Method, platform and system for tracking user and storage medium

Abstract

The invention discloses a user tracking method, platform and system and a storage medium, the method is used for a movable platform, and the movable platform comprises a plurality of sonar receiving devices and a power device for providing motion power for the movable platform. The method comprises the following steps: controlling a plurality of sonar receiving devices to receive a first sonar signal sent by a mobile terminal carried by a user; and controlling a power device to drive the movable platform to move according to the first sonar signal, so that the movable platform moves along with the user.

Description

User tracking method, platform, system and storage medium Technical Field

[0001] The present application relates to the field of electronic maps, for example, to a method, platform, system and storage medium for tracking users. Background Art

[0002] When locating users moving underwater, such as divers, a buoy is generally used. A positioning device is set on the part of the buoy that is exposed above the water surface, and multiple transducers are set on the underwater part. The underwater diver is located by receiving sound waves emitted by the diver's wearable device to obtain the diver's position relative to the buoy. The positioning information is then received by the positioning device to obtain the position of the buoy, and the diver's position relative to the buoy is then converted into positioning information.

[0003] However, buoys used in related art can only transmit or receive sound waves within a certain angular range and are immobile, so they can only locate divers within a certain radius. Once a diver swims outside this range, their position cannot be effectively monitored, making it impossible to take appropriate rescue measures in the event of danger. Furthermore, the diver cannot know the location of other divers in their vicinity. Installing multiple buoys to monitor a large area to expand the monitoring range is costly and hinders equipment reuse.

[0004] Summary of the Invention

[0005] The present application provides a method, platform, system and storage medium for tracking users.

[0006] According to one aspect of the present application, a method for tracking a user is provided, which is used for a movable platform, wherein the movable platform includes multiple sonar receiving devices and a power device for providing motion power to the movable platform. The method includes:

[0007] controlling the plurality of sonar receiving devices to receive a first sonar signal sent by the mobile terminal carried by the user;

[0008] The power device is controlled according to the first sonar signal to drive the movable platform to move, so that the movable platform follows the movement of the user.

[0009] According to another aspect of the present application, a movable platform is provided, comprising a plurality of sonar receiving devices and a power device for providing motion power to the movable platform, and further comprising at least one processor, wherein the at least one processor is configured to perform the following steps:

[0010] controlling the plurality of sonar receiving devices to receive a first sonar signal sent by the mobile terminal carried by the user;

[0011] The power device is controlled according to the first sonar signal to drive the movable platform to move, so that the movable platform follows the movement of the user.

[0012] According to another aspect of the present application, a system for tracking a user is provided, the system comprising a movable platform and a mobile terminal carried by the user, the system further comprising at least one processor, the at least one processor being configured to perform the following steps:

[0013] Controlling the mobile terminal to send a first sonar signal;

[0014] controlling the movable platform to receive the first sonar signal;

[0015] The movable platform is controlled to move according to the first sonar signal so that the movable platform follows the movement of the user.

[0016] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for tracking a user described in any embodiment of the present application when executed.

[0017] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To illustrate the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. The drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0019] FIG1 is a flowchart of a method for tracking a user according to an embodiment of the present application;

[0020] FIG2 is a schematic diagram of the positional relationship between a mobile platform and a user according to an embodiment of the present application;

[0021] FIG3 is a schematic diagram of a sonar receiving device array provided according to an embodiment of the present application;

[0022] FIG4 is a schematic diagram of the position of a second sonar receiving device provided according to an embodiment of the present application;

[0023] FIG5 is a flowchart of a method for tracking a user according to an embodiment of the present application;

[0024] FIG6 is a schematic diagram of a movable platform provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to help those skilled in the art better understand this application, the following will clearly and completely describe the embodiments of this application in conjunction with the drawings in the embodiments of this application. The described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Figure 1 is a flow chart of a method for tracking an underwater user provided by an embodiment of the present application. This embodiment can track and locate the user. The method can be executed by a user tracking system, which can be implemented in hardware and / or software. The system includes a movable platform, which includes multiple sonar receiving devices and a power device that provides motion power to the movable platform. As shown in Figure 1, the method includes:

[0028] S110: Control multiple sonar receiving devices to receive a first sonar signal sent by a mobile terminal carried by a user.

