Control method of mobile equipment, position detection device and mobile equipment

Abstract

The embodiment of the invention provides a control method of a mobile device, a position detection device and the mobile device.The method comprises the steps that a following target of the mobile device is detected through a scanning component, and the scanning component is arranged on a rotating mechanism of the mobile device through a connecting piece; under the condition that the following target is not detected in the scanning range of the scanning component, controlling the rotating mechanism to drive the scanning component to rotate so as to change the scanning range of the scanning component; under the condition that the rotation stopping condition is met, the rotating mechanism is controlled to stop driving the scanning component to rotate, and the rotation stopping condition includes that the following target is located in the scanning range of the scanning component. According to the invention, the problem that the following target is easy to lose is solved, and the success rate of target detection is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of mobile device control, and more specifically, to a control method for a mobile device, a position detection device, and the mobile device. Background Art

[0002] On a golf course, for example, a mobile device can be used to track a specific target and transport equipment to that target, such as golf clubs and bags. Target tracking on a mobile device typically involves detecting the target using a scanning component. However, due to the limited scanning range of the scanning component, there are blind spots. If the target falls within the scanning blind spot, the scanning component cannot detect the target's location, resulting in the target being lost.

[0003] It can be seen that the control method of the mobile device in the related art has the problem that the tracking target is easily lost. Summary of the Invention

[0004] The embodiments of the present application provide a control method for a mobile device, a position detection device, and a mobile device, so as to at least solve the technical problem in the related art that the tracking target is easily lost.

[0005] According to one aspect of an embodiment of the present application, a control method for a mobile device is provided, comprising: detecting a following target of the mobile device by a scanning component, wherein the scanning component is arranged on a rotating mechanism of the mobile device through a connecting piece; when the following target is not detected within the scanning range of the scanning component, controlling the rotating mechanism to drive the scanning component to rotate so as to change the scanning range of the scanning component; when a rotation stop condition is met, controlling the rotating mechanism to stop driving the scanning component to rotate, wherein the rotation stop condition includes: the following target is within the scanning range of the scanning component.

[0006] According to another aspect of an embodiment of the present application, a position detection device is also provided, including: a control component, a scanning component and a rotating mechanism, wherein the scanning component is arranged on the rotating mechanism through a connecting component, and the rotating mechanism allows to be arranged on the main body of the mobile device through the connecting component; wherein the scanning component is used to detect the following target of the mobile device; the control component is used to control the rotating mechanism to drive the scanning component to rotate when the following target is not detected within the scanning range of the scanning component, so as to change the scanning range of the scanning component; when the rotation stop condition is met, the rotating mechanism is controlled to stop driving the scanning component to rotate, wherein the rotation stop condition includes: the following target is located within the scanning range of the scanning component.

[0007] According to another aspect of an embodiment of the present application, a mobile device is further provided, comprising: a main body, a control component, a scanning component and a rotating mechanism, wherein the scanning component is arranged on the rotating mechanism via a connecting member, and the rotating mechanism is arranged on the main body via a connecting member; wherein the scanning component is used to detect a following target of the mobile device; the control component is used to control the rotating mechanism to drive the scanning component to rotate when the following target is not detected within the scanning range of the scanning component, so as to change the scanning range of the scanning component; and control the rotating mechanism to stop driving the scanning component to rotate when a rotation stop condition is met, wherein the rotation stop condition includes: the following target is located within the scanning range of the scanning component.

[0008] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to perform the steps of any of the above method embodiments when executed by a processor.

[0009] According to another aspect of the embodiments of the present application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the steps of any of the above-described method embodiments.

[0010] According to another aspect of the embodiments of the present application, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the steps of any of the above method embodiments through the computer program.

[0011] Through the present application, a following target of a mobile device is detected by a scanning component, wherein the scanning component is arranged on a rotating mechanism of the mobile device through a connecting piece; when the following target is not detected within the scanning range of the scanning component, the rotating mechanism is controlled to drive the scanning component to rotate to change the scanning range of the scanning component; when the following target is within the scanning range of the scanning component, the rotating mechanism is controlled to stop driving the scanning component to rotate, thereby achieving that even in a complex environment or when the following target moves in any direction, the following target can be detected in other ranges, and the target can be continuously followed, thereby solving the problem of easy loss of the following target in the related art and improving the success rate of target detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1is a schematic diagram of an application scenario of a control method of a mobile device according to an embodiment of the application;

[0013] Figure 2 is a schematic diagram of a flow of an optional control method of a mobile device according to an embodiment of the application;

[0014] Figure 3 is a schematic diagram of an optional position detection module according to an embodiment of the application;

[0015] Figure 4 is a schematic diagram of another optional position detection module according to an embodiment of the application;

[0016] Figure 5 is a structural block diagram of an optional position detection device according to an embodiment of the application;

[0017] Figure 6 is a structural block diagram of an optional mobile device according to an embodiment of the application;

[0018] Figure 7 is a computer system structural block diagram of an optional electronic device according to an embodiment of the application. DETAILED DESCRIPTION

[0019] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative work should fall within the scope of protection of the present application.

[0020] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to the process, method, product or device.

[0021] According to an aspect of an embodiment of the present application, a control method of a mobile device is provided. Optionally, in the present embodiment, the control method of the mobile device can be applied to, but is not limited to, a mobile device such asFigure 1 The hardware environment shown includes a terminal device 102 and a server 104. The server 104 can be connected with the terminal device 102 through a network, and can be used to provide services (for example, application services, etc.) for the terminal device 102 or a client installed on the terminal device 102. A database can be set on the server 104 or independently of the server 104, and used to provide data storage services for the server 104.

[0022] The network can include but is not limited to at least one of the following: a wired network, a wireless network. The wired network can include but is not limited to at least one of the following: a wide area network, a metropolitan area network, a local area network. The wireless network can include but is not limited to at least one of the following: Wireless Fidelity (WIFI), Bluetooth. The terminal device 102 can be but is not limited to a personal computer (PC), a mobile phone, a tablet computer, etc. The server 104 can be but is not limited to a cloud server, a server cluster or other server types.

[0023] The control method of the mobile device according to the embodiments of the present application can be executed by the server 104, or by the terminal device 102, or by both the server 104 and the terminal device 102. Wherein, the terminal device 102 can execute the control method of the mobile device according to the embodiments of the present application by a client installed thereon.

[0024] Taking the terminal device 102 as an example, the control method of the mobile device according to the embodiments of the present application can be executed by the terminal device 102, Figure 2 is a flow diagram of an optional control method of a mobile device according to the embodiments of the present application, as Figure 2 shown, the flow of the method can include the following steps:

[0025] Step S202, detecting a following target of the mobile device by a scanning component, wherein the scanning component is arranged on a rotating mechanism of the mobile device through a connecting piece;

[0026] Step S204, in the case that the following target is not detected within the scanning range of the scanning component, controlling the rotating mechanism to drive the scanning component to rotate, so as to change the scanning range of the scanning component;

[0027] Step S206, in the case that a rotation stop condition is met, controlling the rotating mechanism to stop driving the scanning component to rotate, wherein the rotation stop condition includes that the following target is located within the scanning range of the scanning component.

[0028] The control method of the mobile device in this embodiment can be applied to the field of mobile device control, and applied to devices that require automatic following function, such as golf bag vehicles, luggage following robots, unmanned delivery vehicles, etc. These devices usually work in open or semi-open environments, and the position of the target (such as passengers, goods) may change due to environmental factors or autonomous movement. For example, a golf bag vehicle must be able to detect its position in real time and follow when the player moves within the golf course. Due to the irregular terrain and obstacles (such as trees, sand traps) of the golf course, there are scanning blind areas. When the target to be followed is located in the scanning blind area of the scanning component, the target to be followed is lost because the scanning component cannot detect the position of the target to be followed. Therefore, the control method of the mobile device in the related art has the problem that the target to be followed is easily lost.

