoring power devices in the power grid, images of power devices can be obtained through some mobile terminals for shooting, and users can obtain information related to the operation of power devices based on the images. In the above process, in order to ensure the safety of users, the mobile terminal is often remotely controlled to move to a specified position, and the mobile terminal can take pictures of power devices at this position. The existing control method for the mobile terminal is a positioning method based on model matching, and the mobile terminal cannot accurately and quickly reach the specified position. The technical solution of the present invention can quickly and accurately control the mobile terminal to reach the specified position.

[0031] Embodiment 1

[0032] Figure 1 The following is a flowchart of a motion control method for a mobile terminal provided in Embodiment 1 of the present invention. This embodiment is applicable to a situation, and this method can be executed by a motion control device of the mobile terminal. The device can be implemented in the form of hardware and / or software, and the device can be configured in the mobile terminal. As Figure 1 shown, the method includes:

[0033] S110. When it is detected that the motion time of the mobile terminal reaches a preset time threshold, obtain a first motion distance between the mobile terminal and a first reference object and a second motion distance between the mobile terminal and a second reference object.

[0034] Among them, the mobile terminal can be any terminal device that needs to move to a specified position. Optionally, the mobile terminal is a camera device. The movement time refers to the movement duration of the mobile terminal. The preset time threshold can be a pre-set time for determining whether to obtain the first movement distance and the second movement distance. The first reference object and the second reference object can be two different objects on the same straight line as the above-mentioned specified position. For example, the first reference object is a wall and the second reference object is an electrical device.

[0035] Specifically, the movement time of the mobile terminal can be detected in real time based on the movement control device of the mobile terminal. If the movement time exceeds the pre-set time threshold, it means that the mobile terminal is relatively close to the specified position. At this time, the distance between the mobile terminal and the first reference object can be obtained as the first movement distance, and the distance between the mobile terminal and the second reference object can be obtained as the second movement distance. Correspondingly, if the movement time of the mobile terminal does not reach the preset time threshold, the mobile terminal is continuously controlled to move until the movement time reaches the preset time threshold. The first movement distance and the second movement distance can be obtained in real time or periodically. The specific acquisition method can be set according to actual needs.

[0036] In this embodiment, the path for the mobile terminal to reach a certain specified position, the length of the path, and the running speed of the mobile terminal can be determined in advance, and then it can be calculated how long the mobile terminal moves from the starting point of the path before the distance between the mobile terminal and the specified position is close. That is, the calculated time can be used as the preset time threshold. Therefore, when the mobile terminal starts from the starting point and the movement time exceeds the preset time threshold, it can be considered that the mobile terminal is relatively close to the specified position, and the distance between the mobile terminal and each reference object can be further determined, preparing for the subsequent precise control of the mobile terminal. Among them, the above path and path length are measured by the user in advance through other devices, and the purpose is to initially judge whether the mobile terminal is close to the specified position.

[0037] Based on the above technical solution, when it is detected that the movement time of the mobile terminal reaches the preset time threshold, obtaining the first movement distance between the mobile terminal and the first reference object and the second movement distance between the mobile terminal and the second reference object includes: obtaining the first movement distance between the mobile terminal and the first reference object and the second movement distance between the mobile terminal and the second reference object based on the laser ranging unit of the mobile terminal.

[0038] Among them, the laser ranging unit can be used to measure the distance between the mobile terminal and each reference object.

[0039] Specifically, a laser ranging unit for measuring distance is provided on the mobile terminal device. The laser ranging unit emits laser beams to the first reference object and the second reference object respectively, and receives the reflected laser beams, thereby calculating the distances between the mobile terminal and each reference object, that is, the first movement distance between the mobile terminal and the first reference object and the second movement distance between the mobile terminal and the second reference object.

[0040] S120. Determine the first reference distance between the target point and the first reference object and the second reference distance between the target point and the second reference object.

[0041] Among them, the target point refers to the position that the mobile terminal needs to reach, that is, the designated position. After the mobile terminal reaches the target point, it executes the corresponding task. The mobile terminal can accurately obtain information only when it executes the corresponding task at the target point. For example, when the mobile terminal executes the task of photographing power equipment, only when the mobile terminal moves to the target point can it take a clear image containing the power equipment. The first reference distance is the distance between the target point and the first reference object, and the second reference distance is the distance between the target point and the second reference object. The first reference object, the second reference object, and the target point are on the same straight line.

