Bluetooth device searching method and device and computer readable storage medium

Abstract

The embodiment of the invention provides a Bluetooth device searching method and device and a computer readable storage medium, and the method can comprise the steps that an autonomous mobile device autonomously moves in a target area and detects a Bluetooth signal under the condition that a first condition is met, the first condition comprises at least one of the condition that the autonomous mobile device is in a preset working mode and the condition that the autonomous mobile device receives an object searching instruction; determining whether at least one Bluetooth device is found in the target area according to a Bluetooth signal detection result; under the condition that the Bluetooth equipment is found, determining the position information of the Bluetooth equipment; and outputting the position information and / or a prompt of the position information. In this way, manpower is saved, and operation convenience and execution efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present document relates to the technical field of network management, and particularly relates to a Bluetooth device searching method, a device and a computer readable storage medium. BACKGROUND

[0002] With the development of mobile Internet and Bluetooth communication technology, the types of Bluetooth communication enabled devices (hereinafter referred to as Bluetooth devices) are increasingly rich, such as Bluetooth earphones, Bluetooth bracelets, Bluetooth remote controllers and vehicle-mounted Bluetooth systems. Since most Bluetooth devices are mobile, users may fail to find or lose the Bluetooth devices in actual use.

[0003] At present, when searching for a Bluetooth device, a terminal device (such as a smart phone) paired with the Bluetooth device is mainly relied on to detect a Bluetooth signal. However, this method needs the user to hold the terminal device and actively move to detect the Bluetooth signal, which has defects such as large consumption of manpower, complicated operation and low efficiency, and needs to be improved. SUMMARY

[0004] Embodiments of the present application provide a Bluetooth device searching method, a device and a computer readable storage medium to solve the problems of large consumption of manpower, complicated operation and low efficiency of the existing Bluetooth device searching method.

[0005] To solve the above technical problems, embodiments of the present application are implemented as follows: In a first aspect, a Bluetooth device searching method is provided, applied to a self-moving device, the self-moving device having a Bluetooth function, and the method comprising: autonomously moving in a target area and detecting a Bluetooth signal in a case where a first condition is met, wherein the first condition comprises at least one of the self-moving device being in a preset working mode and receiving a searching instruction; determining whether at least one Bluetooth device is found in the target area according to a Bluetooth signal detection result; in a case where the Bluetooth device is found, determining position information of the Bluetooth device; outputting the position information and / or a prompt of the position information.

[0006] In a second aspect, a method for assisting in searching for a Bluetooth device is provided, applied to a first terminal, and the method comprising: receiving position information of a Bluetooth device sent by a self-moving device; and / or, receiving indication information sent by the self-moving device, and playing prompt voice containing the position information according to the indication information; The Bluetooth device is discovered by the autonomous mobile device in a target area after the autonomous mobile device moves autonomously and detects a Bluetooth signal in the target area under a first condition, the first condition includes at least one of the autonomous mobile device being in a preset working mode and receiving a lost item instruction, the position information is determined by the autonomous mobile device after discovering the Bluetooth device, and the indication information is used to instruct the first terminal to play prompt voice containing the position information.

[0007] In a third aspect, a Bluetooth device finding apparatus is provided, applied to an autonomous mobile device with Bluetooth function, and including: a Bluetooth signal detection module, configured to move autonomously in a target area and detect a Bluetooth signal under a first condition, the first condition including at least one of the autonomous mobile device being in a preset working mode and receiving a lost item instruction; a device determination module, configured to determine whether at least one Bluetooth device is discovered in the target area according to a Bluetooth signal detection result; a position determination module, configured to determine position information of the Bluetooth device in a case where the Bluetooth device is discovered; an information output module, configured to output the position information and / or prompt of the position information.

[0008] In a fourth aspect, an apparatus for assisting in finding a Bluetooth device is provided, applied to a first terminal, and including: a first receiving module, configured to receive position information of a Bluetooth device sent by an autonomous mobile device; and / or, a second receiving module, configured to receive indication information sent by the autonomous mobile device and play prompt voice containing the position information according to the indication information; The Bluetooth device is discovered by the autonomous mobile device in a target area after the autonomous mobile device moves autonomously and detects a Bluetooth signal in the target area under a first condition, the first condition includes at least one of the autonomous mobile device being in a preset working mode and receiving a lost item instruction, the position information is determined by the autonomous mobile device after discovering the Bluetooth device, and the indication information is used to instruct the first terminal to play prompt voice containing the position information.

[0009] In a fifth aspect, an electronic device is provided, including: a processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method of the first aspect or the second aspect.

[0010] In a sixth aspect, a computer-readable storage medium is provided, which, when instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to perform the method according to the first aspect or the second aspect.

[0011] In a seventh aspect, a computer program product including instructions is provided, which, when the instructions of the computer program product are run by a computer, causes the computer to perform the method according to the first aspect or the second aspect.

[0012] In the embodiments of the present application, the autonomous mobile device with Bluetooth function can autonomously move in the target area and detect the Bluetooth signal when the first condition is met; whether at least one Bluetooth device is found in the target area is determined according to the Bluetooth signal detection result; when the Bluetooth device is found, the position information of the Bluetooth device can be automatically determined, and the position information and / or the prompt of the position information is output. This method of finding the Bluetooth device and determining the position information of the Bluetooth device by the autonomous mobile device in the target area does not need the participation of the user, not only saves manpower, but also improves the convenience and efficiency of operation. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0014] Figure 1 is a structural architecture schematic diagram of a Bluetooth device finding system provided by an embodiment of the present application.

[0015] Figure 2 is a flowchart of a Bluetooth device finding method provided by an embodiment of the present application.

[0016] Figure 3 is a flowchart of a method of assisting in finding a Bluetooth device provided by an embodiment of the present application.

[0017] Figure 4 is a flowchart of a Bluetooth device finding method provided by an embodiment of the present application.

[0018] Figure 5 is a flowchart of a Bluetooth device finding method provided by an embodiment of the present application.

[0019] Figure 6 is a structural schematic diagram of an electronic device provided by an embodiment of the present application.

[0020] Figure 7 This is a schematic diagram of the structure of a Bluetooth device finding device provided in one embodiment of this application.

[0021] Figure 8 This is a schematic diagram of a device for assisting in finding Bluetooth devices, provided in one embodiment of this application. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in one or more embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the protection scope of this document.

[0023] The terms "first," "second," etc., used in this application and claims are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in this application and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0024] To address at least one problem with existing Bluetooth device discovery schemes in related technologies, this application proposes a Bluetooth device discovery method, a method for assisting in discovering Bluetooth devices, an electronic device, and a computer-readable storage medium. The Bluetooth device discovery method can be applied to autonomous mobile devices, and the method for assisting in discovering Bluetooth devices can be applied to a first terminal.

[0025] like Figure 1 As shown in the illustration, this application also proposes a Bluetooth device finding system, which may include at least one autonomous mobile device (such as autonomous mobile device A and autonomous mobile device B), a first terminal, and at least one Bluetooth device to be found (such as Bluetooth device A and Bluetooth device B). Each autonomous mobile device and each Bluetooth device can be pre-paired and connected to the first terminal, allowing the user to manage the autonomous mobile device and the Bluetooth device through the first terminal.

[0026] In some embodiments, the autonomous mobile device can be a robot of any shape, or a drone or other device with Bluetooth and autonomous mobility capabilities. For example, the autonomous mobile device can be a robotic vacuum cleaner. A robotic vacuum cleaner, also known as an automatic cleaning machine, smart vacuum cleaner, or robot vacuum, is a type of smart home appliance that uses artificial intelligence to automatically clean floors in a room. It typically uses a combination of sweeping and suction to collect debris into its own dustbin, thus completing the floor cleaning task. Generally, robots that perform sweeping, vacuuming, and mopping can be collectively categorized as robotic vacuum cleaners.

[0027] In some embodiments, the Bluetooth device being sought may include, but is not limited to, Bluetooth headsets, Bluetooth watches, Bluetooth speakers, Bluetooth remote controls, Bluetooth cars (cars equipped with in-vehicle Bluetooth), or any other device that supports Bluetooth functionality.