[0029] In order to at least partially solve the above technical problems, in this embodiment, in the case that the target to be followed is not detected within the scanning range of the scanning component, the rotating mechanism is controlled to drive the scanning component to rotate to change the scanning range of the scanning component, and in the case that the target to be followed is located within the scanning range of the scanning component, the rotating mechanism is controlled to stop driving the scanning component to rotate, so that even in a complex environment, the target to be followed can be detected in other ranges, the target to be followed can be continuously followed, the problem that the target to be followed is easily lost in the related art is solved, and the success rate of target detection is improved.

[0030] It should be noted that the mobile device can be a machine with automatic following function, such as a bag vehicle, a service robot, etc. The scanning component is deployed on the mobile device, and the scanning component refers to a device for detecting and positioning a target, such as a base station, a laser radar, a camera, etc. The scanning component measures the target to be followed (such as a player) by transmitting and receiving wireless signals. The target to be followed can be the tracking object of the mobile device, such as a golfer, an article with a special tag, etc.

[0031] Optionally, the scanning component is installed on the rotating mechanism of the mobile device through a connecting member (such as a fixed support), which ensures that it can change position with the movement of the rotating mechanism. In the case that the scanning component fails to detect the target to be followed within the current scanning range, the rotating mechanism is controlled to drive the scanning component to rotate to change the scanning range of the scanning component.

[0032] The connecting member can be a component for physically fixing the scanning component to the rotating mechanism, such as a support, a screw, etc. It ensures that the scanning component can remain stable during rotation while not hindering its function. The rotating mechanism, such as a gimbal, is a device that can rotate along one or more axes, allowing the mounted scanning component to cover a larger detection range.

[0033] The rotating mechanism can rotate the scanning component in the horizontal or vertical direction to expand the detection range. In the case that the scanning component fails to detect the following target, the control system in the mobile device can start the rotating mechanism to rotate the scanning component until the following target is detected again. Alternatively, the following target can carry a signal device, and the scanning component can detect the following target by scanning the signal of the signal device.

[0034] In the case that the following target is detected again during the rotation of the scanning component, the control system in the mobile device can immediately stop the rotating mechanism and fix the scanning component at the position where the signal of the target is strongest or clearest, so as to restore the positioning of the mobile device to the following target.

[0035] Alternatively, the scanning component can be detected multiple times in the scanning range, and in the case that the following target is not detected in the multiple detections, the rotating mechanism can be controlled to rotate the scanning component to change the scanning range of the scanning component.

[0036] In an example, if the mobile device is a golf cart, the scanning component of the golf cart is installed on the roof of the golf cart through a gimbal, and the scanning component always emits signals to try to establish a connection with the signal device carried by the player. The player walks in front of the golf cart, and the scanning component continuously receives signals. However, when the player walks to the back of the golf cart, the signal reception becomes difficult. Therefore, the rotating mechanism needs to be controlled to rotate the scanning component to change the scanning range of the scanning component.

[0037] Alternatively, when the following target (such as a player) moves to the dead angle (beyond the direct detection range) of the scanning component, such as the back or side of the golf cart, the mobile device will lose the position of the target. To find the target, the control system activates the rotating mechanism to rotate the scanning component to search. Only when the following target is detected again in the effective detection range of the scanning component, the rotating mechanism stops rotating.

[0038] According to the embodiments provided in the present application, the scanning component is arranged on the rotating mechanism of the mobile device through the connecting member, and the following target of the mobile device is detected by the scanning component. In the case that the following target is not detected in the scanning range of the scanning component, the rotating mechanism is controlled to rotate the scanning component to change the scanning range of the scanning component. In the case that the following target is in the scanning range of the scanning component, the rotating mechanism is controlled to stop rotating the scanning component. Even in a complex environment or in the case that the following target moves in an arbitrary direction, the following target can be detected in other ranges, the following target can be continuously followed, and the problem that the following target is easily lost in the related art is solved, and the success rate of target detection is improved.

[0039] In one example embodiment, the rotating mechanism is provided with a rotating motor, which allows the scanning component to rotate 360 degrees along a specified plane. In step S204, the rotating motor is controlled to drive the scanning component to rotate along the specified plane.

[0040] It should be noted that the rotating mechanism can refer to a mechanical device that carries and drives the scanning component to rotate. In the rotating mechanism, a rotating motor can be provided. The rotating motor can be an electric motor that converts electrical energy into rotary power, which is used to drive the scanning component in the rotating mechanism to rotate 360 degrees to cover the full range of detection angles.

[0041] Optionally, in the process of controlling the rotating mechanism to drive the scanning component to rotate, the rotating motor can be used to drive the scanning component to rotate along a specified plane. The specified plane can be a predetermined plane, such as a horizontal plane. The rotating motor can make the scanning component rotate on the horizontal plane to ensure full-range detection capability without being affected by vertical obstacles.

[0042] Optionally, in the process of controlling the rotating motor to drive the scanning component to rotate along the specified plane, the scanning component continuously detects the following target. Once the following target is detected, i.e., the following target is within the scanning range of the scanning component. It should be noted that in the process of controlling the rotating motor to drive the scanning component to rotate along the specified plane, the scanning range of the scanning component will change accordingly. In the case of detecting the following target, the rotating mechanism is controlled to stop driving the scanning component to rotate, i.e., the rotating motor is controlled to stop running.

[0043] Through this embodiment, the rotating mechanism is provided with a rotating motor that allows the scanning component to rotate 360 degrees along a specified plane. The scanning component can be driven by the rotating motor to perform comprehensive detection, so that even in the face of complex environments or the movement of targets in any direction, stable following performance can be maintained, and following agility can be improved.

[0044] In one example embodiment, in step S202, the scanning component detects the positioning signal of the signal transceiver carried by the following target to detect the following target.

[0045] It should be noted that the target carries a signal transceiver, which can emit a designated signal for the scanning component to detect and locate. In this embodiment, the designated signal can be an Ultra Wide Band (UWB) signal, and the signal transceiver can be a device that emits the UWB signal. In the golf scenario, the signal transceiver, which is built-in with a UWB chip, can be integrated into a smart watch, a special remote controller, or other portable devices, such as a UWB tag. Then, the scanning component can be a device that can emit and receive UWB signals, such as a UWB base station, to detect and locate the target carrying the UWB tag.

[0046] Optionally, the signal transceiver can use multiple wireless communication technologies, not just UWB, such as Bluetooth, Wi-Fi, ZigBee, infrared communication, etc. The high bandwidth characteristics of UWB technology allow accurate measurement of signal round-trip time, achieving sub-meter positioning accuracy, far exceeding traditional Bluetooth or Wi-Fi positioning technology.

[0047] The positioning signal can be emitted by the signal transceiver, which can contain a timestamp, a serial number, or an energy feature, for the UWB base station to determine the location information of the target.

[0048] In one example, assuming the scanning component is a UWB base station that can emit UWB signals, which propagate at the speed of light in free space. The UWB signal transceiver on the target immediately emits a return signal after receiving the signal. The scanning component receives the returned signal and analyzes the returned signal to obtain the location information of the target. Among them, the UWB signal has strong penetration and low interference characteristics, and can accurately and accurately complete positioning and tracking even in complex environments such as grass, trees, or crowds.

[0049] Through this embodiment, the scanning component detects the positioning signal of the signal transceiver carried by the target to detect the target, achieving high-precision, fast-response, and highly-adaptable complex-environment tracking effect.

