Mobile equipment, control method of label equipment and mobile equipment

Abstract

The embodiment of the invention discloses a mobile device, a label device control method and a mobile device.The method comprises the steps that in response to an obtained target following instruction, a target label device to be followed by the mobile device is determined; and controlling the mobile device to switch from the current first use mode to a second use mode, so that the mobile device executes a task of moving along with the target label device based on the target reference data, wherein the movable equipment is regarded as label equipment which can be searched in the first use mode; the working parameters of the communication module of the mobile device in the second use mode are different from the working parameters of the communication module in the first use mode.

Description

Technical Field

[0001] The present application relates to, but is not limited to, the field of robotics, and in particular to a control method for a movable device and a label device, and a movable device. Background Art

[0002] Artificial intelligence is a key development trend in future robotics. Third-generation robots, also known as intelligent robots, possess humanoid features. Beyond locomotion and adaptive adjustment, they also possess perceptual interaction and thinking abilities. They can flexibly and autonomously handle complex problems. For example, they can automatically identify obstacles and plan paths in complex and dynamic environments, enabling robots to be used in tracking scenarios. Related technologies primarily rely on visual positioning or sound source localization for tracking. However, these two approaches suffer from limitations such as short range, low accuracy, and high hardware costs. Summary of the Invention

[0003] In view of this, the embodiments of the present application at least provide a control method for a movable device and a tag device, and a movable device.

[0004] The technical solution of the embodiment of the present application is implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a movable device, the method comprising: determining a target tag device to be followed by the movable device in response to obtaining a target following instruction; controlling the movable device to switch from a current first usage mode to a second usage mode, so that the movable device performs a task of following the target tag device based on target reference data; wherein, the movable device is regarded as a tag device that can be searched in the first usage mode; and the operating parameters of the communication module of the movable device in the second usage mode are different from the operating parameters in the first usage mode.

[0006] In a second aspect, an embodiment of the present application provides a method for controlling a tag device, the method comprising: establishing a first connection between a target tag device and a movable device in response to obtaining a target following instruction; and sending a target following instruction or a target control instruction generated based on the target following instruction to the movable device, so that the movable device switches from the current first usage mode to the second usage mode, and performs the task of following the target tag device based on target reference data; wherein, the movable device is regarded as a tag device that can be searched in the first usage mode; and the operating parameters of the communication module of the movable device in the second usage mode are different from the working parameters in the first usage mode.

[0007] In a third aspect, an embodiment of the present application provides a movable device, comprising a device housing, a motion mechanism, a memory, a processor and a communication module; wherein the motion mechanism is arranged at the bottom of the device housing, for changing the position of the movable device; the memory is used to store a computer program that can be run on the processor; the processor is used to determine the target tag device to be followed by the movable device in response to obtaining a target following instruction; the movable device is controlled to switch from the current first usage mode to the second usage mode, so that the movable device performs the task of following the target tag device based on the target reference data; wherein the movable device is regarded as a tag device that can be searched in the first usage mode; the working parameters of the communication module of the movable device in the second usage mode are different from the working parameters in the first usage mode.

[0008] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings herein are incorporated into and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and, together with the specification, are used to illustrate the technical solutions of the present application.

[0010] Figure 1 A schematic diagram of the implementation process of a control method for a mobile device provided in an embodiment of the present application Figure 1 ;

[0011] Figure 2 Schematic diagram of an ultra-wideband module provided in an embodiment of the present application Figure 1 ;

[0012] Figure 3 A schematic diagram of a control method for a tag device according to an embodiment of the present application;

[0013] Figure 4 A schematic diagram of a movable device provided in an embodiment of the present application;

[0014] Figure 5 A schematic diagram of an automatic following scenario provided in an embodiment of the present application;

[0015] Figure 6A A schematic diagram of an ultra-wideband robot provided in an embodiment of the present application;

[0016] Figure 6B Schematic diagram of an ultra-wideband module provided in an embodiment of the present application Figure 2 ;

[0017] Figure 7A A schematic diagram of the implementation process of a control method for a mobile device provided in an embodiment of the present application Figure 2 ;

[0018] Figure 7B Schematic diagram of the implementation process of a control method for a label device provided in an embodiment of the present application Figure 2 ;

[0019] Figure 8A A schematic diagram of the structure of a control device for a mobile device provided in an embodiment of the present application;

[0020] Figure 8B A schematic diagram of the structure of a control device for a labeling device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions of this application are further elaborated in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0022] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0023] It should be pointed out that the terms "first\second\third" involved in the embodiments of the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0024] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the embodiments of the present application belong. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0025] The embodiment of the present application provides a control method for a mobile device, such as Figure 1 As shown, it includes step S110 and step S120:

[0026] Step S110: In response to obtaining the target following instruction, determining the target tag device that the movable device is to follow;

[0027] Here, the target following instruction is used to instruct the movable device to follow the target tag device. The movable device refers to a device with autonomous movement capability, such as a robot.

[0028] In some implementations, the target following instruction may be triggered by a user or by other devices.

[0029] In one example, the target follow instruction may be a voice instruction triggered by the user through a mobile device, a touch instruction triggered by the user through a mobile device, a gesture instruction or a button triggering instruction triggered by the user through a mobile device, etc.

[0030] In one example, the target following instruction may be a Bluetooth broadcast instruction sent by another device that is not paired with the mobile device and is located within a preset distance of the mobile device, or a Bluetooth control instruction sent by another device that is paired with the mobile device.

[0031] In some implementations, the target tag device may be determined based on a target following instruction.

[0032] In one example, the target following instruction includes device identification information, so that the mobile device parses the obtained target following instruction to obtain the device identification information, thereby determining the target tag device indicated by the device identification information.

[0033] In one example, the target following instruction includes location description information, so that the mobile device parses the obtained target following instruction to obtain the location description information, thereby determining the target tag device that is most suitable for the location description information.

[0034] In one example, the target following instruction includes positioning information, so that the mobile device parses the obtained target following instruction to obtain the positioning information, thereby determining the target tag device located on the positioning information.

[0035] In one example, the target following instruction includes device description information, so that the mobile device parses the obtained target following instruction to obtain the device description information, thereby determining the target tag device that is most compatible with the device description information.

[0036] In some embodiments, the target tag device may be a device capable of establishing a target communication connection with the removable device.

[0037] In one example, the target tag device can be a device connected to the mobile device via Bluetooth, a device that supports triggering the near field communication (NFC) function of the mobile device for communication connection, or a device connected to the same local area network as the mobile device.

[0038] In some implementations, the target tag device may be determined based on paired device information preset when the removable device leaves the factory.

[0039] In some implementations, the target tag device may be a device installed with application software adapted for a removable device.