[0029] Among them, the sonar receiving device is a device that uses the propagation and reflection characteristics of sound waves in water to receive sonar signals; the mobile terminal carried by the user can be a mobile device with a sonar signal transmitting function. Typically, the user can be a diver doing underwater sports, etc., and the mobile terminal carried by the user can be a bracelet with a sonar signal transmitting function, etc.

[0030] In some embodiments, the movable platform may be a device floating on the water surface, such as a buoy device, etc. The movable platform may receive the first sonar signal sent by the mobile terminal carried by the user through multiple sonar receiving devices installed on the movable platform.

[0031] S120: Control the power device to drive the movable platform to move according to the first sonar signal, so that the movable platform follows the movement of the user.

[0032] The power unit may be a device on the movable platform for controlling the movement of the movable platform on the water surface. In some embodiments, the power unit may include a propeller whose blades rotate in air or water to convert engine rotational power into propulsion, and a steering gear for controlling the direction of the movable platform.

[0033] In some embodiments, after the sonar receiving device of the mobile platform receives a first sonar signal transmitted from a mobile terminal carried by a user, the power device can be used to control the mobile platform to follow the user's movements. Because the sonar receiving device's range of reception of sonar signals is limited, in order for the mobile platform to track the user, if the mobile platform can continuously receive the first sonar signal, it can ensure that the mobile platform is near the user, thus achieving user tracking. In some embodiments, to ensure that the mobile platform can continuously receive the first sonar signal, the location of the mobile terminal can be determined based on the first sonar signal, and then the mobile platform can be controlled to move toward the location of the mobile terminal.

[0034] The method for tracking a user provided in an embodiment of the present application receives a sonar signal sent by a mobile terminal carried by the user, controls the movement of a movable platform according to the sonar signal, and thereby achieves tracking and positioning of the moving user.

[0035] Figure 2 is a schematic diagram of the positional relationship between a movable platform and a user provided in an embodiment of the present application. The signal reception range of the movable platform is shown in Figure 2. The movement of the movable platform can utilize a power device to move the user so that the user is within the signal reception range.

[0036] In some embodiments, the movable platform further includes a sonar transmitting device, and the method for tracking the user further includes:

[0037] The user's position is determined according to the first sonar signal; a third sonar signal is generated according to the user's position; and the sonar sending device is controlled to send the third sonar signal, so that the user can receive the third sonar signal through the mobile terminal to know the user's position.

[0038] In some embodiments, the movable platform may have a sonar signal sending function. After receiving the first sonar signal, the user's location can be determined based on the sending and receiving time of the first sonar signal, and then the user's location can be sent to the mobile terminal by sending a third sonar signal.

[0039] For example, assuming the speed of sound is v, the sending time of the first sonar signal is T1, and the receiving time is T2, then the propagation time of the sound wave between the mobile terminal and the movable platform can be T2-T1, and the distance L between the first mobile terminal and the movable platform is L=V×(T2-T1).

[0040] In some embodiments, the direction of a user relative to the mobile platform can be determined based on the varying strengths of the first sonar signals received by multiple sonar receiving devices on the mobile platform. Once the position of the mobile platform is determined, the position of the mobile terminal carried by the user can be determined based on the distance and direction of the mobile terminal relative to the mobile platform, thereby determining the user's position. This position can then be transmitted to the user via a third sonar signal.

[0041] In some embodiments, there may be multiple users, each of whom carries a mobile terminal. The method for determining the location of the user based on the first sonar signal may be:

[0042] The location of each corresponding user is determined according to each mobile terminal.

[0043] For example, a movable platform can receive first sonar signals sent by multiple mobile terminals, each of which contains an identifier of a corresponding mobile terminal. The location of each corresponding user can be determined based on the first sonar signal sent by each mobile terminal.

[0044] In some embodiments, the mobile terminal may include a display device, and after receiving the third sonar signal, the position of the mobile terminal and other users may be displayed on the display device for the user to view.

[0045] In some embodiments, the third sonar signal may be generated according to the user's location by:

[0046] A third sonar signal is generated based on the position of each user.

[0047] For example, for each user and their mobile terminal, the corresponding position can be determined respectively, and a corresponding third sonar signal is generated for each user, which includes the position of the corresponding user.