[0042] Specifically, the straight-line distances between the first reference object, the second reference object, and the target point can be pre-stored in the internal storage of the mobile terminal. When in use, the first reference distance and the second reference distance can be directly retrieved from the internal storage of the mobile terminal.

[0043] S130. Determine the target movement direction of the mobile terminal according to the first movement distance, the second movement distance, the first reference distance, the second reference distance, and the preset ratio threshold.

[0044] Among them, the preset ratio threshold can be a ratio threshold pre-set by the user.

[0045] Specifically, the corresponding ratios can be calculated based on the first movement distance, the second movement distance, the first reference distance, and the second reference distance. The calculated ratios are compared with the preset ratio threshold. According to the comparison result, it is determined whether the mobile terminal is close to the target point. If it meets the preset ratio threshold, it can be considered that the mobile terminal is close to the target point. Further, it is determined whether the mobile terminal is moving towards the first reference object or the second reference object, that is, the target movement direction of the mobile terminal.

[0046] It should also be noted that the preset time threshold can be used to determine that the mobile terminal is relatively close to the target point. However, to further improve the accuracy, the first movement distance, the second movement distance, the first reference distance, the second reference distance, and the preset ratio threshold can be used to further accurately determine whether the mobile terminal is close to the target point. When the distance between the target point and the mobile terminal is close, the target movement direction can be further determined to fine-tune the position of the mobile terminal based on the target movement direction.

[0047] S140. Control the mobile terminal to move a target distance based on the target movement direction to determine that the mobile terminal reaches the target point.

[0048] Among them, the target distance can be the movement distance of the mobile terminal. The target distance is associated with the ratio of the first distance and the ratio of the second distance. The ratio of the first distance is the ratio between the first reference distance and the second reference distance, and the ratio of the second distance is the ratio between the first movement distance and the second movement distance.

[0049] Specifically, after determining the target movement direction, the mobile terminal can be controlled to move in the target movement direction, and the movement distance can be the target distance. The target distance is determined based on the ratio of the first distance and the ratio of the second distance. That is, by comparing the two reference distances and the two movement distances, the distance that the mobile terminal needs to move can be determined, and the mobile terminal can be controlled to move the corresponding distance to reach the target point.

[0050] Based on the above technical solution, the controlling the mobile terminal to move a target distance based on the target movement direction includes: controlling the mobile terminal to move a target distance according to a preset speed and the target movement direction, so that the ratio of the first distance is equal to the ratio of the second distance, then it is determined that the mobile terminal reaches the target point, and the mobile terminal is controlled to stop moving.

[0051] Among them, the preset speed can be a preset speed value, and the preset speed value is usually relatively small.

[0052] Specifically, the mobile terminal can be controlled to move according to a relatively small preset speed and the target movement direction, and the movement distance is the target distance. During the movement process, gradually make the ratio of the first distance equal to the ratio of the second distance. It is determined that the mobile terminal reaches the target point. It can be understood that when the preset ratio threshold is met, it means that the mobile terminal is already relatively close to the target point. Therefore, the ratio of the first distance and the ratio of the second distance can be determined. The equality of the ratio of the first distance and the ratio of the second distance indicates that the distances between the mobile terminal and each reference point and the distances between the target point and each reference point are equal. That is, the position of the mobile terminal coincides with the target point. At this time, the mobile terminal reaches the target point, and the mobile terminal is controlled to stop moving.

[0053] In the technical solution of the embodiment of the present invention, when it is detected that the movement time of the mobile terminal reaches a preset time threshold, the first movement distance between the mobile terminal and the first reference object and the second movement distance between the mobile terminal and the second reference object are obtained; the first reference distance between the target point and the first reference object and the second reference distance between the target point and the second reference object are determined; the target movement direction of the mobile terminal is determined according to the first movement distance, the second movement distance, the first reference distance, the second reference distance, and a preset ratio threshold; the mobile terminal is controlled to move a target distance based on the target movement direction, and it is determined that the mobile terminal reaches the target point. The technical solution of the present invention first performs rough positioning by detecting the preset time threshold, and then performs precise positioning based on the first movement distance, the second movement distance, the first reference distance, and the second reference distance to control the mobile terminal to reach the target point, solving the technical problem in the prior art that the positioning speed is slow and inaccurate when controlling the movement of the mobile terminal based on the model matching positioning method, and realizing the fast and precise control of the mobile terminal to reach the target point.