[0028] In some embodiments, the first terminal may be a terminal device paired with the Bluetooth device being searched and / or the autonomous mobile device. For example, the first terminal may be a user's mobile phone paired with the Bluetooth device being searched and / or the autonomous mobile device. The first terminal can serve as the central hub of the entire system, responsible for displaying various information and statuses, transmitting information, and setting parameters, etc.

[0029] In some embodiments, the autonomous mobile device and the sought Bluetooth device may have either classic Bluetooth functionality or Bluetooth Low Energy (BLE) functionality. Bluetooth Low Energy (BLE), also known as Bluetooth Low Energy or Bluetooth LE, is a personal area network (PAN) technology designed and marketed by the Bluetooth Special Interest Group (SIG). Compared to classic Bluetooth, BLE significantly reduces power consumption and cost while maintaining the same communication range.

[0030] In some embodiments, the first terminal and the autonomous mobile device, as well as the first terminal and the Bluetooth device being searched, can communicate using the classic Bluetooth protocol to ensure communication efficiency and reliability. The Bluetooth device being searched and the autonomous mobile device can communicate using the Bluetooth Low Energy protocol, meaning the Bluetooth device being searched can send low-power Bluetooth signals to be discovered by the autonomous mobile device. This helps Bluetooth devices that frequently broadcast Bluetooth signals to save energy.

[0031] The effective propagation distance of Bluetooth Low Energy (BLE) signals is typically within 100 meters. The actual stable transmission range is affected by factors such as device transmit power and environmental interference, generally around 50 meters. Specific factors affecting the effective propagation distance of BLE signals include: 1) Transmission power: Differences in transmission power between different Bluetooth devices may cause fluctuations in Bluetooth signal transmission distance. For example, the typical transmission distance of portable devices such as mobile phones is 10-50 meters.

[0032] 2) Environmental interference: High-frequency signals are susceptible to multipath effects, obstruction by obstacles, and other factors, which can shorten the actual transmission distance.

[0033] 3) Protocol design: BLE reduces power consumption by shortening wireless startup time and optimizing the protocol stack, but the transmission distance is reduced compared to traditional Bluetooth.

[0034] In the classic / BLE Bluetooth protocol, the Universally Unique Identifier (UUID) is a standardized 128-bit numerical identifier used to uniquely identify core components of a Bluetooth device, such as services, features, and descriptors, ensuring accurate identification and communication between different devices. It's like a "digital ID card" in Bluetooth communication, allowing devices to clearly identify "which service to connect to" and "how to exchange data." Bluetooth UUIDs exist in both standardized and custom forms, ensuring accurate identification, communication, and interaction between Bluetooth devices. In actual development, the choice between a standard UUID (simplifying development) and a custom UUID (implementing personalized functions) should be made based on functional requirements, paying attention to the correct use of its 128-bit format. Bluetooth UUIDs are typically represented as 128-bit binary numbers, which are converted to hexadecimal string format (36 characters) for easier reading, for example: 0000180D-0000-1000-8000-00805F9B34FB. When an autonomous mobile device receives multiple Bluetooth Low Energy signals, it can identify the required Bluetooth Low Energy signal through the UUID.

[0035] The following description, in conjunction with the accompanying drawings, illustrates a Bluetooth device finding method provided in an embodiment of this application.

[0036] This application provides a Bluetooth device finding method that can be applied to autonomous mobile devices with Bluetooth functionality. The autonomous mobile device can find one Bluetooth device or multiple Bluetooth devices simultaneously. For example... Figure 2 As shown, the method may include: Step 201: If the first condition is met, move autonomously within the target area and detect Bluetooth signals.

[0037] The first condition may include, but is not limited to, at least one of the following: the autonomous mobile device is in a preset working mode and has received a locator command.

[0038] In some embodiments, the target area refers to the area where Bluetooth devices may exist and / or the area that autonomous mobile devices can reach. The target area can be preset. For example, when a robot vacuum helps a user find Bluetooth headphones in their home, the target area is the indoor area that the robot vacuum can reach; in this scenario, the robot vacuum typically stores a map of the indoor area. Similarly, when a robot vacuum helps a user find their Bluetooth car in a parking lot, the target area is the parking lot itself; in this scenario, the robot vacuum stores a map of the parking lot.

[0039] Bluetooth devices located within the target area that are to be discovered or sought can broadcast Bluetooth signals using a first broadcast strategy for detection by the autonomous mobile device. This first broadcast strategy can be pre-configured by the device manufacturer at the time of manufacture or can be configured by the user on the first terminal paired with the Bluetooth device.

[0040] The first broadcast strategy may include, but is not limited to, at least one of the following: 1) When the Bluetooth device uses Bluetooth Low Energy communication, broadcast Bluetooth signals at preset time intervals, wherein the preset time interval can be preset, for example, the preset time interval can be 1 minute and 30 seconds; 2) When the disconnection time between the Bluetooth device and the first terminal is greater than or equal to the first duration, a Bluetooth signal is broadcast. The first terminal is a terminal device paired with the Bluetooth device. The first duration can be preset, for example, the first duration can be 1 hour.

[0041] 3) If the duration for which the Bluetooth device is not discovered by the autonomous mobile device is greater than or equal to a second duration, a Bluetooth signal is broadcast, wherein the second duration can be preset, for example, the second duration can be 1 day. In some embodiments, the autonomous mobile device may send a feedback signal to the Bluetooth device upon discovering the Bluetooth device, wherein the feedback signal is used to indicate to the Bluetooth device that the Bluetooth device has been discovered by the autonomous mobile device, so that the Bluetooth device can determine the duration for which it has not been discovered by the autonomous mobile device.

[0042] In some embodiments, the data structure of the Bluetooth signal broadcast by the Bluetooth device may be as shown in Table 1 below.

[0043] Table 1 Data Structure of Bluetooth Signals

[0044] Bluetooth devices of the same model typically share the same UUID (including service UUID or feature UUID). For example, the UUID for a Bluetooth headset BH4001 is 0000FEE8-0000-1000-8000-00805F9B34FB. Different Bluetooth device models will have different UUIDs. Different Bluetooth devices will also have different MAC addresses, which are used to uniquely identify a specific Bluetooth device.

[0045] In Table 1, the types of Bluetooth devices can be pre-defined. For example, 0x0001 can be pre-defined to represent Bluetooth headsets, and 0x0002 can represent in-vehicle Bluetooth.

[0046] In some embodiments, the autonomous mobile device may have multiple operating modes, which are not necessarily mutually exclusive; the autonomous mobile device may operate in at least two operating modes simultaneously. In different operating modes, the autonomous mobile device may perform different operations, such as different object-finding operations.

[0047] As an example, the multiple working modes may include a normal working mode, a first item-finding mode, and a second item-finding mode. The normal working mode is the mode in which the autonomous mobile device performs its primary function of autonomous movement, excluding item finding. The first item-finding mode can be a mode for finding any Bluetooth device within the target area, and the second item-finding mode can be a mode for finding one or more specified Bluetooth devices. Taking a robotic vacuum cleaner as an example, the robotic vacuum cleaner can have the following three working modes: item finding mode one, item finding mode two, and sweeping mode. The sweeping mode is the normal working mode, which is the working mode for the robotic vacuum cleaner's daily cleaning. The sweeping mode is a working mode supported by all robotic vacuum cleaners. While working in sweeping mode, the robotic vacuum cleaner can activate item finding mode one or item finding mode two, thereby achieving the purpose of finding Bluetooth devices while sweeping.

[0048] In some embodiments, the first condition may include the autonomous mobile device being in a preset operating mode and / or receiving a first item-finding instruction, wherein the preset operating mode includes a normal operating mode and / or a first item-finding mode. When the autonomous mobile device is in the first item-finding mode, it can traverse and search within a target area to discover at least one or more Bluetooth devices in the target area and determine the location information of these devices. At this time, step 201 may include: when the autonomous mobile device is in the preset operating mode and / or has received a first item-finding instruction, autonomously moving within the target area and detecting Bluetooth signals transmitted by any Bluetooth device within the target area.