[0050] In one example embodiment, the above method further comprises: during the rotation of the rotating mechanism driving the scanning component, continuously detecting the positioning signal of the signal transceiver by the scanning component until the positioning signal of the signal transceiver is first detected, wherein the rotation stop condition is the first detection of the positioning signal of the signal transceiver.

[0051] It should be noted that the rotating mechanism can allow the scanning component to rotate, enabling the scanning component to rotate 360 degrees in a certain rotation plane (usually a horizontal plane). The scanning component can be a device for detecting and locating the signal transceiver, such as a UWB base station, which can emit UWB signals and receive reflected signals to determine the relative position.

[0052] The signal transceiver can be a device carried by the target, capable of transmitting and receiving signals from the scanning component. It is usually integrated into a remote control, wearable device or other portable items for positioning and tracking.

[0053] The positioning signal may be a signal transmitted by a signal transceiver, and the positioning signal may carry the position information of the tracking target.

[0054] Optionally, after the scanning component starts to rotate because the following target moves outside its detection range, the scanning component continues to detect the positioning signal of the signal transceiver. When the positioning signal of the signal transceiver is detected for the first time, it is determined that the rotation stop condition is met, the rotating mechanism is controlled to stop driving the scanning component to rotate, and the position information of the following target is determined based on the positioning signal of the signal transceiver detected for the first time.

[0055] Optionally, the control component may send an instruction to the rotating mechanism to stop the rotation and fix the scanning component.

[0056] Optionally, the scanning component may be controlled to be fixed at an optimal detection position according to the signal strength of the positioning signal.

[0057] Optionally, after the positioning signal of the signal transceiver is detected for the first time, the rotating mechanism is controlled to stop rotating, and the mobile device is controlled to adjust the driving direction and speed of the mobile device and resume following the target.

[0058] This embodiment controls the rotation mechanism to dynamically adjust the scanning component's detection angle, significantly improving the ability to continuously track the target, even in complex mobile scenarios. Controlling the rotation mechanism overcomes the limitations of fixed-angle detection, ensuring that the transceiver's positioning signal is detected initially at any angle, improving the system's overall detection efficiency. Furthermore, by activating the rotation mechanism only when necessary and stopping it promptly upon first detecting a signal, compared to continuous rotation, energy consumption is significantly reduced, improving the device's energy efficiency.

[0059] In one example embodiment, the method of controlling the rotating mechanism to rotate the scanning component includes: controlling the rotating mechanism to rotate the scanning component 360 degrees along a specified plane; the method further includes: continuously detecting the positioning signals of the signal transceiver by the scanning component during the rotation of the rotating mechanism; and in the case that the scanning component has completed 360 degrees of rotation along the specified plane and the scanning component detects a set of positioning signals of the signal transceiver, controlling the rotating mechanism to rotate the scanning component back to a specified angle, wherein the specified angle is the angle corresponding to the positioning signal with the highest signal strength in the set of positioning signals, and the rotation stop condition is that the angle corresponding to the positioning signal with the highest signal strength has been rotated to.

[0060] It should be noted that the specified plane is the plane in which the rotating mechanism rotates the scanning component, and in most cases, it can be a horizontal plane to ensure that the position information of the signal transceiver can be detected in different directions.

[0061] In order to improve the accuracy and stability of position detection, the rotating mechanism can be controlled to rotate the scanning component 360 degrees along the specified plane, and at this time, the scanning component detects the signal transceiver following the target. In the case that the scanning component has completed 360 degrees of rotation along the specified plane and the scanning component detects a set of positioning signals of the signal transceiver, the signal strength of each positioning signal in the set of positioning signals can be evaluated. The stronger the positioning signal, the closer the distance between the signal source and the receiver, or the better the communication quality.

[0062] Optionally, the signal strengths of the set of positioning signals are analyzed in real time, and the set of signals with the highest signal strength and the corresponding rotation angle are recorded. After completing 360 degrees of rotation, the control component controls the rotating mechanism to rotate the scanning component back to the angle corresponding to the positioning signal with the highest signal strength, to ensure that the scanning component can continuously track the position of the player in the best state.

[0063] Optionally, after completing 360 degrees of rotation, the scanning component can be controlled to rotate to the angle corresponding to the positioning signal with the highest signal strength in the signal transceiver position information, and then the rotating mechanism is controlled to stop rotating.

[0064] In one example, it is assumed that the golf cart is following the player, but due to the sudden change of direction of the player, the UWB base station temporarily fails to receive the positioning signal emitted by the UWB tag carried by the player. At this time, the control component sends an instruction to the rotating mechanism to activate the motor in the rotating mechanism, and the UWB base station rotates 360 degrees along the horizontal plane, with the purpose of re-capturing the signal of the player. While the UWB base station is rotating, it continuously emits UWB signals to the surrounding space and listens to the response signals from the UWB tag on the player. During the rotation, the UWB base station collects a set of positioning signals, and the control component analyzes the strength of these signals in real time, records the set of signals with the highest signal strength and the corresponding rotation angle. Once the base station completes a 360-degree rotation, the control component instructs the rotating mechanism to rotate the base station back to the angle corresponding to the positioning signal with the highest signal strength, ensuring that the UWB base station can continuously track the position of the player in the best state, and then follow the player.

[0065] Through this embodiment, the rotating mechanism is automatically started when the signal cannot be received, and the best position is found through signal strength analysis, demonstrating the device's ability to adapt to environmental changes, making automatic following more intelligent and efficient. Moreover, through the 360-degree rotation, a set of positioning signals is obtained to determine the highest point of the signal strength of the positioning signal, ensuring effective reception of the positioning signal, thereby improving the accuracy and stability of position detection. After capturing the best signal strength, the rotating mechanism stops unnecessary movement, reducing energy waste.

[0066] In one example embodiment, after the control component controls the rotating mechanism to stop rotating the scanning component, the above method further comprises: detecting, by the scanning component, the positioning signal of the signal transceiver, and based on the detected positioning signal, determining relative position information between the follow-up target and the scanning component, wherein the relative position information is used to indicate the relative distance between the follow-up target and the scanning component and the relative angle between the follow-up target and the scanning component; based on the relative position information, controlling the mobile device to rotate to a position where the central axis of the mobile device points to the follow-up target.

[0067] It should be noted that the relative position information can be the distance and angle information between the follow-up target and the scanning component. The relative position information is the core data of tracking and positioning, which is used to determine the accurate position of the follow-up target relative to the scanning component, including distance and angle. The central axis of the mobile device can refer to the longitudinal center line of the mobile device, i.e. the vertical direction from its geometric center to the ground, or in the context of a golf cart, it can be understood as the center line of the vehicle body, which is the indication line of the driving direction of the golf cart.

[0068] Optionally, adjusting the central axis of the mobile device (such as a golf cart) to the direction of the straight line connecting the follow-up target (such as a player) can ensure that the mobile device can face the follow-up target and can follow accordingly.

[0069] Optionally, after the control rotation mechanism stops driving the scanning component to rotate, the body of the mobile device is adjusted to rotate to a corresponding position.

[0070] Optionally, the relative position information between the target and the scanning component can be a time difference or a phase difference of the positioning signal, and the relative position information between the target and the scanning component, i.e., the relative distance and angle between the target and the scanning component, is calculated. After the relative position information between the target and the scanning component is calculated, the running direction of the mobile device is adjusted so that the center axis of the mobile device points to the position of the target. Subsequently, the mobile device adjusts the running route according to the real-time acquired position information of the target to realize the following of the target.