[0054] Embodiment 2

[0055] Figure 2 The flowchart of a movement control method for a mobile terminal provided in Embodiment 2 of the present invention. On the basis of the foregoing embodiment, this embodiment mainly introduces the determination of the target movement direction in detail, and the specific implementation manner can refer to the technical solution of this embodiment. Among them, the same or corresponding technical terms as those in the above embodiment will not be described in detail here. As Figure 2 shown, the method includes:

[0056] S210. When it is detected that the movement time of the mobile terminal reaches a preset time threshold, obtain the first movement distance between the mobile terminal and the first reference object and the second movement distance between the mobile terminal and the second reference object.

[0057] S220. Determine the first reference distance between the target point and the first reference object and the second reference distance between the target point and the second reference object.

[0058] S230. Determine a first difference based on the difference between the first movement distance and the first reference distance.

[0059] Wherein, the first difference is a value obtained by subtracting the first reference distance from the first movement distance.

[0060] Specifically, the movement control device of the mobile terminal can subtract the obtained first movement distance threshold from the first reference distance to obtain the first difference.

[0061] S240. Determine a second difference based on the difference between the second movement distance and the second reference distance.

[0062] Among them, the second difference value is the value obtained by subtracting the second reference distance from the second movement distance.

[0063] Specifically, the motion control device of the mobile terminal can subtract the obtained second movement distance threshold from the second reference distance to obtain the second difference value.

[0064] S250. If the ratios of the first difference value to the first reference distance and the second difference value to the second reference distance are both less than the preset ratio threshold, then determine the target motion direction based on the first distance ratio and the second distance ratio.

[0065] Among them, the direction to be adjusted can be the direction in which the mobile terminal needs to move. When the mobile terminal moves in the reverse direction to be adjusted, the ratios of the first difference value to the first reference distance and the second difference value to the second reference distance can both be less than the preset ratio threshold.

[0066] Specifically, if the ratios of the first difference value to the first reference distance and the second difference value to the second reference distance are both less than the preset ratio threshold, it means that the mobile terminal has moved to a position very close to the target point of the distance. The target motion direction of the mobile terminal can be directly determined by the first distance ratio and the second distance ratio, and the mobile terminal moves in the target motion direction.

[0067] Based on the above technical solution, if the ratios of the first difference value to the first reference distance and the second difference value to the second reference distance are both less than the preset ratio threshold, then determining the target motion direction based on the first distance ratio and the second distance ratio includes: if the first distance ratio is greater than the second distance ratio, then determine the direction of moving towards the second reference object as the target motion direction; if the first distance ratio is less than the second distance ratio, then determine the direction of moving towards the first reference object as the target motion direction.

[0068] Among them, the first distance ratio is the ratio between the first reference distance and the second reference distance, and the second distance ratio is the ratio between the first movement distance and the second movement distance.

[0069] Specifically, when the first distance ratio is greater than the second distance ratio, it means that the current mobile terminal is closer to the position of the first reference object and farther from the position of the second reference object. That is, the mobile terminal needs to move in the direction of the second reference object to reach the target point. That is, the direction of moving towards the second reference object can be determined as the target motion direction. When the first distance ratio is less than the second distance ratio, it means that the current mobile terminal is closer to the position of the second reference object and farther from the position of the first reference object. That is, the mobile terminal needs to move in the direction of the first reference object to reach the target point. That is, the direction of moving towards the first reference object can be determined as the target motion direction.

[0070] S260. If the ratio of the first difference to the first reference distance is greater than the preset ratio threshold or the ratio of the second difference to the second reference distance is greater than the preset ratio threshold, then control the mobile terminal to move in the direction to be adjusted until both the ratio of the first difference to the first reference distance and the ratio of the second difference to the second reference distance are less than the preset ratio threshold.