[0049] In some embodiments, the first item finding instruction may come from a first terminal; and / or, the first item finding instruction may come from voice output by a user. For example, the first item finding instruction may be the following voice content spoken by the user to an autonomous mobile device: Please find the Bluetooth device in the room.

[0050] As an example, if the autonomous mobile device is a robotic vacuum cleaner, and the first condition includes the robotic vacuum cleaner simultaneously activating both the vacuuming mode and the first object-finding mode, then the robotic vacuum cleaner can automatically detect at least one Bluetooth device in the target area while performing the vacuuming task, and mark the location of the detected Bluetooth device on its built-in map. In this way, the robotic vacuum cleaner has already found the Bluetooth device before the user discovers it is missing, saving the user time and effort.

[0051] As another example, if the autonomous mobile device is a robotic vacuum cleaner, the first conditions include the robotic vacuum cleaner simultaneously activating both the vacuuming mode and the first object-finding mode, and receiving the first object-finding command. Then, while performing the vacuuming task, if the robotic vacuum cleaner receives the first object-finding command, it can discover at least one Bluetooth device within the target area and mark the location of the discovered Bluetooth device on its built-in map. In this way, the robotic vacuum cleaner can simultaneously search for Bluetooth devices while vacuuming, achieving two goals at once, which is very convenient for the user.

[0052] In some embodiments, the first condition may include the autonomous mobile device being in a preset operating mode and / or receiving a second item-finding instruction, wherein the preset operating mode includes a normal operating mode and / or a second item-finding mode. The second item-finding mode is a targeted item-finding mode (item-finding mode two), the purpose of which is to search for one or more specified Bluetooth devices within a target area and determine the location information of the specified Bluetooth devices. When the autonomous mobile device activates the second item-finding mode, the autonomous mobile device can search for the specified Bluetooth device within the target area and determine the location information of the specified Bluetooth device after receiving a second item-finding instruction to find the specified Bluetooth device. At this time, step 201 may include: when the autonomous mobile device is in the preset operating mode and / or receives the second item-finding instruction, autonomously moving within the target area and detecting the Bluetooth signal sent by the specified Bluetooth device, for example, traversing the target area to detect the Bluetooth signal sent by the specified Bluetooth device.

[0053] In some embodiments, the second item-finding instruction may originate from the first terminal; and / or, the second item-finding instruction may originate from voice output by the user. The second item-finding instruction may carry identification information of the specified Bluetooth device. For example, if the second item-finding instruction originates from the first terminal, it may carry identification information such as the UUID and MAC address of the specified Bluetooth device.

[0054] In some embodiments, the autonomous mobile device may maintain a Bluetooth device discovery list, and the first condition includes receiving a search command. In this case, step 201 may include: Upon receiving a locator command, determine whether the location information of the Bluetooth device to be located by the locator command is stored in the Bluetooth device discovery list; If the location information of the Bluetooth device to be found by the locator command is not stored in the Bluetooth device discovery list, move within the target area and detect the Bluetooth signal.

[0055] In some embodiments, the item-finding instruction may originate from a first terminal; and / or, the item-finding instruction may originate from voice output by a user. As an example, the item-finding instruction may include, but is not limited to, the first item-finding instruction or the second item-finding instruction described above. When the item-finding instruction is the first item-finding instruction, it is a non-targeted item-finding instruction; when the item-finding instruction is the second item-finding instruction, it may carry the identification information of a specified Bluetooth device, such as the UUID and MAC address of the specified Bluetooth device.

[0056] In some embodiments, if the location information of the Bluetooth device to be found by the locator command is stored in the Bluetooth device discovery list, the location information of the Bluetooth device to be found and / or a prompt of the location information can be directly output.

[0057] Step 202: Determine whether at least one Bluetooth device is found in the target area based on the Bluetooth signal detection results.

[0058] Generally, if the Bluetooth signal detection result includes a Bluetooth signal, it means that at least one Bluetooth device has been detected; if the Bluetooth signal detection result does not include any Bluetooth signal, it means that no Bluetooth device has been detected.

[0059] In some embodiments, if the first condition includes a preset working mode and / or receiving a first item finding instruction, then if the Bluetooth signal detection result contains a Bluetooth signal, the Bluetooth signal in the Bluetooth signal detection result is parsed to obtain the identification information of the Bluetooth device carried in the Bluetooth signal, and one or more Bluetooth devices are determined based on the identification information of the Bluetooth device carried in the Bluetooth signal.

[0060] In some embodiments, if the first condition includes a preset working mode and / or receiving a second item-finding instruction, then if the Bluetooth signal detection result contains a Bluetooth signal, the Bluetooth signal in the Bluetooth signal detection result is parsed to obtain the identification information of the Bluetooth device carried in the Bluetooth signal; then the identification information of the Bluetooth device carried in the Bluetooth signal is compared with the identification information of the specified Bluetooth device. If they match, it indicates that the specified Bluetooth device has been found or searched; if they do not match, the user continues to move within the target area and detect Bluetooth signals until the specified Bluetooth device is found and / or the target area has been traversed.

[0061] Step 203: If a Bluetooth device is found, determine the location information of the Bluetooth device.

[0062] There are many ways for an autonomous mobile device to determine the location information of a Bluetooth device after it discovers it. Examples are given below.

[0063] In some embodiments, step 203 may include: if a Bluetooth device is discovered, determining the location information of the Bluetooth device directly based on the Bluetooth signal sent by the Bluetooth device and the location of the autonomous mobile device.

[0064] In some embodiments, step 203 may include: if a Bluetooth device is discovered, moving within a target area according to a preset movement strategy and detecting the Bluetooth signal sent by the Bluetooth device until the Bluetooth signal strength of the Bluetooth device meets a second condition; if the Bluetooth signal strength of the Bluetooth device meets the second condition, determining the location information of the Bluetooth device based on the Bluetooth signal sent by the Bluetooth device and the location of the autonomous mobile device.

[0065] The second condition may include at least one of the following: the Bluetooth signal strength is the strongest, or the Bluetooth signal strength is greater than or equal to a preset strength.

[0066] The preset movement strategy may include at least one of the following: 1) Starting from the current position, move in different directions to find a location where the Bluetooth signal strength of the Bluetooth device meets the second condition; 2) Prioritize moving to the location where the Bluetooth device was historically located.

[0067] In some embodiments, determining the location information of the Bluetooth device based on the Bluetooth signal transmitted by the Bluetooth device and the location of the autonomous mobile device may include: The distance between the Bluetooth device and the autonomous mobile device is determined based on the strength of the Bluetooth signal transmitted by the Bluetooth device. The location information of the Bluetooth device is determined based on the distance and the location of the autonomous mobile device.

[0068] In some embodiments, a mapping relationship between at least one reference Bluetooth signal strength and at least one reference distance can be established in advance. Then, by finding the reference distance corresponding to the strength of the Bluetooth signal sent by the Bluetooth device from the mapping relationship, the distance between the Bluetooth device and the autonomous mobile device can be obtained.

[0069] After determining the distance between the Bluetooth device and the autonomous mobile device, it can be determined that the Bluetooth device may be located on an annulus with the location of the autonomous mobile device as the center O and the distance between the Bluetooth device and the autonomous mobile device as the radius R. Therefore, in some embodiments, the coordinates of the center O and the size of R can be used to represent the location information of the Bluetooth device.

[0070] It is understandable that by continuously moving the autonomous mobile device to find a location where the Bluetooth signal strength of the discovered Bluetooth device meets the second condition, the autonomous mobile device can get as close as possible to the Bluetooth device, thus making the final location of the Bluetooth device more accurate.

[0071] In some embodiments, determining the location information of a Bluetooth device may include: determining the location information of the Bluetooth device based on UWB positioning technology when it is determined that both the Bluetooth device and the autonomous mobile device support Ultra-Wideband (UWB) communication.

[0072] In some embodiments, determining the location information of a Bluetooth device based on UWB positioning technology may include: The Bluetooth device is triggered to send a first UWB signal to the autonomous mobile device; Receive and parse the first UWB signal to determine the flight time of the first UWB signal; The distance between the autonomous mobile device and the Bluetooth device is determined based on the flight time of the first UWB signal, and the angle of arrival of the first UWB signal is determined based on the UWB signal receiving antenna array of the autonomous mobile device. The location information of the Bluetooth device is determined based on the distance and the angle of arrival.