[0048] In some embodiments, the plurality of sonar receiving devices include a plurality of first sonar receiving devices, each first sonar receiving device is associated with a different direction, and the method further includes:

[0049] Acquiring signal strengths of first sonar signals received by a plurality of sonar receiving devices; determining a target sonar receiving device from the plurality of first sonar receiving devices based on the signal strengths; wherein the signal strength of the first sonar signal received by the target sonar receiving device is greater than the signal strengths of the first sonar signals received by other sonar receiving devices in the plurality of sonar receiving devices; and controlling the power device to drive the movable platform to move in a direction associated with the target sonar receiving device.

[0050] For example, multiple first sonar receiving devices can form an array, with each first sonar receiving device in the array corresponding to a different direction. Figure 3 is a schematic diagram of a sonar receiving device array provided in an embodiment of the present application. As shown in the figure, the array is composed of eight sonar receiving devices, corresponding to the directions of east, west, south, north, northwest, northeast, southwest, and southeast, respectively. Based on the signal strength of the first sonar signal received by each sonar receiving device, if the signal strength of the first sonar signal received by the sonar receiving device corresponding to the northwest direction is the strongest, then the sonar device is determined to be the target sonar receiving device, and the power device can be controlled to drive the movable platform to move in the northwest direction.

[0051] In some embodiments, the plurality of sonar receiving devices include a second sonar receiving device located in the center of the plurality of first sonar receiving devices. In the process of controlling the power device to drive the movable platform to move in a direction associated with the target sonar receiving device, the method for tracking the user further includes:

[0052] When it is detected that the signal strength of the first sonar signal received by the second sonar receiving device is greater than the signal strength of the first sonar signal received by the first sonar receiving device, the power device is controlled to stop driving the movable platform.

[0053] For example, the direction of the mobile terminal can be determined using a second sonar receiving device. Figure 4 is a schematic diagram of the position of a second sonar receiving device provided in an embodiment of the present application. As shown in Figure 4, if the signal strength of the first sonar signal received by the second sonar receiving device is lower than that of the first sonar receiving device, the power device is used to drive the movable platform to move until the signal strength of the first sonar signal received by the second sonar receiving device is higher than the signal strength of the first signal received by other sonar receiving devices.

[0054] In some embodiments, the signal strength includes a signal-to-noise ratio and / or a carrier-to-interference ratio of the first sonar signal.

[0055] The carrier-to-interference ratio (C / I) generally reflects the quality of the signal received by the receiver during spatial propagation, while the signal-to-noise ratio (S / N) generally reflects the quality of the demodulated signal after the receiver receives the signal. The signal strength of the first sonar signal can be reflected based on the S / N ratio and / or the carrier-to-interference ratio.

[0056] FIG5 is a flow chart of a method for tracking a user provided in an embodiment of the present application, which is an example of step S120. As shown in FIG5 , the method includes:

[0057] S210: Control multiple sonar receiving devices to receive a first sonar signal sent by a mobile terminal carried by a user.

[0058] In some embodiments, the movable platform may be a device floating on the water surface, such as a buoy device, etc. The movable platform may receive the first sonar signal sent by the mobile terminal carried by the user through multiple sonar receiving devices installed on the movable platform.

[0059] S220: Determine the distance between the movable platform and the user according to the first sonar signal.

[0060] In some embodiments, after acquiring the first sonar signal sent by the mobile terminal, the distance between the movable platform and the user can be determined based on the first sonar signal.

[0061] In some embodiments, the method for tracking an underwater user further includes obtaining a first position of the movable platform, and determining the distance between the movable platform and the user based on the first sonar signal may include: determining the second position of the user based on the first sonar signal and the first position; and determining the distance based on the first position and the second position.

[0062] In some embodiments, the movable platform further includes a positioning device, and the first position is acquired by the positioning device.

[0063] For example, a positioning device of the mobile platform can be used to obtain the real-time position of the mobile platform. For example, the positioning device can be a GPS (Global Positioning System) device located on the water surface, which can achieve all-weather, continuous, real-time, high-precision positioning of the sonar equipment.