[0071] Specifically, if either the ratio of the first difference to the first reference distance or the ratio of the second difference to the second reference distance is greater than the preset ratio threshold, it indicates that the mobile terminal is still at a certain distance from the target point. Therefore, it is necessary to determine a direction to be adjusted so that the mobile terminal moves in this direction, until both the ratio of the first difference to the first reference distance and the ratio of the second difference to the second reference distance are less than the preset ratio threshold. At this time, both ratios are less than the preset ratio threshold, and the target movement direction of the mobile terminal can be determined through the first distance ratio and the second distance ratio.

[0072] Based on the above technical solution, the step of "if the ratio of the first difference to the first reference distance is greater than the preset ratio threshold or the ratio of the second difference to the second reference distance is greater than the preset ratio threshold, then control the mobile terminal to move in the direction to be adjusted" includes: if the ratio of the first difference to the first reference distance is negative, then determine the direction of moving towards the first reference object as the direction to be adjusted; if the ratio of the second difference to the second reference distance is negative, then determine the direction of moving towards the second reference object as the direction to be adjusted.

[0073] Specifically, if the ratio of the first difference to the first reference distance is negative, that is, the first difference is negative, which means the first reference distance is less than the first movement distance. In this case, for the mobile terminal, the mobile terminal is on the right side of the target point, that is, on the side of the second reference object. Therefore, the mobile terminal needs to move in the direction of the first reference object, and the direction of moving towards the first reference object can be determined as the direction to be adjusted. If the ratio of the second difference to the second reference distance is negative, that is, the second difference is negative, which means the second reference distance is less than the second movement distance. In this case, for the mobile terminal, the mobile terminal is on the left side of the target point, that is, on the side of the first reference object. Therefore, the mobile terminal needs to move in the direction of the second reference object, and the direction of moving towards the first reference object can be determined as the direction to be adjusted. Further, control the mobile terminal to move in the direction to be adjusted until both the ratio of the first difference to the first reference distance and the ratio of the second difference to the second reference distance are less than the preset ratio threshold.

[0074] It should also be noted that after moving in the direction to be adjusted, the ratios of the first difference to the first reference distance and the second difference to the second reference distance are both less than the preset ratio threshold. At this time, the target movement direction can continue to be determined based on the first distance ratio and the second distance ratio as described above.

[0075] S270. Control the mobile terminal to move a target distance based on the target movement direction, and determine that the mobile terminal reaches the target point.

[0076] The technical solution of the embodiment of the present invention, when it is detected that the movement time of the mobile terminal reaches the preset time threshold, obtains the first movement distance between the mobile terminal and the first reference object and the second movement distance between the mobile terminal and the second reference object; determines the first reference distance between the target point and the first reference object and the second reference distance between the target point and the second reference object; determines the target movement direction of the mobile terminal according to the first movement distance, the second movement distance, the first reference distance, the second reference distance and the preset ratio threshold; controls the mobile terminal to move a target distance based on the target movement direction, and determines that the mobile terminal reaches the target point. The technical solution of the present invention first performs rough positioning through the detection of the preset time threshold, and then performs precise positioning based on the first movement distance, the second movement distance, the first reference distance, and the second reference distance to control the mobile terminal to reach the target point, solving the technical problem in the prior art that the positioning speed is slow and inaccurate when controlling the movement of the mobile terminal based on the model matching positioning method, and realizing the fast and precise control of the mobile terminal to reach the target point.

[0077] Embodiment III

[0078] Figure 3 It is a flowchart of a movement control method for a mobile terminal provided in Embodiment III of the present invention. This embodiment is a preferred embodiment of the above embodiment, and the specific implementation manner can refer to the technical solution of this embodiment. Among them, the same or corresponding technical terms as those in the above embodiment will not be described in detail here. As Figure 3 shown, the method includes:

[0079] (1) Obtain the positioning target point of the mobile terminal.

[0080] (2) Obtain the distance L between the target point and the starting point and the two reference distances a and b corresponding to the target point, where a is the first reference distance and B is the second reference distance.

[0081] (3) According to the speed V of the mobile terminal, obtain the initial movement time T = L / V of the mobile terminal. Where T is the preset time threshold

[0082] (4) After the mobile terminal moves for T time, measure the distances a1 and b1 between the mobile terminal and the two reference distances. Where a1 is the first movement distance and b1 is the second movement distance.