[0073] It is understood that the coordinates of the Bluetooth device can be calculated based on the distance and the angle of arrival. Therefore, in this example, the location information of the Bluetooth device may include its coordinates.

[0074] In some embodiments, determining the location information of a Bluetooth device based on UWB positioning technology may include: At at least three locations, UWB bidirectional ranging is performed with the Bluetooth device to obtain the distance between the autonomous mobile device and the Bluetooth device at the at least three locations; The location information of the Bluetooth device is determined based on the location information of the at least three locations and the distance between the autonomous mobile device and the Bluetooth device at the at least three locations.

[0075] Similarly, it can be understood that the coordinate information of the Bluetooth device can be calculated based on the location information of the at least three locations and the distance between the autonomous mobile device and the Bluetooth device at the at least three locations. Therefore, in this example, the location information of the Bluetooth device may include the coordinate information of the Bluetooth device.

[0076] It is easy to see that, compared to related technologies that rely solely on the Bluetooth signal strength detected by the user's handheld terminal device to determine the location information of a Bluetooth device, the location information of a Bluetooth device determined by using UWB technology is more accurate.

[0077] In some embodiments, determining the location information of a Bluetooth device may include: if it is determined that both the Bluetooth device and the autonomous mobile device support Ultra-Wideband (UWB) communication, determining the location information of the Bluetooth device based on the Bluetooth signal sent by the Bluetooth device and UWB positioning technology.

[0078] As an example, determining the location information of the Bluetooth device based on the Bluetooth signal transmitted by the Bluetooth device and UWB positioning technology may include: The distance between the Bluetooth device and the autonomous mobile device is determined based on the strength of the Bluetooth signal transmitted by the Bluetooth device. The Bluetooth device is triggered to send a second UWB signal to the autonomous mobile device; Receive and parse the second UWB signal to determine the flight time of the second UWB signal; The distance between the autonomous mobile device and the Bluetooth device is determined based on the flight time of the second UWB signal, and the angle of arrival of the second UWB signal is determined based on the UWB signal receiving antenna array of the autonomous mobile device. The location information of the Bluetooth device is determined based on the distance and the angle of arrival.

[0079] Similarly, it can be understood that the coordinates of the Bluetooth device can be calculated based on the distance and the angle of arrival. Therefore, in this example, the location information of the Bluetooth device may include its coordinates.

[0080] It is easy to see that, compared to related technologies that rely solely on the Bluetooth signal strength detected by the user's handheld terminal device to determine the location information of a Bluetooth device, the location information of a Bluetooth device determined by combining Bluetooth signal strength and UWB technology is more accurate.

[0081] In some embodiments, Figure 2The method shown can also include storing the location information of the Bluetooth device in the Bluetooth device discovery list. This allows the location information of the Bluetooth device to be directly output the next time a search command for the device is received, without needing to search again, further improving the efficiency of finding the Bluetooth device.

[0082] In some embodiments, Figure 2 The method shown may further include: storing first information of the Bluetooth device in a Bluetooth device discovery list. The first information may include, but is not limited to, at least one of the following: The location status indication information of the Bluetooth device, which can indicate one of the following states: found, not found, searching, etc. The time information of the location indicated by the location information of the Bluetooth device, that is, the time information of the location information was discovered.

[0083] As an example, the information stored in the Bluetooth device discovery list is shown in Table 2 below.

[0084] Table 2 Bluetooth Device Discovery List

[0085] As shown in Table 2, the Bluetooth device discovery list can store the following fields: 1) The UUID of the Bluetooth device; 2) Type of Bluetooth device; 3) The MAC address of the Bluetooth device; 4) The name of the Bluetooth device; 5) Location information of the Bluetooth device. As in the example above, the location information of the Bluetooth device may include the coordinate information of the Bluetooth device; and / or, the location information of the Bluetooth device may also include the mapping information of the coordinate information of the Bluetooth device. The mapping information may be the area identification information of the area where the Bluetooth device is located. For example, in the scenario of finding Bluetooth headphones at home, the mapping information may be the room name. In the scenario of finding Bluetooth cars in a parking lot, the mapping information may include the floor number and parking space number of the parking lot.

[0086] 6) License plate of Bluetooth device. It can be understood that if the Bluetooth device is a Bluetooth car, this field will have a value; otherwise, it will not. 7) The status of the Bluetooth device, which can include one of the following: searching, found, or location lost.

[0087] In some embodiments, the autonomous mobile device may update the Bluetooth device discovery list once for each Bluetooth device found.

[0088] It is understandable that, while storing the location information of a Bluetooth device in the Bluetooth device discovery list each time, it is also possible to store the time information when that location information was discovered. This allows autonomous mobile devices to know the location changes of Bluetooth devices at different times.

[0089] Step 204: Output the location information and / or a prompt related to the location information.

[0090] In some embodiments, the prompt that outputs the location information and / or the location information may include at least one of the following: 1) The location information of the Bluetooth device is sent to the first terminal. For example, in scenarios with a large target area (such as finding a car in a large parking garage), the autonomous mobile device can send an SMS or message to the user's mobile phone after finding the car, informing the user of the parking space. Alternatively, the robot can return along the same route and then guide the user to find the car.

[0091] In some embodiments, the location information of the Bluetooth device sent to the first terminal may include text information that provides the location information of the Bluetooth device, such as text information indicating that the Bluetooth device is in a certain room, a certain floor, or a certain parking space. Optionally, if the autonomous mobile device supports taking photos, the location information may also include a photo taken by the autonomous mobile device that provides the location information of the Bluetooth device. It is understood that by using the information provided by the photo, the location information of the Bluetooth device can be presented to the user more intuitively, thereby helping the user find the Bluetooth device more quickly.

[0092] In some embodiments, when the autonomous mobile device is a robotic vacuum cleaner, since the robotic vacuum cleaner has a built-in mapping function, sending the location information of the Bluetooth device to the first terminal may include: The location of the Bluetooth device is marked on the map of the target area drawn by the robotic vacuum cleaner; The map, which identifies the location of the Bluetooth device, is output to the first terminal, allowing the user to quickly and accurately determine the location of the Bluetooth device by viewing the map.

[0093] 2) Play a voice message indicating the location information of the Bluetooth device.

[0094] 3) Instruct the first terminal to play a voice message indicating the location information of the Bluetooth device.

[0095] For example, in scenarios where the target area is small (the search scenario is relatively small), such as helping users find Bluetooth headphones at home, autonomous mobile devices can directly or through the user's mobile phone to play voice notifications to the user.

[0096] The content played by the voice may include text information that provides the location information of the Bluetooth device, such as text information that the Bluetooth device is in a certain room, a certain floor, or a certain parking space.

[0097] 4) Output prompt information. The prompt information is used to prompt the user to follow the autonomous mobile device to find the Bluetooth device. For example, in scenarios with a large target area (large object search scenario), such as finding a car in a large garage, the autonomous mobile device can also return along the same route after finding the car and then lead the user to find the car.

[0098] In a Bluetooth device discovery method proposed in this application, an autonomous mobile device with Bluetooth functionality can autonomously move within a target area and detect Bluetooth signals when a first condition is met; based on the Bluetooth signal detection results, it is determined whether at least one Bluetooth device has been discovered within the target area; if a Bluetooth device is discovered, the location information of the Bluetooth device can be automatically determined, and the location information and / or a prompt based on the location information can be output. This method, in which an autonomous mobile device autonomously moves within a target area to discover Bluetooth devices and determine their location information, requires no user intervention, saving manpower and improving operational convenience and execution efficiency.

[0099] Furthermore, the Bluetooth device locating method proposed in this application can not only identify the distance between the Bluetooth device and the autonomous mobile device through Bluetooth signal strength or UWB positioning technology, but also identify the Bluetooth device's position relative to the autonomous mobile device through UWB positioning technology, thus providing more accurate positioning results. Moreover, the entire locating process is light-independent, allowing for searching both day and night, which is very convenient for users. Additionally, in some cases, the autonomous mobile device can detect and locate the lost Bluetooth device before the user, saving time and effort for the user, making it very thoughtful and practical.