[0064] In some embodiments, the distance is a horizontal distance, and the first sonar signal includes the depth of the user underwater. The method for determining the distance between the movable platform and the user based on the first sonar signal may be:

[0065] The horizontal distance between the movable platform and the user is determined according to the depth, the first position, and the second position.

[0066] In some embodiments, since the movable platform is located on the water surface and the mobile terminal is carried by the user, as shown in FIG2 , after determining the distance between the movable platform and the user based on the first sonar signal, the horizontal distance between the movable platform and the user can be determined by combining the user's depth.

[0067] In some embodiments, the method further comprises:

[0068] Obtain the receiving range of the sonar receiving device; determine the distance threshold based on the receiving range and depth.

[0069] The distance threshold is a threshold of the horizontal distance between the user and the movable platform. Since the distance between the user and the movable platform is related to the depth of the user underwater, the distance threshold is also related to the depth of the user.

[0070] As shown in FIG2 , the dotted line reflects the distance thresholds corresponding to different depths within the current signal reception range. Taking user A as an example, at the depth where the user is located, the distance threshold corresponding to the depth is d.

[0071] In some embodiments, the movable platform further includes a sonar transmitting device, and the method further includes:

[0072] When the first sonar signal can be received and the distance is detected to be greater than the distance threshold, the sonar sending device is controlled to send a second sonar signal to prompt the user that the user is outside the safe area.

[0073] In some embodiments, the second sonar signal is a signal sent by the movable platform to the mobile terminal carried by the user through the sonar sending device. Based on the horizontal distance between the user and the movable platform, if the horizontal distance is less than or equal to a distance threshold, the user is considered to be within the safe range. If the horizontal threshold is greater than the distance threshold, the user is considered to be out of the safe range, and the second sonar signal can be used to alert the user.

[0074] S230: Controlling the power device to drive the movable platform to move according to the distance so that the distance is less than or equal to the distance threshold.

[0075] In some embodiments, after determining the horizontal distance between the user and the movable platform, in order to enable the movable platform to track the user, the movable platform can be controlled to move by a power device so that the horizontal distance between the user and the movable platform is less than or equal to a distance threshold.

[0076] In some embodiments, the method of controlling the power device to drive the movable platform to move according to the distance may be:

[0077] When the distance is greater than the distance threshold, the power device is controlled to drive the movable platform to move so that the distance is less than or equal to the distance threshold.

[0078] The present application also provides a movable platform. FIG6 is a schematic diagram of a movable platform provided in an embodiment of the present application. As shown in FIG6 , the movable platform includes multiple sonar receiving devices 310 and a power device 320 for providing motion power to the movable platform. The movable platform also includes at least one processor, which is configured to perform the following steps:

[0079] Controlling multiple sonar receiving devices 310 to receive a first sonar signal sent by a mobile terminal carried by a user;

[0080] The power device 320 is controlled according to the first sonar signal to drive the movable platform to move, so that the movable platform follows the movement of the user.

[0081] In some embodiments, when executing the step of controlling the power device 320 to drive the movable platform to move according to the first sonar signal, the at least one processor is further configured to:

[0082] determining a distance between the movable platform and the user based on the first sonar signal;

[0083] The power device is controlled to drive the movable platform to move according to the distance so that the distance is less than or equal to the distance threshold.

[0084] In some embodiments, when executing the step of controlling the power device to drive the movable platform to move according to the distance, at least one processor is further configured to:

[0085] When the distance is greater than the distance threshold, the power device 320 is controlled to drive the movable platform to move so that the distance is less than or equal to the distance threshold.

[0086] In some embodiments, the at least one processor is further configured to obtain a first position of the movable platform; and when performing the step of determining a distance between the movable platform and the user based on the first sonar signal, the at least one processor is further configured to:

[0087] determining a second location of the user based on the first sonar signal and the first location;

[0088] A distance is determined based on the first position and the second position.

[0089] In some embodiments, the movable platform further includes a positioning device 330 , and the first position is acquired by the positioning device 330 .

[0090] In some embodiments, the distance is a horizontal distance, and the first sonar signal includes a depth of the user; when performing the step of determining the distance between the movable platform and the user based on the first sonar signal, the at least one processor is further configured to:

[0091] The horizontal distance between the movable platform and the user is determined according to the depth, the first position, and the second position.