[0071] Through the embodiment, the center axis of the mobile device is intelligently adjusted based on the relative position information, so that even if the target is on the side or back of the mobile device, the direction can be timely adjusted to avoid losing the target. Through the center axis pointing control, the stability in the following process is enhanced, and the following error caused by the angle deviation is reduced.

[0072] In one example embodiment, based on the relative position information, the mobile device is controlled to rotate so that the center axis of the mobile device points to the position of the target, including: determining the angle between the line connecting the target and the mobile device and the center axis of the mobile device according to the relative position information to obtain a rotation angle; and controlling the mobile device to rotate according to the rotation angle until the center axis of the mobile device points to the position of the target, wherein the rotation speed of the mobile device is positively correlated with the rotation angle.

[0073] It should be noted that the line connecting the target and the mobile device can be a virtual straight line between the mobile device (such as a golf cart) and the target (such as a golfer), which can be used to measure the directional relationship between the two. The rotation angle can be calculated based on the relative position information and is the actual angle difference that the center axis of the mobile device needs to rotate to point to the target.

[0074] Optionally, after the relative position information is determined, the angle between the line connecting the target and the mobile device and the center axis of the mobile device can be determined according to the relative position information to obtain a rotation angle, and the control component controls the mobile device to rotate according to the rotation angle so that the center axis of the mobile device points to the position of the target. Optionally, after the rotation angle is determined, a control instruction can be sent to the rotation motor to control the steering operation to be performed until the center axis of the mobile device is completely aligned with the target.

[0075] Optionally, in order to improve the following efficiency and user experience, the rotation speed adjustment of the mobile device adopts a proportional control strategy. Specifically, the rotation speed is proportional to the angle to be rotated, which means that the larger the angle difference, the faster the rotation speed; the angle difference decreases, and the rotation speed decreases accordingly. The key of this control strategy is fast response and resource optimization, which can ensure that when the position of the following target changes greatly, the mobile device can quickly adjust the direction, shorten the reaction time, and avoid losing the following target. When the following target is close or in front, slow rotation avoids unnecessary excessive turning, so that the mobile device can follow smoothly and continuously, saving energy and prolonging the operation time of the device.

[0076] Through this embodiment, by determining the angle to be rotated and controlling the mobile device to rotate accurately, it is ensured that the mobile device can always align and follow the following target, improving the accuracy and stability of following. Through the control strategy that the rotation speed is positively correlated with the angle to be rotated, the ball bag vehicle can quickly adapt to the sudden change of the position of the player, improving the instant response ability of following. Moreover, fast rotation at large angle difference and slow adjustment at small angle difference reasonably allocate rotation resources, reduce unnecessary energy consumption, and improve the overall efficiency of the device.

[0077] In an example embodiment, the above method further comprises: in the case of receiving the following control signal sent by the signal transceiver, controlling the mobile device to move following the following target, wherein the following control signal is used to control the mobile device to enter the following mode.

[0078] It should be noted that the following control signal can be a special signal sent by the signal transceiver to indicate the mobile device (such as the ball bag vehicle) to enter or remain in the following mode. The following control signal can contain instructions such as starting following, stopping following, or adjusting following parameters. According to the positioning signal and the following control signal sent by the signal transceiver, the driving direction and speed are automatically adjusted to follow the running state of a specific target (such as a player). In the following mode, the mobile device can intelligently respond to the change of the target position and adjust the following.

[0079] Optionally, in the case that the signal transceiver is a remote controller, the following mode can be turned on through the control buttons on the remote controller.

[0080] Optionally, the mobile device can be deployed with an intelligent following control algorithm, which can adjust the driving speed of the mobile device according to the distance between the tracking target and the mobile device and the moving speed of the tracking target, to realize accurate following. Specifically, when the following target speeds up, the mobile device will also speed up accordingly, and vice versa, to maintain the optimal following distance.

[0081] Optionally, in the process of controlling the mobile device to follow the movement of the following target, the driving direction of the mobile device is also adjusted by the rotating mechanism to ensure that the central axis of the mobile device is aligned with the following target.

[0082] Through the embodiment, the golf cart can automatically identify and respond to the following control signal through wireless communication between the signal transceiver and the mobile device, realize intelligent following without manual intervention, and significantly improve the use convenience.

[0083] In an example embodiment, the above method further comprises: in the case that the distance between the following target and the mobile device is less than a preset distance threshold, controlling the mobile device to be in a non-moving state, wherein the non-moving state is a state with a moving speed of zero; and in the case that the distance between the following target and the mobile device is greater than or equal to the preset distance threshold, controlling the mobile device to follow the movement of the following target.

[0084] In order to reduce the potential collision risk and ensure the safety of the use process, a threshold, i.e., a preset distance threshold, can be set. The preset distance threshold can be a distance value set in advance and can be used to determine whether the following target and the mobile device need to be automatically followed. The size of the preset distance threshold can be determined based on safety distance, following efficiency, application scenario, and user experience, etc. The preset distance threshold can be one or more distance thresholds set in advance for controlling the following behavior of the mobile device. For example, in a golf course, the preset distance threshold can be set as the optimal following distance between the golf cart and the player.

[0085] Optionally, the non-moving state refers to a state in which the mobile device is completely stationary and the driving speed is zero. In the case that the distance between the following target and the mobile device is less than the preset distance threshold, the mobile device is controlled to be in the non-moving state to prevent collision or excessive interference.

[0086] Optionally, in the case that the distance between the following target and the mobile device is detected to be less than the preset distance threshold, the control component immediately sends an instruction to the driving module to reduce the driving speed of the mobile device to zero and enter the non-moving state to prevent collision with the following target. Once the distance returns to the preset distance threshold or above, the following function is activated again, and the mobile device is controlled to adjust the direction and speed as needed to continue following the following target.

[0087] Through the embodiment, by using the preset distance threshold, the mobile device is effectively prevented from being too close to the following target, the potential collision risk is reduced, the safety of the use process is ensured, and the power consumption is greatly saved to prolong the endurance of the device.

[0088] In one example embodiment, when the distance between the target and the mobile device is less than the preset distance threshold, the mobile device is controlled to be in a non-moving state, including: when the distance between the target and the mobile device is less than the preset distance threshold, and the angle between the line connecting the target and the mobile device and the central axis of the mobile device is less than the preset angle threshold, the mobile device is controlled to be in a stationary state; when the distance between the target and the mobile device is less than the preset distance threshold, and the angle between the line connecting the target and the mobile device and the central axis of the mobile device is greater than or equal to the preset angle threshold, the mobile device is controlled to rotate in place until the angle between the line connecting the target and the mobile device and the central axis of the mobile device is less than the preset angle threshold.

[0089] In order to further improve the safety of the mobile device in the process of following the target, a threshold, i.e., a preset angle threshold, can be set to measure the relative orientation between the target and the central axis of the mobile device to determine whether direction adjustment is needed.

[0090] Optionally, when the distance between the target and the mobile device is less than the preset distance threshold, and the angle between the line connecting the target and the mobile device and the central axis of the mobile device is greater than or equal to the preset angle threshold, the mobile device can be controlled to rotate in place to adjust the direction of the mobile device without changing the position of the mobile device, which is suitable for correcting the direction deviation without advancing.

[0091] In one example, assuming that the preset distance threshold is set to 2 meters and the preset angle threshold is set to 30°. In a real golf course scenario, when the distance between the player and the golf cart is less than 2 meters, the control system of the golf cart will check the angle difference between the line connecting the two and the central axis of the golf cart: if the angle difference is less than 30° at this time, it is considered that the golf cart has roughly aligned with the player, and therefore the golf cart is controlled to enter a stationary state, i.e., a non-moving state, keeping the current position unchanged. However, if the angle difference is greater than or equal to 30°, it indicates that the direction of the golf cart does not match the position of the player, which triggers the rotation adjustment in place. The pan-tilt rotating mechanism of the golf cart will control the golf cart to rotate according to the calculated rotation angle until the angle difference is less than 30°, and the correct alignment state is re-achieved.