[0100] This application provides a method for assisting in finding Bluetooth devices, which can be applied to... Figure 1 The first terminal shown is, as Figure 3 As shown, the method may include: Step 301: Receive location information of the Bluetooth device sent by the autonomous mobile device, and / or receive instruction information sent by the autonomous mobile device, and play a prompt voice containing the location information according to the instruction information.

[0101] The Bluetooth device is discovered by the autonomous mobile device after it moves autonomously within the target area and detects the Bluetooth signal, provided that a first condition is met. The first condition includes at least one of the autonomous mobile device being in a preset working mode and receiving a locator command. The location information is determined by the autonomous mobile device after it discovers the Bluetooth device. The indication information is used to instruct the first terminal to play a prompt voice containing the location information.

[0102] Optionally, the method for assisting in finding Bluetooth devices provided in this application embodiment may further include: When the Bluetooth device is connected to the first terminal, the identification information of the Bluetooth device is stored, wherein the identification information of the Bluetooth device may include, but is not limited to, at least one of the following: UUID, device type, device name, MAC address, etc.

[0103] Optionally, before step 301, the method for assisting in finding a Bluetooth device provided in this application embodiment may further include: sending a locator command to the autonomous mobile device to find the Bluetooth device, wherein the location information is fed back by the autonomous mobile device after receiving the locator command, and the locator command carries the identification information of the Bluetooth device.

[0104] Optionally, the method for assisting in finding Bluetooth devices provided in this application embodiment may further include: Displays the location information of Bluetooth devices.

[0105] As an example, if the autonomous mobile device is a robotic vacuum cleaner, and the location information includes a map identifying the location of the Bluetooth device, then displaying the location information of the Bluetooth device may include: Display a map showing the locations of the Bluetooth devices.

[0106] In some embodiments, the first terminal may include a display module (such as a display screen) for displaying the location information of the Bluetooth device. Optionally, the display module may also display other information, such as the location and status of several autonomous mobile devices connected to the first terminal on a map, the location of the searched Bluetooth device on the map, and various parameters set by the user.

[0107] Optionally, the Bluetooth signal is broadcast by the Bluetooth device according to a first broadcast strategy. Before receiving the location information of the Bluetooth device sent by the autonomous mobile device, the method for assisting in finding Bluetooth devices provided in this application embodiment may further include: In response to a request to set a Bluetooth signal broadcast policy for the Bluetooth device, the first broadcast policy is set for the Bluetooth device.

[0108] The first broadcast strategy includes at least one of the following: When the Bluetooth device uses Bluetooth Low Energy communication, it broadcasts Bluetooth signals at preset time intervals. If the disconnection time between the Bluetooth device and the first terminal is greater than or equal to the first time, a Bluetooth signal is broadcast. If the duration during which the Bluetooth device is not detected by the autonomous mobile device is greater than or equal to the second duration, a Bluetooth signal is broadcast.

[0109] In some embodiments, the first terminal may include a setting module, which can be used to set the first broadcast policy for the Bluetooth device in response to a request to set a Bluetooth signal broadcast policy for the Bluetooth device. Of course, the setting module can also be used to set other information in response to setting requests for other information. The other information may include, but is not limited to, user-defined information. For example, user-defined information may include a name that the user has chosen for the Bluetooth device for easy memorization; or, if the Bluetooth device is a car, the user-defined information may also include the license plate number.

[0110] Optionally, the method for assisting in finding Bluetooth devices provided in this application embodiment may further include: The device locally stores at least one of the following: the identification information of the Bluetooth device, the first broadcast policy, and the user-defined information.

[0111] As an example, if the Bluetooth device is a Bluetooth headset, the identification information of the Bluetooth headset stored locally by the first terminal may include, but is not limited to, at least one of the following: the UUID broadcast by BLE, device type, MAC address, device name, location data, and other information.

[0112] As another example, if the Bluetooth device is a Bluetooth car, the identification information of the Bluetooth car stored locally by the first terminal may include, but is not limited to, at least one of the following: the UUID broadcast by BLE, device type, MAC address, device name, location data, license plate, and other information.

[0113] The identification information of the Bluetooth device stored locally by the first terminal can be shown in Table 3 below.

[0114] The identification information of the Bluetooth cars described in Table 3

[0115] As shown in Table 3, the identification information of the Bluetooth car may include the following fields: 1) BLE broadcast UUID: The identification ID of BLE broadcast. Different devices have different IDs. Through this ID, you can find the BLE broadcast of a certain device; 2) Device type: can be any Bluetooth device such as headphones or car accessories; 3) MAC address, the device's unique identifier; 4) The name can be customized by the user; 5) Location information, as in the example above, the location information of the Bluetooth device may include the coordinate information of the Bluetooth device; and / or, the location information of the Bluetooth device may also include mapping information of the coordinate information of the Bluetooth device, the mapping information may include the area identification information of the area where the Bluetooth device is located, for example, in the scenario of finding Bluetooth headphones at home, the mapping information may be the room name, and in the scenario of finding Bluetooth cars in a parking lot, the mapping information may include the floor number and parking space number of the parking lot.

[0116] 6) License plate: This field exists if the Bluetooth device is a Bluetooth car; otherwise, it does not exist. 7) Others.

[0117] This application proposes a method for assisting in finding Bluetooth devices. The method can receive location information of Bluetooth devices sent by an autonomous mobile device, display the location information of the Bluetooth devices, and / or play voice containing the location information of the Bluetooth devices, thereby assisting users in finding Bluetooth devices. This eliminates the need for users to hold a first terminal to detect the Bluetooth signals sent by the Bluetooth devices, thus saving manpower and improving the efficiency of finding Bluetooth devices.

[0118] The following is combined with Figure 4 Taking a Bluetooth headset as the Bluetooth device, a robotic vacuum cleaner as the autonomous mobile device, and a mobile phone as the first terminal as an example, this application provides an example of a Bluetooth device finding method.

[0119] like Figure 4 As shown in the figure, an embodiment of this application proposes a Bluetooth device finding method, which may include: Step 401: In response to the pairing request from the Bluetooth headset, the mobile phone pairs and connects the Bluetooth headset with the mobile phone, wherein the pairing request carries the identification information of the Bluetooth headset.

[0120] Step 402: The mobile phone obtains and stores the identification information of the Bluetooth headset from the pairing request.

[0121] It's understandable that when a user uses headphones, they can pair their phone with the Bluetooth headphones. At this time, the phone can obtain the Bluetooth headphones' identification information and store this information in the phone's storage module. In this way, the phone "recognizes" the Bluetooth headphones and can identify whether the BLE broadcast is from those headphones by using the UUID in the Bluetooth Low Energy (BLE) signal broadcast by the headphones.

[0122] Step 403: In response to the setting request from the user, the mobile phone sets the first broadcast strategy for BLE broadcasting for the Bluetooth headset.

[0123] For example, users can configure the BLE broadcast triggering method of the Bluetooth headset through the phone's settings module. Assume the user's first broadcast strategy is: broadcast for 30 seconds every 2 minutes, meaning a 30-second broadcast occurs every 1 minute and 30 seconds.

[0124] Step 404: The mobile phone sends a search command to the robot vacuum cleaner to find the Bluetooth headset, wherein the search command carries the identification information of the Bluetooth headset.

[0125] Step 405: The robot vacuum cleaner determines whether the location information of the Bluetooth headset is stored locally. If yes, proceed to step 406; otherwise, proceed to step 407.

[0126] Step 406: The robot vacuum cleaner sends the location information of the Bluetooth headset stored locally to the mobile phone.

[0127] Step 407: The robot vacuum moves within the target area and detects the Bluetooth signal broadcast by the Bluetooth headset to find the Bluetooth headset.

[0128] For example, after receiving a location request, the robot vacuum cleaner can first check its local storage module to confirm whether it has already found the Bluetooth headset. If it has, it will directly transmit the previously stored location information of the Bluetooth headset to the user's phone. The phone will then notify the user of the Bluetooth headset's location via its display module, or the robot vacuum cleaner can directly guide the user to find the Bluetooth headset, and then end the process. If the Bluetooth headset has not been found before, the search process will begin.