[0092] In some embodiments, the at least one processor is further configured to:

[0093] Obtaining the receiving range of the sonar receiving device 310;

[0094] The distance threshold is determined based on the receiving range and depth.

[0095] In some embodiments, the movable platform further comprises a sonar transmitting device; and the at least one processor is further configured to:

[0096] When the first sonar signal can be received and the distance is detected to be greater than the distance threshold, the sonar sending device is controlled to send a second sonar signal to prompt the user that the user is outside the safe area.

[0097] In some embodiments, the movable platform further comprises a sonar transmitting device; and the at least one processor is further configured to:

[0098] determining a location of the user based on the first sonar signal;

[0099] generating a third sonar signal based on the user's position;

[0100] The sonar transmitting device is controlled to transmit a third sonar signal, so that the user can receive the third sonar signal through the mobile terminal and obtain the user's position.

[0101] In some embodiments, there are multiple users, each of which carries a mobile terminal;

[0102] When performing the step of determining the user's location based on the first sonar signal, the at least one processor is further configured to:

[0103] Determine the location of each user corresponding to each mobile terminal;

[0104] When performing the step of generating a third sonar signal based on the user's position, the at least one processor is further configured to:

[0105] A third sonar signal is generated based on the position of each user.

[0106] In some embodiments, the plurality of sonar receiving devices 310 include a plurality of first sonar receiving devices, each of which is associated with a different direction;

[0107] At least one processor is further configured to:

[0108] Obtaining signal strengths of first sonar signals received by the plurality of sonar receiving devices 310;

[0109] Determining a target sonar receiving device from the plurality of first sonar receiving devices based on signal strength; wherein the signal strength of the first sonar signal received by the target sonar receiving device is greater than the signal strength of the first sonar signal received by other sonar receiving devices in the plurality of sonar receiving devices 310;

[0110] The power device 320 is controlled to drive the movable platform to move in a direction associated with the target sonar receiving device.

[0111] In some embodiments, the plurality of sonar receiving devices 310 include a second sonar receiving device located in the center of the plurality of first sonar receiving devices; and in the process of controlling the power device 320 to drive the movable platform to move in a direction associated with the target sonar receiving device, the at least one processor is further configured to:

[0112] When it is detected that the signal strength of the first sonar signal received by the second sonar receiving device is greater than the signal strength of the first sonar signal received by the first sonar receiving device, the power device 320 is controlled to stop driving the movable platform.

[0113] In some embodiments, the signal strength includes a signal-to-noise ratio and / or a carrier-to-interference ratio of the first sonar signal.

[0114] The mobile platform provided in the embodiment of the present application can execute the method for tracking users on the mobile platform provided in the embodiment of the present application, and has functional modules and beneficial effects corresponding to the execution method.

[0115] An embodiment of the present application further provides a system for tracking a user, the system comprising a movable platform and a mobile terminal carried by the user, and the system further comprising at least one processor configured to perform the following steps:

[0116] Controlling the mobile terminal to send a first sonar signal;

[0117] controlling the movable platform to receive a first sonar signal;

[0118] The movable platform is controlled to move according to the first sonar signal so that the movable platform follows the movement of the user.

[0119] In some embodiments, when performing the step of controlling the movement of the movable platform according to the first sonar signal, the at least one processor is further configured to:

[0120] determining a distance between the movable platform and the user based on the first sonar signal;

[0121] The movable platform is controlled to move according to the distance so that the distance is less than or equal to a distance threshold.

[0122] In some embodiments, when performing the step of controlling the movement of the movable platform according to the distance, the at least one processor is further configured to:

[0123] When the distance is greater than the distance threshold, the power device is controlled to drive the movable platform to move so that the distance is less than or equal to the distance threshold.

[0124] In some embodiments, the at least one processor is further configured to obtain a first position of the movable platform; and when performing the step of determining a distance between the movable platform and the user based on the first sonar signal, the at least one processor is further configured to:

[0125] determining a second location of the user based on the first sonar signal and the first location;

[0126] A distance is determined based on the first position and the second position.

[0127] In some embodiments, the movable platform further includes a positioning device, and the first position is acquired by the positioning device.