[0040] Step S120: controlling the movable device to switch from the current first use mode to the second use mode, so that the movable device performs the task of following the target tag device to move based on the target reference data;

[0041] Wherein, the removable device is regarded as a tag device that can be searched in the first usage mode;

[0042] The operating parameters of the communication module of the mobile device in the second usage mode are different from the operating parameters in the first usage mode.

[0043] In some implementations, the first usage mode may be a tag mode, that is, in this mode, the removable device is regarded as a tag device that can be searched.

[0044] In some implementations, the second usage mode may be a base station mode or a following mode, in which the mobile device performs a following task for the target tag device.

[0045] It can be understood that when the mobile device does not perform the following task, the working mode of the mobile device should be set to the first usage mode, so that the target user device can obtain the location information of the mobile device. That is to say, when the user searches for the mobile device, the working mode of the mobile device needs to be the first usage mode, so that the location information of the mobile device can be obtained.

[0046] In some implementations, in response to obtaining the target following instruction, the movable device is controlled to switch the operating mode so that the movable device enters the second usage mode.

[0047] In some embodiments, in response to the target tag device and the removable device being successfully connected, the removable device is controlled to switch the working mode so that the removable device enters the second usage mode.

[0048] In some embodiments, the target reference data includes relative position information between the movable device and the target tag device, wherein the relative position information may include at least one of the following: relative distance information and relative angle information.

[0049] In one example, the target tag device sends its own first location information to the movable device, so that the movable device determines the relative location information between the movable device and the target tag device based on its own second location information and the first location information.

[0050] In one example, the movable device includes an image acquisition component, so that the target tag device can be captured by the image acquisition component, and the relative position information between the movable device and the target tag device can be determined based on the captured image data.

[0051] In one example, relative position information between the movable device and the target tag device is determined based on a first signal transmitted by a communication module in the movable device.

[0052] In some embodiments, the target reference data includes following information for instructing the movable device to follow the target tag device, wherein the following information may include one or more of the following: target path data, following speed, and moving mode.

[0053] In some embodiments, the communication module includes an ultra-wideband module and / or a Bluetooth communication module, wherein the operating parameters of the ultra-wideband module and / or the Bluetooth communication module are different in the first usage mode and the second usage mode.

[0054] Next, the operating parameters of the ultra-wideband module in the first usage mode and the second usage mode are described.

[0055] In some embodiments, the operating parameters of the ultra-wideband module include the type and / or number of antennas in a working state, the ultra-wideband module includes directional antennas and omnidirectional antennas, and in a first usage mode, the number of omnidirectional antennas in a working state in the ultra-wideband module is greater than the number of directional antennas in a working state; in a second usage mode, the number of directional antennas in a working state in the ultra-wideband module is greater than the number of omnidirectional antennas in a working state.

[0056] For example, in the first usage mode, all directional antennas may be in a non-operating state, and all omnidirectional antennas may be in an operating state; in the second usage mode, all omnidirectional antennas may be in a non-operating state, and all directional antennas may be in an operating state.

[0057] It can be understood that in the first usage mode, the location information of the movable device can be determined by the target user device, and the omnidirectional antenna can achieve 360-degree uniform signal radiation in the horizontal direction, forming a spherical coverage range. This feature enables it to send or receive signals in all directions without adjusting the antenna direction in the device positioning scenario, ensuring that the movable device can stably receive signals no matter what orientation it is in. The directional antenna concentrates the signal in a specific direction, and the radiation range is usually fan-shaped or a narrower angle, similar to a flashlight beam. This feature results in its limited coverage range. In the device positioning scenario, if the positioning device is not in the main lobe direction of the directional antenna, the signal strength will be greatly attenuated or even unable to be received, affecting the positioning accuracy. Therefore, in the first working mode, the directional antenna in the movable device is in a non-working state, while the omnidirectional antenna is in a working state.

[0058] In the second usage mode, the mobile device performs the task of following the target tag device to move. According to the above description, due to the working principle of the directional antenna, the directional antenna has the characteristics of energy concentration, anti-interference optimization, dynamic tracking adaptation, etc. Therefore, in the second usage mode, the directional antenna in the mobile device is in a working state, and the omnidirectional antenna is in a non-working state.

[0059] In some embodiments, the operating parameters of the ultra-wideband (UWB) module include the type of antenna module in working state. The ultra-wideband module may include an omnidirectional antenna module, or a combination antenna module of omnidirectional and directional. In the first usage mode, the combination antenna module of omnidirectional and directional is in working state; in the second usage mode, the combination antenna module of omnidirectional and directional, and the omnidirectional antenna module are in working state.

[0060] For example, the mobile device includes multiple antenna modules, including UWB 1, UWB 2 and UWB 3, where UWB 1 is a combined omnidirectional and directional antenna module, UWB 2 and UWB 3 are omnidirectional antenna modules, in the first usage mode, UWB 1 is in a working state, and in the second usage mode, UWB 1, UWB 2 and UWB 3 are in a working state.

[0061] In some embodiments, the operating parameters of the ultra-wideband module include the operating power of the antenna. In the first operating mode, the operating power of the antenna is within a first power range, and in the second operating mode, the operating power of the antenna is within a second power range. The first power range may be 0.2–0.3 W, and the second power range may be greater than 1 W.

[0062] In some embodiments, the operating parameters of the ultra-wideband module include an antenna operating frequency band. In the first operating mode, the antenna's operating frequency band is within a first frequency band range, and in the second operating mode, the antenna's operating frequency band is within a second frequency band range. The first frequency band range may be 3.1–10.6 GHz, and the second frequency band range may be 7.235–8.75 GHz.

[0063] Next, the operating parameters of the Bluetooth communication module in the first usage mode and the second usage mode are described.

[0064] In some embodiments, the operating parameters of the Bluetooth communication module include a connection status. In the first usage mode, the connection status of the Bluetooth communication module of the mobile device is an unconnected state or a connected state; in the second usage mode, the connection status of the Bluetooth communication module of the mobile device is a connected state.

[0065] In an embodiment of the present application, when a target following instruction is obtained, based on the switching of the working parameters of the communication module of the mobile device, the mobile device is switched from the current first usage mode to the second usage mode to perform the task of following the target tag device based on the target reference data, so that the mobile device does not rely on sound, image and other methods to complete the following task of the mobile device. On the one hand, the mobile device does not need to integrate image or sound acquisition components, or does not need high-cost image or sound acquisition components, thereby reducing the production cost of the mobile device; on the other hand, since the target reference data is obtained based on the communication module, and the communication module is implemented based on UWB technology, this can improve the accuracy of the target reference data, thereby achieving precise positioning and precise following of target tag devices at a long distance.