[0129] Step 408: After receiving the Bluetooth signal, the robot vacuum cleaner parses the Bluetooth signal to obtain the identification information of the Bluetooth device that sent the Bluetooth signal.

[0130] Step 409: The robot vacuum cleaner determines whether the identification information of the Bluetooth device parsed from the Bluetooth signal matches the identification information of the Bluetooth headset. If they match, it determines that the Bluetooth headset has been found and proceeds to step 410; otherwise, it repeats steps 407 and 408.

[0131] For example, a robot vacuum cleaner determines whether the UUID and MAC address of the Bluetooth device parsed from the Bluetooth signal match the UUID and MAC address of the Bluetooth headset it is looking for.

[0132] Step 410: The robot vacuum cleaner continues to move within the target area according to a preset movement strategy and detects the Bluetooth signal sent by the Bluetooth headset until the Bluetooth signal strength of the Bluetooth headset meets the first condition; when the Bluetooth signal strength sent by the Bluetooth headset meets the first condition, the robot vacuum cleaner determines the position information of the Bluetooth headset based on the Bluetooth signal sent by the Bluetooth headset and the position of the robot vacuum cleaner.

[0133] Optionally, after step 410, the robot vacuum cleaner saves and outputs the location information of the Bluetooth headset.

[0134] Figure 4 The illustrated embodiment presents a Bluetooth device discovery method. A Bluetooth-enabled robotic vacuum cleaner can autonomously move within a target area and detect Bluetooth signals to find a Bluetooth headset. Upon discovery, it automatically determines and outputs the headset's location information. This method, where the robotic vacuum cleaner autonomously moves to find and determine the location of the Bluetooth headset, requires no user intervention, saving manpower and improving operational convenience and efficiency.

[0135] The following is combined with Figure 5 Taking a Bluetooth car as an example, a robot vacuum cleaner as an autonomous mobile device, and a mobile phone as the first terminal, this application provides an example of a Bluetooth device finding method.

[0136] like Figure 5 As shown in the figure, an embodiment of this application proposes a Bluetooth device finding method, which may include: Step 501: In response to the pairing request from the Bluetooth car, the mobile phone pairs and connects the Bluetooth car with the mobile phone, wherein the pairing request carries the identification information of the Bluetooth car.

[0137] Step 502: The mobile phone obtains and stores the identification information of the Bluetooth car from the pairing request.

[0138] Understandably, users can pair their phones with Bluetooth cars. The phone can then obtain the car's identification information and store it in its storage. In this way, the phone "recognizes" the Bluetooth car and can identify whether the BLE broadcast is from that car by using the UUID in the Bluetooth Low Energy (BLE) signal broadcast by the car.

[0139] Step 503: In response to the setting request from the user, the mobile phone sets the first broadcast strategy for BLE broadcast for the Bluetooth car.

[0140] For example, users can configure the BLE broadcast triggering method of the Bluetooth car through the settings module of their mobile phones. Assume the user sets the first broadcast strategy to: broadcast for 30 seconds every 2 minutes, meaning a 30-second broadcast occurs every 1 minute and 30 seconds.

[0141] Step 504: The mobile phone sends a locator command to the robot vacuum cleaner to find the Bluetooth car, wherein the locator command carries the identification information of the Bluetooth car.

[0142] Step 505: The robot vacuum cleaner determines whether the location information of the Bluetooth car is stored locally. If yes, proceed to step 506; otherwise, proceed to step 507.

[0143] Step 506: The robot vacuum cleaner sends the location information of the Bluetooth car stored locally to the mobile phone.

[0144] Step 507: The robot vacuum cleaner moves within the target area and detects the Bluetooth signal broadcast by the Bluetooth car to discover the Bluetooth car.

[0145] For example, after receiving a location request, the robot vacuum cleaner can first check its local storage module to confirm whether the Bluetooth car has already been located. If the car has been located, it will directly transmit the previously stored location information to the user's phone. The phone will then notify the user of the car's location via its display module, or the robot vacuum cleaner can directly guide the user to the car, ending the current process. If the car has not been located previously, the search process will begin.

[0146] Step 508: After receiving the Bluetooth signal, the robot vacuum cleaner parses the Bluetooth signal to obtain the identification information of the Bluetooth device that sent the Bluetooth signal.

[0147] Step 509: The robot vacuum cleaner determines whether the identification information of the Bluetooth device parsed from the Bluetooth signal matches the identification information of the Bluetooth car. If they match, it determines that the Bluetooth car has been discovered and proceeds to step 510; otherwise, it repeats steps 507 and 508.

[0148] For example, a robotic vacuum cleaner determines whether the UUID and MAC address of the Bluetooth device parsed from the Bluetooth signal match the UUID and MAC address of the Bluetooth car.

[0149] Step 510: The robot vacuum cleaner continues to move within the target area according to a preset movement strategy and detects the Bluetooth signal sent by the Bluetooth car until the Bluetooth signal strength of the Bluetooth car meets the first condition; when the Bluetooth signal strength sent by the Bluetooth car meets the first condition, the robot vacuum cleaner determines the location information of the Bluetooth car based on the Bluetooth signal sent by the Bluetooth car and the position of the robot vacuum cleaner.

[0150] Optionally, after step 510, the robot vacuum cleaner saves and outputs the location information of the Bluetooth car.

[0151] Figure 5 The illustrated embodiment presents a Bluetooth device discovery method. A Bluetooth-enabled robotic vacuum cleaner can autonomously move within a target area and detect Bluetooth signals to find a Bluetooth car. Once the car is detected, its location information is automatically determined and output. This method, where the robotic vacuum cleaner autonomously moves to discover and determine the location of a Bluetooth car, requires no user intervention, saving manpower and improving operational convenience and efficiency.

[0152] The foregoing has described specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0153] Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Please refer to it. Figure 6 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and memory. The memory may include main memory, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the electronic device may also include other hardware required for other business operations.

[0154] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0155] Memory is used to store programs. Specifically, programs may include program code, which includes computer operation instructions. Memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0156] The processor reads the corresponding computer program from non-volatile memory into memory and then runs it, forming a Bluetooth device finding device at the logical level. The processor executes the program stored in memory and is specifically used to execute a Bluetooth device finding method or an auxiliary method for finding Bluetooth devices proposed in the embodiments of this application.

[0157] The above is as stated in this application. Figure 6The method executed by the Bluetooth device finding device disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0158] The electronic device can also perform Figure 1 or Figure 3 The method, and implement Bluetooth device finding device in Figure 1 or Figure 3 The functions described in the illustrated embodiments will not be repeated here.

[0159] Of course, in addition to software implementation, the electronic device of this application does not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. In other words, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0160] This application also proposes a computer-readable storage medium, which, when the instructions in the storage medium are executed by the processor of an electronic device, enables the electronic device to execute a Bluetooth device finding method or an auxiliary method for finding Bluetooth devices proposed in this application.

[0161] This application also proposes a computer program product including instructions. When a computer runs the instructions of the computer program product, the computer executes a Bluetooth device finding method or an auxiliary method for finding Bluetooth devices proposed in this application.

[0162] Figure 7 This is a schematic diagram of a Bluetooth device finding device 700 according to an embodiment of this application. The Bluetooth device finding device 700 can be applied to autonomous mobile devices. Please refer to... Figure 7 In one software implementation, the Bluetooth device finding device 700 may include: a Bluetooth signal detection module 701, a device determination module 702, a location determination module 703, and an information output module 704.

[0163] The Bluetooth signal detection module 701 is used to autonomously move within a target area and detect Bluetooth signals when a first condition is met.

[0164] The first condition may include, but is not limited to, at least one of the following: the autonomous mobile device is in a preset working mode and has received a locator command.

[0165] In some embodiments, the target area refers to the area where Bluetooth devices may exist and / or the area that autonomous mobile devices can reach. The target area can be preset. For example, when a robot vacuum helps a user find Bluetooth headphones in their home, the target area is the indoor area that the robot vacuum can reach; in this scenario, the robot vacuum typically stores a map of the indoor area. Similarly, when a robot vacuum helps a user find their Bluetooth car in a parking lot, the target area is the parking lot itself; in this scenario, the robot vacuum stores a map of the parking lot.