[0092] Through this embodiment, by introducing the preset angle threshold, it is ensured that when the mobile device approaches the target, not only the distance is considered, but also the direction factor is considered, achieving more accurate alignment and avoiding misoperation caused by direction deviation. The rotation adjustment strategy in place under the condition of close distance and large angle deviation avoids the collision or interference that may be caused by direct advancement of the mobile device, significantly improving the safety of use.

[0093] In one example embodiment, when the distance between the target and the mobile device is greater than or equal to the preset distance threshold, the mobile device is controlled to move following the target, including: when the distance between the target and the mobile device is greater than or equal to the preset distance threshold, and the angle between the line connecting the target and the mobile device and the central axis of the mobile device is greater than or equal to the preset angle threshold, the mobile device is controlled to enter a following mode; in the following mode, the mobile device is controlled to rotate and move towards the target.

[0094] It should be noted that when the distance between the target and the mobile device is greater than or equal to the preset distance threshold, and the angle between the line connecting the target and the mobile device and the central axis of the mobile device is greater than or equal to the preset angle threshold, a specific following signal can be generated to control the mobile device to enter the following mode according to the following signal, and when the mobile device is in the following mode, the position information of the target is monitored in real time, and the moving direction and speed of the mobile device are automatically adjusted.

[0095] Optionally, in the following mode, the control system of the mobile device coordinates the rotating mechanism and the driving module to first adjust the moving direction of the mobile device, and then adjusts the speed according to the distance from the target to complete the following action, which realizes that the rotation is prioritized when the direction needs to be adjusted, instead of blindly accelerating or decelerating, effectively improving the utilization rate of kinetic energy and reducing energy waste.

[0096] Optionally, during the following of the mobile device, the mobile device continuously monitors the relative position with the target, and once the preset condition is deviated, the strategy is immediately adjusted to ensure that the mobile device is always in the most suitable following state.

[0097] Through the embodiment, by setting the preset distance threshold and the preset angle threshold, the mobile device can automatically adjust the direction and speed to ensure that the target can be accurately followed even under large angle and long distance conditions. By setting the preset distance threshold, the safety risk that the mobile device is too close to the target can be avoided, and the effectiveness of the following of the mobile device due to being too far away from the target can be prevented.

[0098] In one example embodiment, the mobile device is controlled to move towards the target, including: adjusting the speed of the mobile device moving towards the target according to the relative distance between the target and the mobile device and the moving speed of the target away from the mobile device, until the relative distance between the target and the mobile device is less than the preset distance threshold, wherein the speed of the mobile device moving towards the target is positively correlated with the relative distance between the target and the mobile device and the moving speed of the target away from the mobile device.

[0099] It should be noted that the relative distance between the target and the mobile device refers to the straight-line distance between the target and the mobile device, which is a dynamic parameter for evaluating whether the device is approaching or moving away from the target. The moving speed of the target away from the mobile device can specifically refer to the speed of the target moving away from the mobile device, and can be used as a key indicator for evaluating the moving trend of the target.

[0100] Optionally, the control component of the mobile device corresponds to a distance-speed function, which defines a positive correlation between the relative distance and the speed of the mobile device. That is, when the relative distance increases, the output speed of the mobile device also increases accordingly, and vice versa. Similarly, there is also a speed-speed function for processing the moving speed of the target away from the mobile device. This function ensures that when the target accelerates away, the forward speed of the mobile device also increases accordingly to compensate for the increase in distance.

[0101] Optionally, when the relative distance is detected to be greater than a preset distance threshold, the speed adjustment strategy is initialized, and the initial speed of the mobile device is set. The mobile device is controlled to start moving towards the target, while continuously monitoring the changes in the relative distance and the moving speed away from the mobile device. According to the results of the distance-speed function and the speed-speed function, the speed of the mobile device is adjusted in real time. As the mobile device moves forward, the relative distance gradually decreases. When the relative distance approaches or reaches the preset threshold, the speed of the mobile device is automatically reduced until it stops, ensuring that the preset distance threshold is not exceeded.

[0102] Through this embodiment, by comprehensively considering the relative distance and the moving speed away from the mobile device, the mobile device can intelligently adjust the moving speed, not only ensuring a stable distance from the target, but also responding to the dynamic changes of the target, improving the intelligence and efficiency of the following. Through the strategy of dynamically adjusting the moving speed, the mobile device can more effectively utilize energy during the following process, avoiding unnecessary acceleration and deceleration, thereby improving the energy efficiency and prolonging the working time of the device.

[0103] In one exemplary embodiment, the mobile device is a ball bag vehicle, the scanning component is an ultra-wideband base station, and the rotating mechanism is a gimbal. The rotating mechanism and the scanning component are arranged on the central axis of the ball bag vehicle.

[0104] It should be noted that the golf cart can be a small electric vehicle specially designed for golf courses to carry players' equipment and follow players. The scanning component can refer to an ultra-wideband base station (UWB base station) responsible for transmitting and receiving ultra-wideband radio signals for accurate positioning of the player's position. The rotating mechanism can be a gimbal, a mechanical device that enables the scanning component (UWB base station) to rotate 360 degrees in the horizontal plane to expand the detection range and ensure that the player can be scanned by the base station regardless of their position. The center axis can refer to the center line of the golf cart, usually pointing from the front of the car to the back. In this case, the rotating mechanism and scanning component are precisely placed on this line to ensure the overall balance and stability of the device.

[0105] Specifically, the scanning component can be an ultra-wideband base station, the rotating mechanism can be a gimbal, and the control component can be a control circuit, wherein the relative positional relationship of the scanning component, the rotating mechanism, and the control component can be as shown in Figure 3 During the detection of the tracking target by the ultra-wideband base station, the control component can control the rotation of the gimbal to drive the ultra-wideband base station to detect the tracking target, thereby achieving position detection of the tracking target.

[0106] Specifically, the scanning component, the rotating mechanism, and the control component can be built in the same module, i.e., a position detection module, as shown in Figure 4 The position detection module can be placed on the center axis of the mobile device, i.e., the golf cart. Alternatively, the combination of the scanning component, the rotating mechanism, and the control component is not only suitable for golf courses, but can also be extended to other scenarios that require accurate following, such as outdoor exploration, industrial inspection, etc., providing a reliable, efficient, and intelligent following solution for users.

[0107] Alternatively, the UWB base station is mounted on a rotatable gimbal. When the player is not within the line of sight, the gimbal will activate and make the base station rotate 360 degrees until the player's position is repositioned. Once the player's position is determined, the gimbal stops rotating and the UWB base station continues to track. At the same time, the golf cart control system will adjust the moving speed of the golf cart based on the latest player position information and the moving speed in the opposite direction to maintain the distance within the preset threshold.

[0108] By using the ultra-wideband base station in combination with the gimbal and positioning it on the central axis of the golf cart, the following precision and stability of the golf cart can be greatly improved. The ultra-wideband base station can accurately capture the position of the player wearing the signal transceiver due to its high-precision positioning capability, while the 360-degree rotation capability of the gimbal ensures that the golf cart can quickly adjust its direction and maintain continuous tracking of the player even in the case of rapid movement or complex environment. The design of the central axis ensures the balance and coordination of the golf cart when adjusting the direction, avoiding instability or accidental movements caused by direction adjustment.