[0083] (5) Determine whether (a - a1) / a < 5% and (b - b1) / b < 5%. If so, it can be determined that the position of the current mobile terminal is close to the target point, and step (6) can be executed. If not, move to the reference point corresponding to the negative formula among (a - a1) / a and (b - b1) / b until the above two formulas are satisfied.

[0084] (6) Compare the magnitudes of a / b and a1 / b1, determine the moving direction, and reduce the moving speed until a / b = a1 / b1.

[0085] (7) Reach the positioning target point.

[0086] In the technical solution of the embodiment of the present invention, when it is detected that the movement time of the mobile terminal reaches the preset time threshold, the first movement distance between the mobile terminal and the first reference object and the second movement distance between the mobile terminal and the second reference object are obtained; the first reference distance between the target point and the first reference object and the second reference distance between the target point and the second reference object are determined; the target movement direction of the mobile terminal is determined according to the first movement distance, the second movement distance, the first reference distance, the second reference distance, and the preset ratio threshold; and the mobile terminal is controlled to move the target distance based on the target movement direction to determine that the mobile terminal reaches the target point. The technical solution of the present invention first performs rough positioning through the detection of the preset time threshold, and then performs precise positioning based on the first movement distance, the second movement distance, the first reference distance, and the second reference distance to control the mobile terminal to reach the target point, solving the technical problem in the prior art that the positioning method based on model matching controls the movement of the mobile terminal, resulting in slow and inaccurate positioning, and realizing the fast and precise control of the mobile terminal to reach the target point.

[0087] Embodiment 4

[0088] Figure 4 It is a schematic structural diagram of a motion control device for a mobile terminal provided in Embodiment 4 of the present invention. As Figure 4 shown, the device includes:

[0089] A motion distance acquisition module 410, configured to obtain the first motion distance between the mobile terminal and the first reference object and the second motion distance between the mobile terminal and the second reference object when it is detected that the movement time of the mobile terminal reaches the preset time threshold;

[0090] A reference distance determination module 420, configured to determine the first reference distance between the target point and the first reference object and the second reference distance between the target point and the second reference object;

[0091] A motion direction determination module 430, configured to determine a target motion direction of the mobile terminal according to the first motion distance, the second motion distance, the first reference distance, the second reference distance, and a preset ratio threshold;

[0092] A target distance motion module 440, configured to control the mobile terminal to move a target distance based on the target motion direction and determine that the mobile terminal reaches a target point; wherein, the target distance is associated with a first distance ratio and a second distance ratio, the first distance ratio is a ratio between the first reference distance and the second reference distance, and the second distance ratio is a ratio between the first motion distance and the second motion distance.

[0093] Based on the above device, the motion distance acquisition module 410 includes:

[0094] A laser ranging module, configured to acquire a first motion distance between the mobile terminal and the first reference object and a second motion distance between the mobile terminal and the second reference object based on a laser ranging unit of the mobile terminal.

[0095] Based on the above device, the motion direction determination module 430 includes:

[0096] A first difference determination module, configured to determine a first difference based on a difference between the first motion distance and the first reference distance;

[0097] A second difference determination module, configured to determine a second difference based on a difference between the second motion distance and the second reference distance;

[0098] A target direction determination module, configured to, if a ratio of the first difference to the first reference distance and a ratio of the second difference to the second reference distance are both less than the preset ratio threshold, determine the target motion direction based on the first distance ratio and the second distance ratio;

[0099] A direction to be adjusted determination module, configured to, if a ratio of the first difference to the first reference distance is greater than the preset ratio threshold or a ratio of the second difference to the second reference distance is greater than the preset ratio threshold, control the mobile terminal to move in a direction to be adjusted until both the ratio of the first difference to the first reference distance and the ratio of the second difference to the second reference distance are less than the preset ratio threshold.

[0100] Based on the above device, the target direction determination module includes:

[0101] A first determination module, configured to, if the first distance ratio is greater than the second distance ratio, determine the direction of moving towards the second reference object as the target motion direction;

[0102] A second determination module, configured to determine the direction of movement towards the first reference object as the target movement direction if the first distance ratio is less than the second distance ratio.