[0066] In some embodiments, the method for controlling a movable device includes step S130:

[0067] Step S130: In response to obtaining the target triggering event, controlling the movable device to switch from the second usage mode to the first usage mode, so that at least the target user equipment can determine the location information of the movable device.

[0068] Here, the target user equipment is a device that can be connected to the movable device and / or the tag device and is used to obtain the location information of the movable device and / or the tag device.

[0069] In one example, the target user device may be a mobile phone, a computer, or other device.

[0070] In some implementations, the target triggering event may be a stop following instruction sent by the target tag device to the movable device.

[0071] In some implementations, the target triggering event may be obtaining a search instruction sent by another device to the removable device.

[0072] In some embodiments, the target triggering event may be that the mobile device determines that there is a restricted area or a dangerous area on the route to be taken.

[0073] In one example, the mobile device determines, based on the target path data and a preset map, that there is a restricted area or a dangerous area on the target path to be traveled.

[0074] In one example, the mobile device determines that there is a restricted area or a dangerous area on the route to be traveled based on sensor data collected by at least one sensor.

[0075] In some implementations, the target triggering event may be a stop instruction issued by the target user via a mobile device.

[0076] In some embodiments, based on the Time of Flight (TOF) technology, the transmission time of the signal of the omnidirectional antenna between the mobile device and the target user device is determined, so that the location information of the mobile device relative to the target user device is determined based on the transmission time.

[0077] In some embodiments, a received signal strength indicator (RSSI) value of a signal transmitted from an omnidirectional antenna to a target user device is obtained, and location information of the mobile device relative to the target user device is determined based on an RSSI attenuation model and the RSSI value.

[0078] In the embodiment of the present application, when the mobile device does not perform the following task, the mobile device is switched to the first usage mode, so that the user can determine the location information of the mobile device through the target user device to obtain the location information of the mobile device in real time.

[0079] In some embodiments, in the above step S110, obtaining the target following instruction includes at least one of the following steps S111 to S114:

[0080] Step S111: recognizing the voice input data for triggering the target following task, which is collected by the audio collection component configured in the mobile device, as a target following instruction;

[0081] In some implementations, the audio acquisition component may be a device or component with an audio acquisition function, such as a microphone, a recorder, or an audio acquisition card.

[0082] In some embodiments, the mobile device obtains voice input by the user through the audio acquisition component, analyzes the user's intention based on the voice input data, determines whether the voice input data is used to instruct the mobile device to execute a follow command, and determines the voice input data used to instruct the mobile device to execute the follow command as the target follow instruction.

[0083] Step S112: obtaining a target following instruction sent by a first user device, where the first user device is a device that has established a Bluetooth connection with the mobile device or a device that has not established a Bluetooth connection;

[0084] In some embodiments, when the first user device establishes a Bluetooth connection with the mobile device, the first user device sends a target following instruction through the Bluetooth connection channel between the first user device and the mobile device.

[0085] In some implementations, when no Bluetooth connection is established between the first user device and the mobile device, the first user device sends the target following instruction via Bluetooth broadcast.

[0086] It can be understood that the first user equipment is a device located within the Bluetooth sensing range of the movable device.

[0087] Step S113: determining the response instruction triggered by the mobile device in response to the input operation acting on the mobile device as a target follow instruction;

[0088] In some embodiments, the input operation may include one or more of the following operations: touch gestures, touch tracks, specific key triggering, etc.

[0089] In one example, when the input operation is a touch gesture, a touch gesture for instructing the mobile device to execute a follow command is set in the mobile device, so that the user can trigger the target follow instruction through the touch gesture.

[0090] In one example, when the input operation is a touch track, a touch track for instructing the mobile device to execute a follow command is set in the mobile device, so that the user can trigger a target follow instruction through the touch track.

[0091] In one example, when the input operation is triggered by a specific key, a specific key for instructing the mobile device to execute a follow command is set in the mobile device, so that the user can trigger the target follow instruction through the specific key.

[0092] Step S114: In response to identifying the target gesture operation data, generating a target follow instruction.

[0093] In some embodiments, a target gesture for instructing the mobile device to execute a follow-up command is set in the mobile device, so that the mobile device can trigger a target follow-up instruction after recognizing the target gesture.

[0094] In one example, an image acquisition component in a mobile device is used to recognize a user's gesture to identify whether the user triggers a target gesture.

[0095] In the embodiments of the present application, a method for determining target following instructions in various scenarios is provided, thereby expanding the application scope of mobile equipment.

[0096] In some embodiments, in the above step S110, determining the target tag device that the movable device is to follow includes at least one of the following steps S115 to S119:

[0097] Step S115: determining the target tag device based on at least one of the device identification information, device location information, and device description information carried in the target follow instruction;

[0098] In some implementations, the device identification information may include at least one of the following: a device name, a device ID.

[0099] In some embodiments, the device location information refers to the location information of the target tag device. For example, the device location information may include at least one of the following: location coordinates and location description. The location description may be the location coordinates of another type of device related to the location of the target tag device, or a text description related to the location of the target tag device.

[0100] In one example, if the mobile device is in a charging state, the location description may be the location coordinates of a charging device connected to the mobile device.

[0101] In some implementations, the device description information refers to a description used to locate the target tag device. For example, the device description information may include at least one of the following: a function description and a manufacturer description.

[0102] Step S116: determining a target tag device based on the default tag device information to be followed preset in the removable device;

[0103] In some implementations, the default tag device information may be information about other devices that are preset by the manufacturer when the removable device leaves the factory and that are used in conjunction with the removable device.

[0104] In some implementations, the default tag device information may be information of other devices pre-configured by the user to be used with the removable device.

[0105] In some implementations, when the removable device includes both the default label device information set by the manufacturer and the default label device information set by the user, the default label device information set by the user is given the first priority.

[0106] In some implementations, when there are multiple default tag device information in the mobile device, the user may select the device corresponding to the selected default tag device information on the human-computer interaction interface of the mobile device, and determine the device as the target tag device.

[0107] In some embodiments, when there are multiple default tag device information in the mobile device, the mobile device may determine the device corresponding to the most frequently used default tag device information as the target tag device based on the historical usage frequency of the default tag device information.

[0108] In some embodiments, when there are multiple default tag device information in the mobile device, the mobile device may determine the device corresponding to the default tag device information corresponding to the scenario adapted to the current target following instruction as the target tag device based on the historical usage scenarios of the default tag device information.

[0109] Step S117: determining the tag device that has established a target communication connection with the mobile device as the target tag device;

[0110] In some implementations, a tag device that establishes a Bluetooth connection with the removable device is determined as a target tag device.

[0111] In some implementations, a tag device that establishes a UWB connection with the movable device is determined as a target tag device.