[0166] Bluetooth devices located within the target area that are to be discovered or sought can broadcast Bluetooth signals using a first broadcast strategy for detection by the autonomous mobile device. This first broadcast strategy can be pre-set by the device manufacturer at the time of manufacture or can be set by the user on the first terminal paired with the Bluetooth device.

[0167] The first broadcast strategy may include, but is not limited to, at least one of the following: 1) When the Bluetooth device uses Bluetooth Low Energy communication, broadcast Bluetooth signals at preset time intervals, wherein the preset time interval can be preset, for example, the preset time interval can be 1 minute and 30 seconds; 2) When the disconnection time between the Bluetooth device and the first terminal is greater than or equal to the first duration, a Bluetooth signal is broadcast. The first terminal is a terminal device paired with the Bluetooth device. The first duration can be preset, for example, the first duration can be 1 hour.

[0168] 3) If the duration for which the Bluetooth device is not discovered by the autonomous mobile device is greater than or equal to a second duration, a Bluetooth signal is broadcast, wherein the second duration can be preset, for example, the second duration can be 1 day. In some embodiments, the autonomous mobile device may send a feedback signal to the Bluetooth device upon discovering the Bluetooth device, wherein the feedback signal is used to indicate to the Bluetooth device that the Bluetooth device has been discovered by the autonomous mobile device, so that the Bluetooth device can determine the duration for which it has not been discovered by the autonomous mobile device.

[0169] In some embodiments, the autonomous mobile device may have multiple operating modes, which are not necessarily mutually exclusive; the autonomous mobile device may operate in at least two operating modes simultaneously. In different operating modes, the autonomous mobile device may perform different operations, such as different object-finding operations.

[0170] As an example, the multiple working modes may include a normal working mode, a first item-finding mode, and a second item-finding mode. The normal working mode is the mode in which the autonomous mobile device performs its primary function of autonomous movement, excluding item finding. The first item-finding mode can be a mode for finding any Bluetooth device within the target area, and the second item-finding mode can be a mode for finding one or more specified Bluetooth devices.

[0171] In some embodiments, the first condition may include the autonomous mobile device being in a preset operating mode and / or receiving a first item-finding instruction, wherein the preset operating mode includes a normal operating mode and / or a first item-finding mode. When the autonomous mobile device activates the first item-finding mode, it can traverse and search within a target area to discover at least one or more Bluetooth devices in the target area and determine the location information of these devices. At this time, the Bluetooth signal detection module 701 can be used to: autonomously move within the target area and detect Bluetooth signals transmitted by any Bluetooth device within the target area when the autonomous mobile device is in the preset operating mode and / or has received a first item-finding instruction.

[0172] In some embodiments, the first condition may include the autonomous mobile device being in a preset operating mode and / or receiving a second item-finding instruction, wherein the preset operating mode includes a normal operating mode and / or a second item-finding mode. The second item-finding mode is a targeted item-finding mode (item-finding mode two), the purpose of which is to search for one or more specified Bluetooth devices within a target area and determine the location information of the specified Bluetooth devices. When the autonomous mobile device activates the second item-finding mode, after receiving a second item-finding instruction to find a specified Bluetooth device, the autonomous mobile device can search for the specified Bluetooth device within the target area and determine the location information of the specified Bluetooth device. At this time, the Bluetooth signal detection module 701 can be used to: autonomously move within the target area and detect the Bluetooth signal sent by the specified Bluetooth device when the autonomous mobile device is in the preset operating mode and / or receives the second item-finding instruction.

[0173] In some embodiments, the autonomous mobile device may maintain a Bluetooth device discovery list, and the first condition includes receiving a locator command. In this case, the Bluetooth signal detection module 701 can be used to: Upon receiving a locator command, determine whether the location information of the Bluetooth device to be located by the locator command is stored in the Bluetooth device discovery list; If the location information of the Bluetooth device to be found by the locator command is not stored in the Bluetooth device discovery list, move within the target area and detect the Bluetooth signal.

[0174] In some embodiments, the above-mentioned item-finding instruction may come from a first terminal; and / or, the item-finding instruction may come from voice output by a user.

[0175] In some embodiments, the Bluetooth signal detection module 701 can be used to: directly output the location information of the Bluetooth device to be found and / or a prompt of the location information when the location information of the Bluetooth device to be found by the locator command is stored in the Bluetooth device discovery list.

[0176] The device determination module 702 is used to determine whether at least one Bluetooth device is found in the target area based on the Bluetooth signal detection results.

[0177] Generally, if the Bluetooth signal detection result includes a Bluetooth signal, it means that at least one Bluetooth device has been detected; if the Bluetooth signal detection result does not include any Bluetooth signal, it means that no Bluetooth device has been detected.

[0178] In some embodiments, if the first condition includes a preset working mode and / or receiving a first item search instruction, the device determination module 702, when the Bluetooth signal detection result contains a Bluetooth signal, parses the Bluetooth signal in the Bluetooth signal detection result, obtains the identification information of the Bluetooth device carried in the Bluetooth signal, and determines one or more discovered Bluetooth devices based on the identification information of the Bluetooth device carried in the Bluetooth signal.

[0179] In some embodiments, if the first condition includes a preset working mode and / or receiving a second item-finding instruction, the device determination module 702, when the Bluetooth signal detection result contains a Bluetooth signal, parses the Bluetooth signal in the Bluetooth signal detection result to obtain the identification information of the Bluetooth device carried in the Bluetooth signal; then compares the identification information of the Bluetooth device carried in the Bluetooth signal with the identification information of the specified Bluetooth device. If they match, it indicates that the specified Bluetooth device has been found or searched; if they do not match, it continues to move within the target area and detect Bluetooth signals until the specified Bluetooth device is found and / or the target area has been traversed.

[0180] The location determination module 703 is used to determine the location information of the Bluetooth device when the Bluetooth device is discovered.

[0181] There are many ways for an autonomous mobile device to determine the location information of a Bluetooth device after it discovers it. Examples are given below.

[0182] In some embodiments, the location determination module 703 can be used to: determine the location information of the Bluetooth device directly based on the Bluetooth signal sent by the Bluetooth device and the location of the autonomous mobile device when the Bluetooth device is discovered.

[0183] In some embodiments, the location determination module 703 may be used to: move within a target area according to a preset movement strategy when the Bluetooth device is detected, and detect the Bluetooth signal sent by the Bluetooth device until the Bluetooth signal strength of the Bluetooth device meets a second condition; and when the Bluetooth signal strength of the Bluetooth device meets the second condition, determine the location information of the Bluetooth device based on the Bluetooth signal sent by the Bluetooth device and the location of the autonomous mobile device.

[0184] The second condition may include at least one of the following: the Bluetooth signal strength is the strongest, or the Bluetooth signal strength is greater than or equal to a preset strength.

[0185] The preset movement strategy may include at least one of the following: 1) Starting from the current position, move in different directions to find a position where the Bluetooth signal strength of the Bluetooth device meets the first condition; 2) Prioritize moving to the historical location of the first Bluetooth device.

[0186] In some embodiments, the location determination module 703 can be used to: The distance between the Bluetooth device and the autonomous mobile device is determined based on the strength of the Bluetooth signal transmitted by the Bluetooth device. The location information of the Bluetooth device is determined based on the distance and the location of the autonomous mobile device.

[0187] In some embodiments, a mapping relationship between at least one reference Bluetooth signal strength and at least one reference distance can be established in advance. Then, by finding the reference distance corresponding to the strength of the Bluetooth signal sent by the Bluetooth device from the mapping relationship, the distance between the Bluetooth device and the autonomous mobile device can be obtained.

[0188] In some embodiments, the location determination module 703 can be used to: determine the location information of the Bluetooth device based on UWB positioning technology when it is determined that both the Bluetooth device and the autonomous mobile device support Ultra-Wideband (UWB) communication.