[0109] It should be noted that for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the order of the described actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0110] From the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / random access memory (RAM), a magnetic disk, an optical disk) and includes a plurality of instructions for causing an end device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application.

[0111] According to another aspect of the embodiments of the present application, a position detection apparatus is also provided, which can be used to implement the control method of the mobile device provided in the above embodiments, which has been described and will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware or a combination of software and hardware is also possible and is contemplated.

[0112] Figure 5 is a structural block diagram of an optional position detection apparatus according to an embodiment of the present application, as Figure 5As shown in the position detection apparatus in the middle, the position detection apparatus comprises a scanning component 502, a rotating mechanism 504 and a control component 506, the scanning component 502 is arranged on the rotating mechanism 504 through a connecting member, the rotating mechanism 504 allows the scanning component 502 to be arranged on the body of the mobile device through the connecting member; wherein,

[0113] The scanning component 502 is configured to detect the following target of the mobile device.

[0114] The control component 506 is configured to control the rotating mechanism 504 to drive the scanning component 502 to rotate to change the scanning range of the scanning component 502 in a case where the following target is not detected within the scanning range of the scanning component 502, and control the rotating mechanism 504 to stop driving the scanning component 502 to rotate in a case where a rotation stop condition is met, wherein the rotation stop condition comprises that the following target is located within the scanning range of the scanning component 502.

[0115] It should be noted that the scanning component 502 in the embodiment can be configured to perform the step S202, and the control component 506 in the embodiment can be configured to perform the step S204 and the step S206.

[0116] According to the embodiments provided in the present application, the following target of the mobile device is detected by the scanning component, the scanning component is arranged on the rotating mechanism of the mobile device through a connecting member, the rotating mechanism is controlled to drive the scanning component to rotate to change the scanning range of the scanning component in a case where the following target is not detected within the scanning range of the scanning component, and the rotating mechanism is controlled to stop driving the scanning component to rotate in a case where the following target is located within the scanning range of the scanning component, so that the following target can be detected in other ranges even in a complex environment or in a case where the following target moves in an arbitrary direction, the following target can be continuously followed, the problem that the following target is easily lost in the related art is solved, and the success rate of target detection is improved.

[0117] In one example embodiment, the rotating mechanism 504 is provided with a rotating motor, and the rotating motor is configured to drive the scanning component 502 to rotate by 360 degrees along a specified plane.

[0118] The control component 506 is further configured to control the rotating motor to drive the scanning component 502 to rotate along the specified plane.

[0119] In one example embodiment, the scanning component 502 is further configured to detect a positioning signal of a signal transceiver carried by the following target to detect the following target.

[0120] In an example embodiment, the scanning component 502 is further configured to continuously detect the positioning signal of the signal transceiver during the rotation of the scanning component 502 driven by the rotating mechanism 504 until the positioning signal of the signal transceiver is detected for the first time, wherein the rotation stop condition is that the positioning signal of the signal transceiver is detected for the first time.

[0121] In an example embodiment, the control component 506 is further configured to control the rotating mechanism 504 to rotate the scanning component 502 by 360 degrees along the specified plane.

[0122] The scanning component 502 is further configured to continuously detect the positioning signal of the signal transceiver during the rotation of the scanning component 502 driven by the rotating mechanism 504.

[0123] The control component 506 is further configured to control the rotating mechanism 504 to rotate the scanning component 502 back to a specified angle in the case that the scanning component 502 has completed 360-degree rotation along the specified plane and the scanning component 502 detects a set of positioning signals of the signal transceiver, wherein the specified angle is an angle corresponding to a positioning signal with the highest signal strength in the set of positioning signals, and the rotation stop condition is that the angle corresponding to the positioning signal with the highest signal strength has been rotated to.

[0124] In an example embodiment, the scanning component 502 is further configured to detect the positioning signal of the signal transceiver after the control component 506 controls the rotating mechanism 504 to stop driving the scanning component 502 to rotate.

[0125] The control component 506 is further configured to determine relative position information between the following target and the scanning component 502 based on the detected positioning signal, wherein the relative position information is used to indicate a relative distance between the following target and the scanning component 502 and a relative angle between the following target and the scanning component 502, and control the mobile device to rotate to a position where a central axis of the mobile device points to the following target based on the relative position information.

[0126] In an example embodiment, the control component 506 is further configured to determine an angle between a line connecting the following target and the mobile device and the central axis of the mobile device according to the relative position information, to obtain a to-be-rotated angle, and control the mobile device to rotate according to the to-be-rotated angle until the central axis of the mobile device points to the position of the following target, wherein the rotation speed of the mobile device is positively correlated with the to-be-rotated angle.

[0127] In an example embodiment, the control component 506 is further configured to control the mobile device to move following the following target in the case that a following control signal sent by the signal transceiver is received, wherein the following control signal is used to control the mobile device to enter the following mode.

[0128] In an example embodiment, the control component 506 is further configured to: in a case where the distance between the following target and the mobile device is less than the preset distance threshold, control the mobile device to be in a non-moving state, wherein the non-moving state is a state with a moving speed of zero; and in a case where the distance between the following target and the mobile device is greater than or equal to the preset distance threshold, control the mobile device to move following the following target.

[0129] In an example embodiment, the control component 506 is further configured to: in a case where the distance between the following target and the mobile device is less than the preset distance threshold, and the angle between the line connecting the following target and the mobile device and the central axis of the mobile device is less than a preset angle threshold, control the mobile device to be in a stationary state; and in a case where the distance between the following target and the mobile device is less than the preset distance threshold, and the angle between the line connecting the following target and the mobile device and the central axis of the mobile device is greater than or equal to the preset angle threshold, control the mobile device to rotate in place until the angle between the line connecting the following target and the mobile device and the central axis of the mobile device is less than the preset angle threshold.

[0130] In an example embodiment, the control component 506 is further configured to: in a case where the distance between the following target and the mobile device is greater than or equal to the preset distance threshold, and the angle between the line connecting the following target and the mobile device and the central axis of the mobile device is greater than or equal to the preset angle threshold, control the mobile device to be in a following mode; and in the following mode, control the mobile device to rotate and move towards the following target.

[0131] In an example embodiment, the control component 506 is further configured to: according to the relative distance between the following target and the mobile device and the moving speed of the following target away from the mobile device, adjust the speed of the mobile device moving towards the following target until the relative distance between the following target and the mobile device is less than the preset distance threshold, wherein the speed of the mobile device moving towards the following target is positively correlated with the relative distance between the following target and the mobile device and the moving speed of the following target away from the mobile device.

[0132] In an example embodiment, the mobile device is a ball cart, the scanning component 502 is an ultra-wideband base station, and the rotating mechanism 504 is a gimbal, and the rotating mechanism 504 and the scanning component 502 are arranged on the central axis of the ball cart.

[0133] It should be noted that the above modules can be implemented by software or hardware, and for the latter, the following implementation manners can be used, but are not limited thereto: all the modules are located in the same processor; or the modules are located in different processors in any combination.

[0134] According to a further aspect of the embodiments of the present application, a mobile device is also provided, which can be used to implement the control method of the mobile device provided in the above-described embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

[0135] Figure 6 is a structural block diagram of an optional mobile device according to an embodiment of the present application, as shown in Figure 6 the mobile device includes a body 602, a scanning component 604, a rotating mechanism 606 and a control component 608, the scanning component 604 is arranged on the rotating mechanism 606 through a connecting member, and the rotating mechanism 606 is arranged on the body through a connecting member; wherein,

[0136] the scanning component 604 is configured to detect a following target of the mobile device;

[0137] the control component 608 is configured to control the rotating mechanism 606 to drive the scanning component 604 to rotate to change a scanning range of the scanning component 604 in a case where the following target is not detected within the scanning range of the scanning component 604, and control the rotating mechanism 606 to stop driving the scanning component 604 to rotate in a case where a rotation stop condition is met, wherein the rotation stop condition includes that the following target is located within the scanning range of the scanning component 604.