[0112] In some implementations, a tag device that establishes an NFC connection with the movable device is determined as a target tag device.

[0113] In some embodiments, when the mobile device currently has not established a communication connection with the tag device, the tag device corresponding to the first priority communication connection can be determined as the target tag device based on the preset communication connection priority. For example, the first priority communication connection can be Bluetooth.

[0114] Step S118: determining a tag device with a target authority level in the spatial environment where the movable device is located as a target tag device;

[0115] In some embodiments, the target tag device may be a tag device corresponding to the highest authority level in the spatial environment where the movable device is located. The priority of the tag devices in the spatial environment may be set by the user.

[0116] In some embodiments, the target tag device may be a tag device with specific person permissions in the spatial environment where the movable device is located. The person permissions for the device in the spatial environment may be set by the user.

[0117] Step S119: Determine the tag device at the target position within the movable range of the movable device as the target tag device.

[0118] In some embodiments, the target location may be where the charger is located.

[0119] In one example, when the mobile device needs to be charged, the target location may be the location of the charger, so that the mobile device can be controlled to go there for charging.

[0120] In some implementations, the target location may be the location of a camera.

[0121] In some implementations, the target location may be a specific location of a wireless signal of a relay router, so as to control the movable device to go to the target location to relay the wireless signal of the router.

[0122] In some embodiments, the target location may be the location of the item to be transported, so as to control the movable device to move to the target location to transport the item.

[0123] In the embodiments of the present application, a method for determining a target tag device in a variety of scenarios is provided, thereby expanding the application scope of the mobile device.

[0124] In some embodiments, the above step S120, controlling the mobile device to switch from the current first usage mode to the second usage mode, includes step S121:

[0125] Step S121: controlling the ultra-wideband module of the mobile device to switch from the current first operating parameter to the second operating parameter, so that the omnidirectional antenna in the antenna module of the ultra-wideband module switches from the operating state to the non-operating state; and

[0126] The target antenna module of the ultra-wideband module is controlled to enter a working state to obtain relative position data between the movable device and the target tag device, wherein the target antenna module is determined based on the initial relative position data between the movable device and the target tag device.

[0127] Here, the initial relative position data refers to the relative position data with respect to the target tag device determined when the movable device does not start following.

[0128] In some embodiments, switching the operating parameters of the ultra-wideband module may include switching the operating mode or working state of the antenna module in the ultra-wideband module, and may also include adjusting the operating frequency, broadcast interval, radiation direction of the antenna, etc. of the ultra-wideband module.

[0129] In some embodiments, the ultra-wideband module includes multiple antenna modules, and the multiple antenna modules are respectively arranged at different positions of the mobile device, so that the horizontal coverage angle of the multiple antenna modules combined is 360 degrees.

[0130] In one example, the ultra-wideband module adopts a chip + antenna integrated design, the antenna part is on-board, and three antenna modules are used to achieve omnidirectional scanning. The three antenna modules are placed perpendicular to the ground in an equilateral triangle, such as Figure 2 As shown, the field of view (FOV) of each antenna module is equal to 120°. The UWB 1 module incorporates an omnidirectional antenna. When the mobile device is used as the target object, in the first usage mode, the UWB 1 module's omnidirectional antenna acts as a receiver, receiving the target user device's location information.

[0131] In some embodiments, the target antenna module includes a directional antenna.

[0132] In some implementations, when the mobile device enters the second usage mode, a target antenna module corresponding to the mobile device is determined from a plurality of antenna modules.

[0133] It can be understood that in the second usage mode, the omnidirectional antenna does not work, but the directional antenna works, and the directional antenna concentrates the signal in a specific direction and transmits it. The radiation range is usually fan-shaped or a narrower angle. Therefore, the target antenna module is the antenna module opposite to the target tag device, that is, the target tag device is within the FOV of the target antenna module.

[0134] In some embodiments, the relative position data includes distance information and angle information relative to the target tag device. Thus, the relative position data is determined using time-of-flight (TOF) and field-of-view (FOV) technologies based on the transmission time of the wireless signal transmitted by the ultra-wideband module between the mobile device and the target tag device and the signal pattern of the wireless signal transmitted. The signal pattern includes the transmission medium used to transmit the wireless signal.

[0135] In the embodiment of the present application, relative position data can be obtained by controlling the target antenna module to enter the working state, which improves the calculation accuracy of the relative position data and realizes the precise positioning and precise tracking of the target tag device at a long distance.

[0136] In some embodiments, in the above step S120, executing the task of following the target tag device to move based on the target reference data includes at least one of steps S122 to S125:

[0137] Step S122: configuring a moving path and moving parameters of the movable device based on the relative position data between the movable device and the target tag device, so as to perform the task of following the target tag device;

[0138] In some embodiments, a movement route of the movable device is generated based on the relative position data; and based on the movement route, movement parameters of the movable device along the movement path are determined.

[0139] In one example, a movement route of a movable device is generated based on relevant location data and Simultaneous Localization and Mapping (SLAM) technology.

[0140] In some embodiments, the movement parameters include the movement speed and / or movement pattern of the movable device.

[0141] In one example, the road condition information on the moving route is obtained, and when the path information indicates that the road condition is good, it is determined that the movable device moves at a first speed in a rolling manner.

[0142] In one example, road condition information on the moving route is obtained, and if the path information indicates that the road condition is poor, the movable device is determined to move at a second speed by walking, wherein the first speed is greater than the second speed.

[0143] Step S123: in the case where the target reference data includes obstacle information, configuring the moving path and moving parameters of the movable device based on the relative position data and the obstacle information to perform the task of following the target tag device;

[0144] It can be understood that through this method, there are no obstacles in the generated moving path, which allows the movable robot to move smoothly on the moving path, reduces the frequency of replanning the moving path due to obstacles on the moving path during the moving process of the movable robot on the moving path, and improves the moving efficiency of the movable robot.

[0145] Step S124: in the case where the target reference data includes target planning path data, controlling the movement parameters of the movable device based on the relative position data and the target planning path data to perform the task of following the target tag device to move;

[0146] In some embodiments, the movable device has preset target planning path data built in, so that the target planning path can be adjusted based on the relative position data to obtain an updated moving path and corresponding moving parameters to control the movement of the movable device.

[0147] It can be understood that the target planning path can be the path set by the user for the most efficient movement of the mobile robot. In this way, by adjusting the target planning path through relative position data, the decision-making time of the mobile robot can be reduced and the decision-making efficiency of the mobile robot can be improved.

[0148] Step S125: When the target reference data includes user portrait information of the target user, the moving path and moving parameters of the movable device are configured based on the user portrait information and relative position data to perform the task of following the target tag device. The target user is a user who has a target association relationship with the target tag device.