[0103] Based on the above device, the to-be-adjusted direction determination module includes:

[0104] A first to-be-adjusted determination module, configured to determine the direction of movement towards the first reference object as the to-be-adjusted direction if the ratio of the first difference to the first reference distance is negative;

[0105] A second to-be-adjusted determination module, configured to determine the direction of movement towards the second reference object as the to-be-adjusted direction if the ratio of the second difference to the second reference distance is negative.

[0106] Based on the above device, the target distance movement module 440 includes:

[0107] A target distance movement unit, configured to control the movement of the mobile terminal by a target distance according to a preset speed and the target movement direction, so that the first distance ratio is equal to the second distance ratio, then determine that the mobile terminal reaches the target point, and control the mobile terminal to stop moving.

[0108] The technical solution of the embodiment of the present invention, by obtaining the first movement distance between the mobile terminal and the first reference object and the second movement distance between the mobile terminal and the second reference object when it is detected that the movement time of the mobile terminal reaches a preset time threshold; determining the first reference distance between the target point and the first reference object and the second reference distance between the target point and the second reference object; determining the target movement direction of the mobile terminal according to the first movement distance, the second movement distance, the first reference distance, the second reference distance and a preset ratio threshold; controlling the movement of the mobile terminal by a target distance based on the target movement direction to determine that the mobile terminal reaches the target point. The technical solution of the present invention first performs rough positioning by detecting a preset time threshold, and then performs precise positioning based on the first movement distance, the second movement distance, the first reference distance, and the second reference distance to control the mobile terminal to reach the target point, solving the technical problem in the prior art that the positioning speed is slow and inaccurate when controlling the movement of the mobile terminal based on the model matching positioning method, and realizing the fast and precise control of the mobile terminal to reach the target point.

[0109] The movement control device of the mobile terminal provided by the embodiment of the present invention can execute the movement control method of the mobile terminal provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0110] Embodiment Five

[0111] Figure 5A schematic structural diagram of an electronic device provided in Embodiment 5 of the present invention. The electronic device is intended to represent various forms of digital computers, such as, for example, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, for example, personal digital assistants, cellular telephones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0112] As Figure 5 shown, the electronic device 50 includes at least one processor 51, and a memory communicatively connected to the at least one processor 51, such as a read-only memory (ROM) 52, a random access memory (RAM) 53, etc. The memory stores a computer program executable by the at least one processor. The processor 51 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 52 or the computer program loaded from the storage unit 58 into the random access memory (RAM) 53. In the RAM 53, various programs and data required for the operation of the electronic device 50 can also be stored. The processor 51, the ROM 52, and the RAM 53 are connected to each other via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0113] Multiple components in the electronic device 50 are connected to the I / O interface 55, including: an input unit 56, such as a keyboard, a mouse, etc.; an output unit 57, such as various types of displays, speakers, etc.; a storage unit 58, such as a magnetic disk, an optical disk, etc.; and a communication unit 59, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0114] The processor 51 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 51 executes the various methods and processes described above, such as the motion control method of the mobile terminal.

[0115] In some embodiments, the motion control method of the mobile terminal may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 58. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 50 via ROM 52 and / or communication unit 59. When the computer program is loaded into RAM 53 and executed by the processor 51, one or more steps of the motion control method of the mobile terminal described above may be executed. Alternatively, in other embodiments, the processor 51 may be configured to execute the motion control method of the mobile terminal by any other suitable means (e.g., by means of firmware).

[0116] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems-on-a-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0117] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer programs are executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0118] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0119] To provide for interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0120] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0121] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0122] It should be understood that various forms of processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0123] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A motion control method for a mobile terminal, characterized in that, Including: When it is detected that the movement time of the mobile terminal reaches a preset time threshold, obtaining a first movement distance between the mobile terminal and a first reference object and a second movement distance between the mobile terminal and a second reference object; Determining a first reference distance between a target point and the first reference object and a second reference distance between the target point and the second reference object; Determining a target movement direction of the mobile terminal according to the first movement distance, the second movement distance, the first reference distance, the second reference distance, and a preset ratio threshold; Based on the target movement direction, controlling the mobile terminal to move a target distance, and determining that the mobile terminal reaches the target point; wherein the target distance is associated with a first distance ratio and a second distance ratio, the first distance ratio is a ratio between the first reference distance and the second reference distance, and the second distance ratio is a ratio between the first movement distance and the second movement distance.