[0138] It should be noted that the scanning component 604 in this embodiment can be used to perform the above step S202, and the control component 608 in this embodiment can be used to perform the above step S204 and the above step S206.

[0139] According to the embodiments provided in the present application, the following target of the mobile device is detected by the scanning component, wherein the scanning component is arranged on the rotating mechanism of the mobile device through a connecting member; in a case where the following target is not detected within the scanning range of the scanning component, the rotating mechanism is controlled to drive the scanning component to rotate to change the scanning range of the scanning component; in a case where the following target is located within the scanning range of the scanning component, the rotating mechanism is controlled to stop driving the scanning component to rotate, which realizes that even in a complex environment or in an arbitrary direction movement of the following target, the following target can be detected in other ranges, realizes that the following target can be continuously followed, solves the problem of easy loss of the following target in the related art, and improves the success rate of target detection.

[0140] In one exemplary embodiment, a rotating motor is arranged in the rotating mechanism 606, which allows the scanning component 604 to rotate 360 degrees along a specified plane.

[0141] The control component 608 is further configured to control the rotary motor to drive the scanning component 604 to rotate along the specified plane.

[0142] In an example embodiment, the scanning component 604 is further configured to detect a positioning signal of a signal transceiver carried by the following target to detect the following target.

[0143] In an example embodiment, the scanning component 604 is further configured to continuously detect the positioning signal of the signal transceiver until the positioning signal of the signal transceiver is detected for the first time during the rotation of the scanning component 604 by the rotation mechanism 606, wherein the rotation stop condition is the positioning signal of the signal transceiver being detected for the first time.

[0144] In an example embodiment, the control component 608 is further configured to control the rotation mechanism 606 to drive the scanning component 604 to rotate 360 degrees along the specified plane.

[0145] The scanning component 604 is further configured to continuously detect the positioning signal of the signal transceiver during the rotation of the scanning component 604 by the rotation mechanism 606.

[0146] The control component 608 is further configured to control the rotation mechanism 606 to drive the scanning component 604 to rotate back to a specified angle after the scanning component 604 has completed 360-degree rotation along the specified plane and the scanning component 604 detects a set of positioning signals of the signal transceiver, wherein the specified angle is an angle corresponding to a positioning signal with the highest signal strength in the set of positioning signals, and the rotation stop condition is having rotated to the angle corresponding to the positioning signal with the highest signal strength.

[0147] In an example embodiment, the scanning component 604 is further configured to detect the positioning signal of the signal transceiver after the control component 608 controls the rotation mechanism 606 to stop driving the scanning component 604 to rotate.

[0148] The control component 608 is further configured to determine relative position information between the following target and the scanning component 604 based on the detected positioning signal, wherein the relative position information is used to indicate a relative distance between the following target and the scanning component 604 and a relative angle between the following target and the scanning component 604, and control the mobile device to rotate to a position where a central axis of the mobile device points to the following target based on the relative position information.

[0149] In an example embodiment, the control component 608 is further configured to: determine, according to the relative position information, an angle between a line connecting the following target and the mobile device and a central axis of the mobile device, to obtain a rotation angle to be rotated; and control the mobile device to rotate according to the rotation angle to be rotated until the central axis of the mobile device points to the position of the following target, wherein a rotation speed of the mobile device is positively correlated with the rotation angle to be rotated.

[0150] In an example embodiment, the control component 608 is further configured to: control the mobile device to move following the following target in a following mode according to the following control signal sent by the signal transceiver, wherein the following control signal is used to control the mobile device to enter the following mode.

[0151] In an example embodiment, the control component 608 is further configured to: control the mobile device to be in a non-moving state when a distance between the following target and the mobile device is less than a preset distance threshold, wherein the non-moving state is a state with a moving speed of zero; and control the mobile device to move following the following target when the distance between the following target and the mobile device is greater than or equal to the preset distance threshold.

[0152] In an example embodiment, the control component 608 is further configured to: control the mobile device to be in a stationary state when the distance between the following target and the mobile device is less than the preset distance threshold and an angle between a line connecting the following target and the mobile device and a central axis of the mobile device is less than a preset angle threshold; and control the mobile device to rotate in place until the angle between the line connecting the following target and the mobile device and the central axis of the mobile device is less than the preset angle threshold when the distance between the following target and the mobile device is less than the preset distance threshold and the angle between the line connecting the following target and the mobile device and the central axis of the mobile device is greater than or equal to the preset angle threshold.

[0153] In an example embodiment, the control component 608 is further configured to: control the mobile device to enter a following mode when the distance between the following target and the mobile device is greater than or equal to the preset distance threshold and the angle between the line connecting the following target and the mobile device and the central axis of the mobile device is greater than or equal to the preset angle threshold; and control the mobile device to rotate and move towards the following target in the following mode.

[0154] In an example embodiment, the control component 608 is further configured to adjust a speed of the mobile device moving towards the following target according to a relative distance between the following target and the mobile device and a moving speed of the following target away from the mobile device until the relative distance between the following target and the mobile device is less than a preset distance threshold, wherein the speed of the mobile device moving towards the following target is positively correlated with the relative distance between the following target and the mobile device and positively correlated with the moving speed of the following target away from the mobile device.

[0155] In an example embodiment, the mobile device is a ball bag vehicle, the scanning component 604 is an ultra-wideband base station, and the rotating mechanism 606 is a gimbal, and the rotating mechanism 606 and the scanning component 604 are arranged on a central axis of the ball bag vehicle.

[0156] According to yet another aspect of the embodiments of the present application, a computer readable storage medium is provided, which includes a stored program, wherein the program performs the steps in any of the above method embodiments when executed.

[0157] In an example embodiment, the above computer readable storage medium can include, but is not limited to, a U disk, a ROM, a RAM, a mobile hard disk, a magnetic disk or an optical disk, and various media that can store computer programs.

[0158] According to yet another aspect of the embodiments of the present application, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor is configured to perform the steps in any of the above method embodiments through the computer program. In an example embodiment, the electronic device can further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0159] The specific examples in the embodiments can refer to the examples described in the above embodiments and example implementations, which will not be described herein again.

[0160] According to yet another aspect of the embodiments of the present application, a computer program product is also provided, which includes a computer program / instruction containing program codes for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network through the communication part 709, and / or installed from the detachable medium 711. When the computer program is executed by the central processing unit 701, various functions provided by the embodiments of the present application are performed. The above serial numbers of the embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0161] Figure 7A computer system structure block diagram of an electronic device for implementing embodiments of the present application is schematically shown. As shown in Figure 7 The computer system 700 includes a central processing unit (CPU) 701 which can perform various appropriate actions and processes in accordance with a program stored in a ROM 702 or a program loaded into a RAM 703 from a storage section 708. Various programs and data required for the operation of the system are also stored in the random access memory 703. The central processing unit 701, the read only memory 702, and the random access memory 703 are connected to each other through a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0162] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a local area network card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the input / output interface 705 as necessary. A removable recording medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 710 as necessary, so that a computer program read therefrom is installed into the storage section 708 as necessary.

[0163] In particular, according to embodiments of the present application, the processes described in the various method flowcharts can be implemented as a computer software program. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication section 709, and / or installed from the removable recording medium 711. When the computer program is executed by the central processing unit 701, various functions defined in the system of the present application are performed.