[0149] Here, user portrait information is a structured feature set formed by integrating multi-dimensional user data. Its essence is to convert user attributes, behaviors, preferences and other data into a quantifiable and operational label system for abstractly describing individual or group characteristics.

[0150] It can be understood that the moving path generated in this method is adapted to the user portrait information, so that the user is more satisfied with the generated moving path of the movable robot, thereby improving the user's satisfaction with the use of the movable robot.

[0151] In the embodiments of the present application, it provides information on how to control a mobile robot to perform mobile tasks in a variety of scenarios, thereby expanding the application scope of the mobile device.

[0152] The embodiment of the present application provides a method for controlling a tag device, such as Figure 3 As shown, it includes step S310 and step S320:

[0153] Step S310: in response to obtaining the target following instruction, establishing a first connection between the target tag device and the movable device;

[0154] In some embodiments, the target following instruction may be triggered by a user via a target tag device.

[0155] In some implementations, the target following instruction may be sent by another device to the target tag device.

[0156] In one example, the target following instruction may be sent by other devices to the target tag device in a broadcast manner.

[0157] In one example, the target following instruction may be sent by another device to the target tag device through a communication channel between the other device and the target tag device.

[0158] In some embodiments, when a target following instruction is received from a movable device to a tag device, connection information of the target tag device is obtained; the connection information may include one or more of the following: communication connection status, communication connection object, and communication connection method; based on the connection information of the target tag device, when it is determined that the target tag device and the movable device are not connected, a first connection is established between the target tag device and the movable device.

[0159] In one example, the communication connection state includes a connected state and an unconnected state.

[0160] In one example, the communication connection method includes Bluetooth connection, NFC connection, etc.

[0161] In some embodiments, the target tag device and the removable device are not connected, which may include two scenarios: Scenario 1: the target tag device is in an unconnected state; Scenario 2: the target tag device is in a connected state, and the connection object is not a removable device.

[0162] In some embodiments, in scenario one, establishing a first connection between the target tag device and the removable device includes: sending a connection request to the removable device; after the removable device receives the connection request, making a first connection with the removable device; or, after receiving the connection request sent by the removable device, making a first connection with the removable device.

[0163] In some embodiments, in scenario two, establishing a first connection between the target tag device and the removable device includes: after disconnecting the communication connection between the target tag device and the currently connected object, sending a connection request to the removable device; after the removable device receives the connection request, making a first connection with the removable device.

[0164] In some implementations, establishing the first connection may be establishing a Bluetooth pairing connection between the target tag device and the removable device.

[0165] Step S320: sending the target following instruction or the target control instruction generated based on the target following instruction to the movable device, so that the movable device switches from the current first use mode to the second use mode and performs the task of following the target tag device based on the target reference data;

[0166] Wherein, the removable device is regarded as a tag device that can be searched in the first usage mode;

[0167] The operating parameters of the communication module of the mobile device in the second usage mode are different from the operating parameters in the first usage mode.

[0168] In some embodiments, the target tag device may send a target control instruction or a target following instruction to the removable device via Bluetooth.

[0169] In some implementations, when a UWB connection is established between the target tag device and the movable device, the target tag device may send a target control instruction or a target following instruction to the movable device through the UWB connection.

[0170] In an embodiment of the present application, after the mobile device is successfully connected to the target tag device, the mobile device performs the task of following the target tag device based on the target reference data in the second usage mode. In this way, the mobile device does not rely on sound, image and other methods to complete the following task based on the target tag device. On the one hand, the mobile device does not need to integrate image or sound acquisition components, or does not need high-cost image or sound acquisition components, thereby reducing the production cost of the mobile device; on the other hand, since the target reference data is obtained based on the communication module, and the communication module is implemented based on UWB technology, this can improve the accuracy of the target reference data, thereby realizing accurate positioning and precise following of the target tag device at a long distance.

[0171] In some embodiments, the control method of the tag device further includes step S330:

[0172] Step S330: sending a stop following instruction to the mobile device to control the mobile device to switch from the second usage mode to the first usage mode, and control itself to enter a tag mode to be discovered by the target user device;

[0173] The location information of the movable device can be located by the target user equipment in the first usage mode.

[0174] In some implementations, the stop following instruction may be sent by the target tag device when it determines that the following task of the movable device is completed.

[0175] In one example, when the movable device is located within a preset distance from the target tag device, it is determined that the following task of the movable device is completed.

[0176] In some implementations, the stop following instruction may be sent when a high-priority task is triggered by the target tag device and the following task with the movable device needs to be terminated.

[0177] In some embodiments, after the target tag device sends a stop following instruction to the movable device, it disconnects the first connection with the movable device and sets the working mode of the target tag device to the tag mode, so that the target user device can obtain the location information of the target tag device. That is, when the user searches for the target tag device, the working mode of the target tag device needs to be the tag mode, so that the location information of the target tag device can be obtained.

[0178] It can be understood that the tag mode corresponding to the target tag device and the first usage mode corresponding to the removable device achieve the same function.

[0179] The present application embodiment provides a mobile device, such as Figure 4 As shown, it includes a device housing 411, a motion mechanism 412, a memory 413, a processor 414 and a communication module 415; wherein,

[0180] A motion mechanism 412 is provided at the bottom of the device housing 411 and is used to change the position of the movable device;

[0181] Memory 413 for storing computer programs that can be executed on processor 414;

[0182] The processor 414 is used to determine the target tag device that the movable device is to follow in response to obtaining a target following instruction; control the movable device to switch from the current first usage mode to the second usage mode, so that the movable device performs the task of following the target tag device based on the target reference data; wherein, the movable device is regarded as a tag device that can be searched in the first usage mode; the working parameters of the communication module 415 of the movable device in the second usage mode are different from the working parameters in the first usage mode.

[0183] In some embodiments, the motion mechanism may include a set of wheels.

[0184] In some embodiments, the motion mechanism may include movable joints, in which case the movable device may be a humanoid robot.

[0185] In some embodiments, the mobile device further includes a central control; the communication module includes an ultra-wideband module; wherein,

[0186] An ultra-wideband module, comprising a plurality of antenna modules, each of which is disposed at different locations on the movable device to cover the periphery of the movable device; each antenna module comprises a directional antenna array, and at least one of the antenna modules comprises an omnidirectional antenna;

[0187] The central control is connected to the motion mechanism and the processor, and is used to generate a drive control instruction based on the movement path and movement parameters generated by the processor to drive the motion mechanism to change the position of the movable device.

[0188] It is understandable that in order to cover the periphery of the movable device, the horizontal coverage angle of the combination of multiple antenna modules should be 360 degrees.

[0189] In some embodiments, the directional antenna array includes at least one directional antenna.