2. The method according to claim 1, characterized in that, When it is detected that the movement time of the mobile terminal reaches a preset time threshold, obtaining a first movement distance between the mobile terminal and a first reference object and a second movement distance between the mobile terminal and a second reference object, including: Based on a laser ranging unit of the mobile terminal, obtaining the first movement distance between the mobile terminal and the first reference object and the second movement distance between the mobile terminal and the second reference object.

3. The method according to claim 1, characterized in that, The determining the target movement direction of the mobile terminal according to the first movement distance, the second movement distance, the first reference distance, the second reference distance, and a preset ratio threshold includes: Based on a difference between the first movement distance and the first reference distance, determining a first difference; Based on a difference between the second movement distance and the second reference distance, determining a second difference; If both a ratio of the first difference to the first reference distance and a ratio of the second difference to the second reference distance are less than the preset ratio threshold, then determining the target movement direction based on the first distance ratio and the second distance ratio; If a ratio of the first difference to the first reference distance is greater than the preset ratio threshold or a ratio of the second difference to the second reference distance is greater than the preset ratio threshold, then controlling the mobile terminal to move in a direction to be adjusted until both the ratio of the first difference to the first reference distance and the ratio of the second difference to the second reference distance are less than the preset ratio threshold.

4. The method according to claim 3, characterized in that, The if both a ratio of the first difference to the first reference distance and a ratio of the second difference to the second reference distance are less than the preset ratio threshold, then determining the target movement direction based on the first distance ratio and the second distance ratio includes: If the first distance ratio is greater than the second distance ratio, then determining the direction of movement towards the second reference object as the target movement direction; If the first distance ratio is less than the second distance ratio, then determining the direction of movement towards the first reference object as the target movement direction.

5. The method according to claim 3, characterized in that, The if a ratio of the first difference to the first reference distance is greater than the preset ratio threshold or a ratio of the second difference to the second reference distance is greater than the preset ratio threshold, then controlling the mobile terminal to move in a direction to be adjusted includes: If the ratio of the first difference to the first reference distance is negative, the direction of movement towards the first reference object is determined as the direction to be adjusted; If the ratio of the second difference to the second reference distance is negative, the direction of movement towards the second reference object is determined as the direction to be adjusted.

6. The method according to claim 1, characterized in that, The controlling the mobile terminal to move a target distance based on the target movement direction includes: Controlling the mobile terminal to move a target distance according to a preset speed and the target movement direction, so that the first distance ratio is equal to the second distance ratio, then it is determined that the mobile terminal reaches the target point, and the movement of the mobile terminal is controlled to stop.

7. A motion control device for a mobile terminal, characterized in that, Including: A movement distance acquisition module, configured to acquire a first movement distance between the mobile terminal and a first reference object and a second movement distance between the mobile terminal and a second reference object when it is detected that the movement time of the mobile terminal reaches a preset time threshold; A reference distance determination module, configured to determine a first reference distance between the target point and the first reference object and a second reference distance between the target point and the second reference object; A movement direction determination module, configured to determine the target movement direction of the mobile terminal according to the first movement distance, the second movement distance, the first reference distance, the second reference distance, and a preset ratio threshold; A target distance movement module, configured to control the mobile terminal to move a target distance based on the target movement direction, and determine that the mobile terminal reaches the target point; wherein the target distance is associated with a first distance ratio and a second distance ratio, the first distance ratio is the ratio between the first reference distance and the second reference distance, and the second distance ratio is the ratio between the first movement distance and the second movement distance.

8. The device according to claim 7, characterized in that, The movement distance acquisition module includes: A laser ranging module, configured to acquire a first movement distance between the mobile terminal and the first reference object and a second movement distance between the mobile terminal and the second reference object based on the laser ranging unit of the mobile terminal.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; And a memory communicatively connected to the at least one processor; Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the movement control method of the mobile terminal according to any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the processor to implement the movement control method of the mobile terminal according to any one of claims 1-6 when executed.

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