[0164] It should be noted that, Figure 7 The computer system 700 of the electronic device shown is merely an example and should not impose any limitation on the functions and the range of use of embodiments of the present application.

[0165] It is apparent that those skilled in the art can modify and / or change the above-described modules or steps of the present application with general computing devices, which can be centralized on a single computing device or distributed on a network composed of multiple computing devices, which can be implemented by program codes executable by the computing devices, so that they can be stored in storage devices and executed by the computing devices, and in some cases, the steps shown or described can be executed in different orders, or they can be made into individual integrated circuit modules, or multiple modules or steps can be made into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.

[0166] The above is only the preferred embodiment of the present application, and is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling a mobile device, characterized in that: include: Detecting a target being followed by the mobile device by a scanning component, wherein the scanning component is disposed on a rotating mechanism of the mobile device via a connecting member; When the following target is not detected within the scanning range of the scanning component, controlling the rotating mechanism to drive the scanning component to rotate so as to change the scanning range of the scanning component; When a rotation stop condition is met, the rotation mechanism is controlled to stop driving the scanning component to rotate, wherein the rotation stop condition includes: the following target is located within the scanning range of the scanning component.

2. The method according to claim 1, characterized in that The rotating mechanism is provided with a rotating motor, which is capable of driving the scanning component to rotate 360 ​​degrees along a specified plane; The controlling the rotating mechanism to drive the scanning component to rotate includes: The rotary motor is controlled to drive the scanning component to rotate along the designated plane.

3. The method according to claim 1, characterized in that The detecting the target being followed by the mobile device by a scanning component includes: The scanning component detects the positioning signal of the signal transceiver carried by the follow target, so as to detect the follow target.

4. The method according to claim 3, characterized in that The method further comprises: During the process of the rotating mechanism driving the scanning component to rotate, the scanning component continuously detects the positioning signal of the signal transceiver until the positioning signal of the signal transceiver is detected for the first time, wherein the rotation stop condition is the first detection of the positioning signal of the signal transceiver.

5. The method according to claim 3, characterized in that The controlling the rotating mechanism to drive the scanning component to rotate includes: controlling the rotating mechanism to drive the scanning component to rotate 360 ​​degrees along a specified plane; The method also includes: while the rotating mechanism drives the scanning component to rotate, the scanning component continuously detects the positioning signal of the signal transceiver; when the scanning component has completed a 360-degree rotation along the designated plane and the scanning component detects a group of positioning signals from the signal transceiver, controlling the rotating mechanism to drive the scanning component to rotate back to a designated angle, wherein the designated angle is an angle corresponding to the positioning signal with the highest signal strength in the group of positioning signals, and the rotation stop condition is that the rotation has reached the angle corresponding to the positioning signal with the highest signal strength.

6. The method according to claim 3, characterized in that After controlling the rotating mechanism to stop driving the scanning component to rotate, the method further includes: detecting a positioning signal of the signal transceiver by the scanning component, and determining relative position information between the following target and the scanning component based on the detected positioning signal, wherein the relative position information is used to indicate a relative distance between the following target and the scanning component and a relative angle between the following target and the scanning component; Based on the relative position information, the mobile device is controlled to rotate to a position where the central axis of the mobile device points to the tracking target.

7. The method according to claim 6, characterized in that The controlling the mobile device to rotate to a position where the central axis of the mobile device points to the tracking target based on the relative position information includes: Determine, based on the relative position information, an angle between a line connecting the tracking target and the mobile device and a central axis of the mobile device to obtain an angle to be rotated; The mobile device is controlled to rotate according to the angle to be rotated until the central axis of the mobile device points to the position of the tracking target, wherein the rotation speed of the mobile device is positively correlated with the angle to be rotated.

8. The method according to claim 3, characterized in that The method further comprises: When a following control signal sent by the signal transceiver is received, the mobile device is controlled to move along with the following target, wherein the following control signal is used to control the mobile device to enter a following mode.

9. The method according to claim 1, characterized in that The method further comprises: When the distance between the tracking target and the mobile device is less than a preset distance threshold, controlling the mobile device to be in a non-moving state, wherein the non-moving state is a state in which the moving speed is zero; When the distance between the following target and the mobile device is greater than or equal to the preset distance threshold, the mobile device is controlled to move following the following target.

10. The method according to claim 9, characterized in that When the distance between the tracking target and the mobile device is less than a preset distance threshold, controlling the mobile device to be in a non-moving state includes: When the distance between the tracking target and the mobile device is less than the preset distance threshold, and the angle between the line connecting the tracking target and the mobile device and the central axis of the mobile device is less than a preset angle threshold, controlling the mobile device to be in a stationary state; When the distance between the tracking target and the mobile device is less than the preset distance threshold, and the angle between the line connecting the tracking target and the mobile device and the central axis of the mobile device is greater than or equal to the preset angle threshold, the mobile device is controlled to rotate in place until the angle between the line connecting the tracking target and the mobile device and the central axis of the mobile device is less than the preset angle threshold.

11. The method according to claim 9, characterized in that When the distance between the following target and the mobile device is greater than or equal to the preset distance threshold, controlling the mobile device to follow the following target includes: When the distance between the tracking target and the mobile device is greater than or equal to the preset distance threshold, and the angle between the line connecting the tracking target and the mobile device and the central axis of the mobile device is greater than or equal to the preset angle threshold, controlling the mobile device to enter the following mode; In the following mode, the mobile device is controlled to rotate and to move toward the following target.

12. The method according to claim 11, characterized in that The controlling the mobile device to move toward the following target includes: Adjusting the speed at which the mobile device moves toward the following target according to the relative distance between the following target and the mobile device and the speed at which the following target moves away from the mobile device until the relative distance between the following target and the mobile device is less than the preset distance threshold, wherein the speed at which the mobile device moves toward the following target is positively correlated with the relative distance between the following target and the mobile device and is positively correlated with the speed at which the following target moves away from the mobile device.

13. The method according to any one of claims 1 to 12, characterized in that The mobile device is a golf cart, the scanning component is an ultra-wideband base station, the rotating mechanism is a pan-tilt head, and the rotating mechanism and the scanning component are arranged on the central axis of the golf cart.

14. A position detection device, characterized in that: include: A control component, a scanning component and a rotating mechanism, wherein the scanning component is arranged on the rotating mechanism through a connecting member, and the rotating mechanism is allowed to be arranged on the body of the mobile device through the connecting member; wherein, The scanning component is used to detect the target followed by the mobile device; The control component is used to control the rotating mechanism to drive the scanning component to rotate so as to change the scanning range of the scanning component when the following target is not detected within the scanning range of the scanning component; and to control the rotating mechanism to stop driving the scanning component to rotate when a rotation stop condition is met, wherein the rotation stop condition includes: the following target is within the scanning range of the scanning component.

15. A mobile device, characterized in that: include: A body, a control component, a scanning component and a rotating mechanism, wherein the scanning component is arranged on the rotating mechanism through a connecting member, and the rotating mechanism is arranged on the body through a connecting member; wherein, The scanning component is used to detect the target followed by the mobile device; The control component is used to control the rotating mechanism to drive the scanning component to rotate so as to change the scanning range of the scanning component when the following target is not detected within the scanning range of the scanning component; and to control the rotating mechanism to stop driving the scanning component to rotate when a rotation stop condition is met, wherein the rotation stop condition includes: the following target is within the scanning range of the scanning component.

16. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 13 are implemented.

17. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein the computer program implements the steps of the method according to any one of claims 1 to 13 when executed by a processor.

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