[0190] The following describes the application of the embodiments of the present application in actual scenarios.

[0191] Artificial intelligence is a key development trend in future robotics. Third-generation robots, also known as intelligent robots, possess humanoid features. Beyond movement and adaptive adjustment, they also possess perceptual interaction and thinking abilities, enabling them to flexibly and autonomously handle complex problems. For example, they can automatically identify obstacles and plan paths in complex and dynamic environments. Furthermore, artificial intelligence and deep learning technologies can enhance the intelligence of robots, making them more flexible and adaptive. This not only allows robots to be applied to meet the needs of diverse scenarios but also improves their autonomous learning capabilities.

[0192] There are currently scenarios where robots automatically follow each other, such as Figure 5 As shown, in the related technologies, the following of artificial intelligence robots is mainly achieved by visual positioning or sound source positioning. However, these two solutions not only have problems such as short distance, low accuracy, and high hardware cost, but even when there are high requirements for the algorithm, the accuracy cannot be guaranteed.

[0193] As a high-precision directional positioning method with an accuracy of up to 5cm, UWB has great advantages for robot tracking and positioning. By adding UWB to the robot, the robot can achieve omnidirectional following, and then use multi-sensor fusion solutions to realize the robot's obstacle avoidance, following and recall functions.

[0194] In order to solve the problems in the above-mentioned related technologies, an embodiment of the present application provides a robot automatic recall and switching method based on UWB and voice.

[0195] First, the UWB robot in this application is described. Figure 6A As shown, the UWB robot includes three UWB modules (i.e., the above-mentioned antenna modules), which are located outside the center of the robot and arranged in an equilateral triangle. There must be no metal in the direction of the antenna.

[0196] In some embodiments, the three UWB modules may include UWB 1, UWB 2, and UWB 3, as shown in FIG. Figure 2The figure shows the top view of three UWB modules. UWB 1 has no less than four antennas, including three directional antennas and one omnidirectional antenna. The omnidirectional antenna is used to start the robot when it is in tag mode, and the directional antenna is used when the robot performs a following task to determine the relative angle and relative distance between the robot and the tag device. UWB 2 and UWB 3 include at least three directional antennas, which are used when the robot performs a following task to determine the relative angle and relative distance between the robot and the tag device. Furthermore, Figure 6B A plan view of the UWB 1 module is shown.

[0197] In the embodiment of the present application, the robot has two operating modes: 1. Tag mode (i.e., the first usage mode mentioned above): When the robot is operating in tag mode, the directional antenna is off and the omnidirectional antenna is on, allowing the user to obtain the robot's location information from a terminal device such as a mobile phone. 2. Base station mode (i.e., the second usage mode mentioned above): When the robot is operating in base station mode, the omnidirectional antenna is off and the directional antenna is on, allowing the directional antenna to calculate the angle and distance between the robot and the target tag device. The target tag device is the device that has been paired with the robot via Bluetooth.

[0198] Among them, the two working modes are switched according to the user's voice behavior. The main switching logic is: the robot receives a voice command and determines whether it is a recall / follow information sent by the user. If so, the robot will pair with the tag device first. After receiving the voice stop command sent by the user, the tag device will decide whether to pair with other terminal main devices (that is, the above-mentioned target user device). Among them, other devices refer to devices such as mobile phones that can serve as UWB base stations.

[0199] Then, the UWB control process of the robot (i.e. the above-mentioned movable device) is described, as follows: Figure 7A As shown, it may include steps S701 to S712:

[0200] Step S701: Search device information.

[0201] Here, the device information includes the device name and MAC address.

[0202] It can be understood that the robot searches for the device information of the tag device, so that if the device information is successfully searched, it is paired with the searched tag device.

[0203] Step S702: Determine whether a follow / recall command is received.

[0204] Here, if yes, go to step S703, if no, go to step S710.

[0205] In some implementations, the follow / recall command may be voice-activated by the user.

[0206] In one example, the follow / recall command may be "follow me". In this scenario, the tag device may be a bracelet on the user.

[0207] Step S703: Bluetooth receives the command and performs pairing.

[0208] In some embodiments, when the robot receives a follow / recall command, the robot enters a process of pairing with a tag device.

[0209] In some embodiments, after receiving the connection request sent by the tag device, the robot performs a Bluetooth pairing process with the tag device.

[0210] Step S704: Switch to base station mode.

[0211] In some embodiments, after the robot is successfully paired with the tag device, the working mode of the robot is switched to the base station mode.

[0212] It should be noted that in this working mode, the directional antenna is in working state.

[0213] Step S705: Select a target UWB module (ie, the target antenna module mentioned above).

[0214] In some embodiments, the target UWB module is associated with the tag device, that is, the target UWB module can transmit signals to the tag device or receive signals returned by the tag device within the FOV of the target UWB module.

[0215] Step S706: Calculate the angular distance.

[0216] In some embodiments, the signal transmitted by the target UWB module is used to determine the distance angle between the tag device and the robot using the robot as a reference point using AOA and TDOA algorithms.

[0217] Step S707: Send the calculated angle and distance to the decision layer through the serial port.

[0218] Step S708: Obtain obstacle avoidance information.

[0219] In some embodiments, while controlling the movement of the robot, the robot may also monitor the movement path to determine whether there are obstacles on the current movement path, and generate obstacle avoidance information if there are obstacles to control the robot to avoid the obstacles.

[0220] Among them, obstacle information can be obtained through image acquisition components, laser radar and other sensor components.

[0221] Step S709: driving the motor to control the robot to move and walk.

[0222] In some embodiments, after the decision layer receives the angle and distance of the tag device relative to the robot through the serial port, the decision layer sends a control instruction to the motor based on the angle and distance to control the movement of the robot by driving the motor.

[0223] In some embodiments, after the decision layer receives the angle and distance of the tag device relative to the robot through the serial port, the decision layer sends a control instruction to the motor based on the angle, distance and obstacle avoidance information to control the movement of the robot by driving the motor.

[0224] In some embodiments, upon receiving a stop following command sent by a tag device, the robot is controlled to stop following.

[0225] Step S710: Setting the label mode.

[0226] In some embodiments, when the robot does not receive a follow / recall input command, the working mode of the robot is set to tag mode.

[0227] It should be noted that in this working mode, the omnidirectional antenna is in working state.

[0228] Step S711: Scanned by other devices (ie the target user device mentioned above).

[0229] Here, when the working mode of the machine is set to tag mode, other devices can scan the robot via Bluetooth and / or UWB to obtain the robot's location information.

[0230] Step S712: The omnidirectional antenna works.

[0231] It should be noted that in tag mode, the robot's omnidirectional antenna is in operation, allowing other devices to act as a base station to search for the robot.