[0128] In some embodiments, the distance is a horizontal distance, and the first sonar signal includes a depth of the user; when performing the step of determining the distance between the movable platform and the user based on the first sonar signal, the at least one processor is further configured to:

[0129] The horizontal distance between the movable platform and the user is determined according to the depth, the first position, and the second position.

[0130] In some embodiments, the at least one processor is further configured to:

[0131] Get the receiving range of the sonar receiving device;

[0132] The distance threshold is determined based on the receiving range and depth.

[0133] In some embodiments, the movable platform further comprises a sonar transmitting device; and the at least one processor is further configured to:

[0134] When the first sonar signal can be received and the distance is detected to be greater than the distance threshold, the sonar sending device is controlled to send a second sonar signal to prompt the user that the user is outside the safe area.

[0135] In some embodiments, the movable platform further comprises a sonar transmitting device; and the at least one processor is further configured to:

[0136] determining a location of the user based on the first sonar signal;

[0137] generating a third sonar signal based on the user's position;

[0138] The sonar transmitting device is controlled to transmit a third sonar signal, so that the user can receive the third sonar signal through the mobile terminal and obtain the user's position.

[0139] In some embodiments, there are multiple users, each of which carries a mobile terminal;

[0140] When performing the step of determining the user's location based on the first sonar signal, the at least one processor is further configured to:

[0141] Determine the location of each corresponding user according to the first sonar signal sent by each mobile terminal;

[0142] When executing the step of generating a third sonar signal according to the position of the user, the at least one processor is further configured to:

[0143] A third sonar signal is generated based on the position of each user.

[0144] In some embodiments, the plurality of sonar receiving devices include a plurality of first sonar receiving devices, each first sonar receiving device being associated with a different direction;

[0145] At least one processor is further configured to:

[0146] obtaining signal strengths of first sonar signals received by a plurality of sonar receiving devices;

[0147] determining a target sonar receiving device from the plurality of first sonar receiving devices based on signal strength; wherein the signal strength of the first sonar signal received by the target sonar receiving device is greater than the signal strength of the first sonar signal received by other sonar receiving devices in the plurality of sonar receiving devices;

[0148] The power device is controlled to drive the movable platform to move in a direction associated with the target sonar receiving device.

[0149] In some embodiments, the plurality of sonar receiving devices include a second sonar receiving device located in the center of the plurality of first sonar receiving devices; and in the process of controlling the power device to drive the movable platform to move in a direction associated with the target sonar receiving device, the at least one processor is further configured to:

[0150] When it is detected that the signal strength of the first sonar signal received by the second sonar receiving device is greater than the signal strength of the first sonar signal received by the first sonar receiving device, the power device is controlled to stop driving the movable platform.

[0151] In some embodiments, the signal strength includes a signal-to-noise ratio and / or a carrier-to-interference ratio of the first sonar signal.

[0152] The user tracking system provided in the embodiment of the present application can execute the user tracking method provided in the embodiment of the present application for the system, and has the corresponding functional modules and beneficial effects of the execution method.

[0153] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes 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 data and instructions to the storage system, the at least one input device, and the at least one output device.

[0154] Computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may 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.

[0155] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, 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 a 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.

[0156] The storage medium may be a non-transitory storage medium.

[0157] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a cathode ray tube (CRT) or a liquid crystal display (LCD) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the 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, voice input, or tactile input).

[0158] The systems and techniques described herein can be implemented in a computing system that includes back-end 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 front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end 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.

[0159] A computing system may include a client and a server. The client and server are generally remote from each other and typically interact via a communication network. The client-server relationship arises through computer programs running on the respective computers and establishing a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, a host product within a cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosts and virtual private server (VPS) services.

[0160] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the embodiments of this application can be achieved, and this document is not limited here.

[0161] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A method for tracking a user, for use on a movable platform, wherein the movable platform includes a plurality of sonar receiving devices and a power device for providing motion power to the movable platform, comprising: controlling the plurality of sonar receiving devices to receive a first sonar signal sent by the mobile terminal carried by the user; The power device is controlled according to the first sonar signal to drive the movable platform to move, so that the movable platform follows the movement of the user.

2. The method according to claim 1, wherein Controlling the power device to drive the movable platform to move according to the first sonar signal includes: determining a distance between the movable platform and the user based on the first sonar signal; The power device is controlled to drive the movable platform to move according to the distance, so that the distance is less than or equal to a distance threshold.