[0232] Finally, the UWB control process of the tag is described, such as Figure 7B As shown, it may include steps S721 to S729:

[0233] Step S721: Turn on Bluetooth broadcasting.

[0234] In some embodiments, the tag device is controlled to start Bluetooth broadcasting, so that communication with the robot can be achieved without establishing a communication connection with the robot.

[0235] It should be noted that Bluetooth broadcasting is selected because the power consumption of Bluetooth communication is lower than that of UWB communication.

[0236] Step S722: Whether a follow / recall command is received.

[0237] Here, if yes, go to step S723, if no, go to step S730.

[0238] In some embodiments, the user triggers the robot's follow or recall task through a tag device, and after receiving the follow or recall instruction, the tag device performs Bluetooth pairing with the robot.

[0239] Step S723: Disconnect the Bluetooth connection with other devices.

[0240] In some embodiments, after the tag device receives the follow / recall command, the tag device disconnects the Bluetooth connection with other devices.

[0241] Step S724: Connect to the robot.

[0242] In some embodiments, after the tag device disconnects the Bluetooth connection with other devices, it sends a Bluetooth connection request to the robot to perform Bluetooth pairing with the robot.

[0243] Step S725: Bluetooth sends a recall / follow execution command.

[0244] In some embodiments, after the robot is successfully connected to the tag device, the tag device sends a recall / follow execution command to the robot via Bluetooth, so that the robot performs a follow action after receiving the recall / follow execution command.

[0245] Step S726: Send a recall / follow stop command.

[0246] In some embodiments, after the robot is successfully connected to the tag device, after the robot completes the following or recall task, the tag device sends a recall / follow stop command to the robot via Bluetooth, so that the robot stops following the tag device after receiving the recall / follow stop command.

[0247] Step S727: Reset the label mode.

[0248] In some embodiments, after the robot completes the following task, the tag device is disconnected from the robot and the tag device switches to tag mode.

[0249] Step S728: Set the label mode.

[0250] In some implementations, when the tag device does not receive a follow / recall command, the working mode of the tag device is set to a tag mode to control the tag device to connect with other devices.

[0251] Step S729: Connect other devices.

[0252] In some embodiments, when the tag device is in tag mode, the tag device is controlled to pair with other devices via Bluetooth, so that the location of the identification device can be displayed on the other devices.

[0253] Based on the foregoing embodiments, an embodiment of the present application provides a control device for a movable device, which includes the various units included and the various modules included in each unit, and can be implemented by a processor in a robot; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0254] Figure 8A A schematic diagram of the structure of a control device for a mobile device provided in an embodiment of the present application is shown in FIG. Figure 8A As shown, the control device 800 of the movable device includes:

[0255] A determination module 801 is configured to determine a target tag device that the movable device is to follow in response to obtaining a target following instruction;

[0256] A first control module 802 is configured to control the movable device to switch from the current first use mode to the second use mode, so that the movable device performs a task of following the target tag device based on the target reference data;

[0257] Wherein, the removable device is regarded as a tag device that can be searched in the first usage mode;

[0258] The operating parameters of the communication module of the mobile device in the second usage mode are different from the operating parameters in the first usage mode.

[0259] In some embodiments, the control device of the movable device also includes: a second control module for controlling the movable device to switch from the second usage mode to the first usage mode in response to obtaining a target trigger event, so that the location information of the movable device can at least be determined by the target user device.

[0260] In some embodiments, the determination module includes at least one of the following: an identification unit for identifying the voice input data that triggers the target following task collected by the audio collection component configured in the mobile device as a target following instruction; an acquisition unit for obtaining the target following instruction sent by the first user device, where the first user device is a device that establishes a Bluetooth connection with the mobile device or a device that does not establish a Bluetooth connection; a first determination unit for determining the response instruction triggered by the mobile device in response to the input operation acting on itself as a target following instruction; a generation unit for generating a target following instruction in response to the recognition of the target gesture operation data.

[0261] In some embodiments, a determination module determines the target tag device that the movable device is to follow, and includes at least one of the following: a second determination unit, used to determine the target tag device based on at least one of the device identification information, device location information, and device description information carried in the target following instruction; a third determination unit, used to determine the target tag device based on the default tag device information to be followed preset in the movable device; a fourth determination unit, used to determine the tag device that establishes a target communication connection with the movable device as the target tag device; a fifth determination unit, used to determine the tag device with the target authority level in the spatial environment where the movable device is located as the target tag device; and a sixth determination unit, used to determine the tag device at the target position within the movable range of the movable device as the target tag device.

[0262] In some embodiments, the first control mode includes: a control unit for controlling the ultra-wideband module of the movable device to switch from the current first working parameter to the second working parameter, so that the omnidirectional antenna in the antenna module of the ultra-wideband module switches from a working state to a non-working state; and controlling the target antenna module of the ultra-wideband module to enter a working state to obtain the relative position data between the movable device and the target tag device, wherein the target antenna module is determined based on the initial relative position data between the movable device and the target tag device.

[0263] In some embodiments, the first control mode includes at least one of the following: a first execution unit, used to configure the moving path and moving parameters of the movable device based on the relative position data between the movable device and the target tag device, so as to perform the task of following the target tag device; a second execution unit, used to configure the moving path and moving parameters of the movable device based on the relative position data and the obstacle information when the target reference data includes obstacle information, so as to perform the task of following the target tag device; a third execution unit, used to control the moving parameters of the movable device based on the relative position data and the target planned path data when the target reference data includes target planned path data, so as to perform the task of following the target tag device; a fourth execution unit, used to configure the moving path and moving parameters of the movable device based on the user portrait information and the relative position data when the target reference data includes user portrait information of the target user, so as to perform the task of following the target tag device, where the target user is a user having a target association relationship with the target tag device.

[0264] Figure 8B A schematic diagram of the structure of a control device for a label device provided in an embodiment of the present application is shown in FIG. Figure 8B As shown, the control device 810 of the label device includes:

[0265] An establishing module 811 is configured to establish a first connection between the target tag device and the movable device in response to obtaining a target following instruction;

[0266] a sending module 812, configured to send a target following instruction or a target control instruction generated based on the target following instruction to the movable device, so that the movable device switches from the current first use mode to the second use mode and performs a task of following the target tag device based on the target reference data;

[0267] Wherein, the removable device is regarded as a tag device that can be searched in the first usage mode;

[0268] The operating parameters of the communication module of the mobile device in the second usage mode are different from the operating parameters in the first usage mode.

[0269] In some embodiments, the control device of the label device further includes:

[0270] The sending module is further configured to send a stop following instruction to the mobile device to control the mobile device to switch from the second usage mode to the first usage mode, and to control the mobile device to enter a tag mode in which the mobile device is discovered by the target user device;

[0271] The location information of the movable device can be located by the target user equipment in the first usage mode.

[0272] The description of the above information processing device embodiment is similar to the description of the above method embodiment and has similar beneficial effects as the method embodiment. In some embodiments, the functions or modules included in the information processing device provided in the embodiments of the present disclosure can be used to perform the methods described in the above method embodiments. For technical details not disclosed in the embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0273] It should be noted that, in the embodiment of the present application, if the above-mentioned information processing device is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions to enable a robot (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific hardware, software or firmware, or any combination of hardware, software and firmware.

[0274] The present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements some or all of the steps in the above method. The computer-readable storage medium may be transient or non-transient.

[0275] An embodiment of the present application provides a computer program, including a computer-readable code. When the computer-readable code runs in a robot, a processor in the robot executes some or all of the steps for implementing the above method.

[0276] The present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a processor, some or all of the steps in the above method are implemented. The computer program product can be implemented in hardware, software, or a combination thereof. In some embodiments, the computer program product is embodied as a computer storage medium. In other embodiments, the computer program product is embodied as a software product, such as a software development kit (SDK).

[0277] It should be noted that the descriptions of the various embodiments above tend to emphasize the differences between the various embodiments, and their similarities or similarities can be referenced to each other. The descriptions of the above storage medium, computer program, and computer program product embodiments are similar to the descriptions of the above method embodiments and have similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium, computer program, and computer program product embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0278] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned steps / processes does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0279] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0280] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0281] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0282] In addition, all functional units in the embodiments of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the above-mentioned integrated units can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0283] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and other media that can store program codes.

[0284] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words be embodied in the form of a software product that contributes to the relevant technology. The computer software product is stored in a storage medium and includes several instructions for enabling an electronic device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0285] The above are only implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the protection scope of the present application.

Claims

1. A method for controlling a movable device, comprising: In response to obtaining the target following instruction, determining a target tag device that the movable device is to follow; Controlling the movable device to switch from the current first usage mode to the second usage mode, so that the movable device performs a task of following the target tag device to move based on the target reference data; The removable device is regarded as a tag device that can be searched in the first usage mode; The operating parameters of the communication module of the mobile device in the second usage mode are different from the operating parameters in the first usage mode.

2. The method according to claim 1, further comprising: In response to obtaining a target triggering event, the movable device is controlled to switch from the second usage mode to the first usage mode, so that at least the location information of the movable device can be determined by the target user equipment.

3. The method according to claim 1 or 2, wherein obtaining the target following instruction comprises at least one of the following: Recognizing the voice input data for triggering the target following task, collected by the audio collection component configured in the mobile device, as the target following instruction; Obtaining a target following instruction sent by a first user equipment, where the first user equipment is a device that has established a Bluetooth connection with the movable device or a device that has not established a Bluetooth connection with the movable device; determining a response instruction triggered by the movable device in response to the input operation acting on the movable device as the target following instruction; In response to identifying the target gesture operation data, the target following instruction is generated.

4. The method according to claim 3, wherein determining the target tag device to be followed by the movable device comprises at least one of the following: Determine the target tag device based on at least one of the device identification information, device location information, and device description information carried in the target following instruction; Determining the target tag device based on default tag device information to be followed preset in the movable device; Determine a tag device that establishes a target communication connection with the movable device as the target tag device; Determine a tag device with a target authority level in the spatial environment where the movable device is located as the target tag device; A tag device located at a target position within a movable range of the movable device is determined as the target tag device.

5. The method according to claim 1 or 2, wherein controlling the movable device to switch from the current first usage mode to the second usage mode comprises: Controlling the ultra-wideband module of the mobile device to switch from a current first operating parameter to a second operating parameter, so that the omnidirectional antenna in the antenna module of the ultra-wideband module switches from a working state to a non-working state; as well as, The target antenna module of the ultra-wideband module is controlled to enter a working state to obtain relative position data between the movable device and the target tag device, wherein the target antenna module is determined based on the initial relative position data between the movable device and the target tag device.

6. The method according to claim 5, wherein the performing of the task of following the target tag device to move based on the target reference data comprises at least one of the following: Configuring a moving path and moving parameters of the movable device based on the relative position data between the movable device and the target tag device to perform a task of following the target tag device; In a case where the target reference data includes obstacle information, configuring a moving path and moving parameters of the movable device based on the relative position data and the obstacle information to perform a task of following the target tag device; In a case where the target reference data includes target planning path data, controlling the movement parameters of the movable device based on the relative position data and the target planning path data to perform a task of following the target tag device to move; In the case where the target reference data includes user portrait information of the target user, the moving path and moving parameters of the movable device are configured based on the user portrait information and the relative position data to perform the task of following the target tag device to move, and the target user is a user who has a target association relationship with the target tag device.

7. A method for controlling a label device, comprising: In response to obtaining the target following instruction, establishing a first connection between the target tag device and the movable device; as well as, Sending the target following instruction or the target control instruction generated based on the target following instruction to the movable device, so that the movable device switches from the current first usage mode to the second usage mode and performs the task of following the target tag device to move based on the target reference data; The removable device is regarded as a tag device that can be searched in the first usage mode; The operating parameters of the communication module of the mobile device in the second usage mode are different from the operating parameters in the first usage mode.

8. The method according to claim 7, further comprising: Sending a stop following instruction to the movable device to control the movable device to switch from the second usage mode to the first usage mode, and to control the movable device to enter a tag mode in which the movable device is discovered by a target user device; The location information of the movable device can be located by the target user equipment in the first usage mode.

9. A movable device, comprising a device housing, a motion mechanism, a memory, a processor, and a communication module; wherein: The motion mechanism is provided at the bottom of the device housing and is used to change the position of the movable device; The memory is used to store a computer program that can be executed on the processor; The processor is used to determine the target tag device that the movable device is to follow in response to obtaining a target following instruction; control the movable device to switch from the current first usage mode to the second usage mode, so that the movable device performs the task of following the target tag device based on the target reference data; wherein, the movable device is regarded as a tag device that can be searched in the first usage mode; the operating parameters of the communication module of the movable device in the second usage mode are different from the working parameters in the first usage mode.

10. The mobile device according to claim 9, further comprising a central control unit; the communication module comprises an ultra-wideband module; wherein: The ultra-wideband module includes a plurality of antenna modules, each of which is disposed at different positions of the movable device to cover the periphery of the movable device; each of the plurality of antenna modules includes a directional antenna array, and at least one of the antenna modules includes an omnidirectional antenna; The central control is connected to the motion mechanism and the processor, and is used to generate a drive control instruction based on the movement path and movement parameters generated by the processor to drive the motion mechanism to change the position of the movable device.

Images