3. The method according to claim 2, wherein: The step of controlling the power device to drive the movable platform to move according to the distance includes: When the distance is greater than the distance threshold, the power device is controlled to drive the movable platform to move so that the distance is less than or equal to the distance threshold.

4. The method according to claim 2, further comprising obtaining a first position of the movable platform; Determining the distance between the movable platform and the user according to the first sonar signal includes: determining a second location of the user based on the first sonar signal and the first location; The distance is determined based on the first position and the second position.

5. The method according to claim 4, wherein The movable platform further includes a positioning device, and the first position is acquired by the positioning device.

6. The method according to claim 4, wherein: The distance is a horizontal distance, and the first sonar signal includes the depth of the user underwater; Determining the distance between the movable platform and the user according to the first sonar signal includes: The horizontal distance between the movable platform and the user is determined according to the depth, the first position, and the second position.

7. The method according to claim 1, wherein The first sonar signal includes the depth of the user underwater; The method further comprises: Get the receiving range of each sonar receiving device; A distance threshold is determined according to the receiving range and the depth of the user underwater.

8. The method according to claim 2, wherein: The movable platform further includes a sonar transmitting device; The method further comprises: When the first sonar signal can be received and it is detected that the distance is greater than a distance threshold, the sonar sending device is controlled to send a second sonar signal to prompt the user that the user is outside the safe area.

9. The method according to claim 1, wherein The movable platform further includes a sonar transmitting device; The method further comprises: determining a location of the user based on the first sonar signal; generating a third sonar signal based on the position of the user; The sonar transmitting device is controlled to transmit the third sonar signal, so that the user can receive the third sonar signal through the mobile terminal and obtain the user's position.

10. The method according to claim 9, wherein: There are multiple users, and each user carries one mobile terminal; The determining the user's location according to the first sonar signal includes: Determine the location of each of the users according to the first sonar signal sent by each of the mobile terminals; Generating a third sonar signal according to the position of the user includes: A third sonar signal is generated according to the position of each of the users.

11. The method according to claim 1, wherein The multiple sonar receiving devices include multiple first sonar receiving devices, each of the first sonar receiving devices is associated with a different direction; The method further comprises: obtaining signal strengths of the first sonar signals received by the multiple sonar receiving devices; determining a target sonar receiving device from the plurality of first sonar receiving devices based on the signal strength; wherein the signal strength of the first sonar signal received by the target sonar receiving device is greater than the signal strength of the first sonar signal received by other sonar receiving devices in the plurality of sonar receiving devices; The power device is controlled to drive the movable platform to move in a direction associated with the target sonar receiving device.

12. The method according to claim 11, wherein The plurality of sonar receiving devices include a second sonar receiving device, wherein the second sonar receiving device is located in the center of the plurality of first sonar receiving devices; The method further comprises: During the process of controlling the power device to drive the movable platform to move toward the direction associated with the target sonar receiving device, if it is detected that the signal strength of the first sonar signal received by the second sonar receiving device is greater than the signal strength of the first sonar signals received by the multiple first sonar receiving devices, the power device is controlled to stop driving the movable platform.

13. The method according to claim 11, wherein The signal strength includes at least one of a signal-to-noise ratio or a carrier-to-interference ratio of the first sonar signal.

14. A movable platform comprising a plurality of sonar receiving devices and a power device for providing motion power to the movable platform, the movable platform further comprising at least one processor, the at least one processor being configured to perform the following steps: Controlling the multiple sonar receiving devices to receive a first sonar signal sent by a mobile terminal carried by a user; The power device is controlled according to the first sonar signal to drive the movable platform to move, so that the movable platform follows the movement of the user.

15. A system for tracking a user, the system comprising a movable platform and a mobile terminal carried by the user, the system further comprising at least one processor, the at least one processor being configured to perform the following steps: Controlling the mobile terminal to send a first sonar signal; controlling the movable platform to receive the first sonar signal; The movable platform is controlled to move according to the first sonar signal so that the movable platform follows the movement of the user. 16 . A computer-readable storage medium storing computer instructions, wherein the computer instructions are configured to enable a processor to implement the method for tracking a user according to claim 1 when the computer instructions are executed.

Images