[0189] In some embodiments, the location determination module 703 can be used to: The Bluetooth device is triggered to send a first UWB signal to the autonomous mobile device; Receive and parse the first UWB signal to determine the flight time of the first UWB signal; The distance between the autonomous mobile device and the Bluetooth device is determined based on the flight time of the first UWB signal, and the angle of arrival of the first UWB signal is determined based on the UWB signal receiving antenna array of the autonomous mobile device. The location information of the Bluetooth device is determined based on the distance and the angle of arrival.

[0190] In some embodiments, the location determination module 703 can be used to: At at least three locations, UWB bidirectional ranging is performed with the Bluetooth device to obtain the distance between the autonomous mobile device and the Bluetooth device at the at least three locations; The location information of the Bluetooth device is determined based on the location information of the at least three locations and the distance between the autonomous mobile device and the Bluetooth device at the at least three locations.

[0191] In some embodiments, the device 700 may further include a storage module for storing the location information of the Bluetooth device in a Bluetooth device discovery list.

[0192] In some embodiments, the device 700 may further include: a storage module for storing first information of the Bluetooth device in a Bluetooth device discovery list. The first information includes at least one of the following: The location status indication information of the Bluetooth device; The Bluetooth device's time information at the location indicated by the location information, i.e., the time information when the location information was discovered.

[0193] The information output module 704 is used to output the location information and / or a prompt related to the location information.

[0194] In some embodiments, the information output module 704 may specifically be used for at least one of the following: 1) Send the location information of the Bluetooth device to the first terminal.

[0195] 2) Play a voice message indicating the location information of the Bluetooth device.

[0196] 3) Instruct the first terminal to play a voice message indicating the location information of the Bluetooth device.

[0197] 4) Output prompt information. The prompt information is used to prompt the user to follow the autonomous mobile device to find the Bluetooth device. For example, in scenarios with a large target area (large object search scenario), such as finding a car in a large garage, the autonomous mobile device can also return along the same route after finding the car and then lead the user to find the car.

[0198] The Bluetooth device finding device 700 provided in this application embodiment can also perform... Figure 2 The method, and implementation Figure 2 The embodiments shown in this application have the same functions and achieve the same technical effects, and will not be described in detail here.

[0199] Figure 8 This is a schematic diagram of a device 800 for assisting in finding Bluetooth devices, provided in one embodiment of this application. The device 800 for assisting in finding Bluetooth devices can be applied to a first terminal. Please refer to... Figure 8 In one software implementation, the device 800 for assisting in finding Bluetooth devices may include: a first receiving module 801, configured to receive location information of the Bluetooth device sent by the autonomous mobile device, and / or receive indication information sent by the autonomous mobile device, and play a prompt voice containing the location information according to the indication information.

[0200] The Bluetooth device is discovered by the autonomous mobile device after it moves autonomously within the target area and detects the Bluetooth signal, provided that a first condition is met. The first condition includes at least one of the autonomous mobile device being in a preset working mode and receiving a locator command. The location information is determined by the autonomous mobile device after it discovers the Bluetooth device. The indication information is used to instruct the first terminal to play a prompt voice containing the location information.

[0201] Optionally, the device 800 may further include: a storage module for storing identification information of the Bluetooth device when the Bluetooth device is connected to the first terminal, wherein the identification information of the Bluetooth device may include, but is not limited to, at least one of information such as UUID, device type, device name, and MAC address.

[0202] Optionally, the device 800 may further include: an instruction sending module, configured to send a locator instruction to the autonomous mobile device to find the Bluetooth device before receiving the location information of the Bluetooth device sent by the autonomous mobile device, wherein the location information is fed back by the autonomous mobile device after receiving the locator instruction, and the locator instruction carries the identification information of the Bluetooth device.

[0203] Optionally, the first receiving module 801 can also be used to: receive indication information sent by the autonomous mobile device, the indication information being used to instruct the first terminal to play voice containing the location information of the Bluetooth device. The device 800 may further include: a voice module, used to play voice containing the location information of the Bluetooth device according to the indication information.

[0204] Optionally, the device 800 may further include a display module for displaying the location information of the Bluetooth device.

[0205] Optionally, the Bluetooth signal is broadcast by the Bluetooth device according to a first broadcast strategy. Before receiving the location information of the Bluetooth device sent by the autonomous mobile device, the device 800 may further include: a setting module, configured to set the first broadcast strategy for the Bluetooth device in response to a request to set a Bluetooth signal broadcast strategy for the Bluetooth device. The first broadcast strategy includes at least one of the following: When the Bluetooth device uses Bluetooth Low Energy communication, it broadcasts Bluetooth signals at preset time intervals. If the disconnection time between the Bluetooth device and the first terminal is greater than or equal to the first time, a Bluetooth signal is broadcast. If the duration during which the Bluetooth device is not detected by the autonomous mobile device is greater than or equal to the second duration, a Bluetooth signal is broadcast.

[0206] Optionally, the device 800 may further include: a storage module for locally storing at least one of the identification information of the Bluetooth device, the first broadcast policy, and the user-defined information.

[0207] The device 800 for assisting in finding Bluetooth devices provided in this application embodiment can also perform... Figure 3 The method, and implementation Figure 3 The embodiments shown in this application have the same functions and achieve the same technical effects, and will not be described in detail here.

[0208] In summary, the above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

[0209] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0210] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0211] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0212] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

Claims

1. A method for finding Bluetooth devices, characterized in that, Applied to autonomous mobile devices, wherein the autonomous mobile devices have Bluetooth functionality, the method includes: Under the condition that the first condition is met, the autonomous mobile device moves autonomously within the target area and detects Bluetooth signals, wherein the first condition includes at least one of the autonomous mobile device being in a preset working mode and receiving a locator command; Determine whether at least one Bluetooth device is detected within the target area based on the Bluetooth signal detection results; If the Bluetooth device is detected, determine the location information of the Bluetooth device; Output the location information and / or a prompt based on the location information.

2. The method according to claim 1, characterized in that, The first condition includes the autonomous mobile device being in a preset working mode and / or receiving a first item finding instruction. The preset working mode includes a normal working mode and / or a first item finding mode. The normal working mode is the working mode in which the autonomous mobile device performs its primary function other than item finding and moves autonomously. The first item finding mode is the item finding mode for finding any Bluetooth device within the target area. The first item finding instruction is the item finding instruction for finding any Bluetooth device within the target area. Wherein, the step of autonomously moving within the target area and detecting Bluetooth signals when the first condition is met includes: When the autonomous mobile device is in the preset working mode and / or receives the first item finding instruction, it moves autonomously within the target area and detects Bluetooth signals sent by any Bluetooth device within the target area.

3. The method according to claim 1, characterized in that, The first condition includes the autonomous mobile device being in a preset working mode and / or receiving a second item finding instruction. The preset working mode includes a normal working mode and / or a second item finding mode. The normal working mode is the working mode in which the autonomous mobile device performs its own functions other than item finding and moves autonomously. The second item finding mode is the item finding mode for finding one or more specified Bluetooth devices. The second item finding instruction is the item finding instruction for finding one or more specified Bluetooth devices. Wherein, the step of autonomously moving within the target area and detecting Bluetooth signals when the first condition is met includes: When the autonomous mobile device is in the preset working mode and / or receives the second object-finding instruction, it moves autonomously within the target area and detects the Bluetooth signal sent by the designated Bluetooth device.

4. The method according to claim 1, characterized in that, The first condition includes receiving a locator command, wherein, under the condition of satisfying the first condition, autonomously moving within the target area and detecting Bluetooth signals includes: Upon receiving a locator command, determine whether the location information of the Bluetooth device to be located by the locator command is stored in the Bluetooth device discovery list; If the location information of the Bluetooth device to be found by the locator command is not stored in the Bluetooth device discovery list, move within the target area and detect the Bluetooth signal.

5. The method according to claim 4, characterized in that, The method further includes: If the location information of the Bluetooth device to be found by the locator command is stored in the Bluetooth device discovery list, the location information or a prompt based on the location information is output directly.

6. The method according to claim 1, characterized in that, The item finding instruction comes from the first terminal, and / or the item finding instruction comes from the user's voice output; The first terminal is a terminal device that is paired with both the Bluetooth device and the autonomous mobile device.

7. The method according to claim 1, characterized in that, Determining the location information of the Bluetooth device upon discovery includes: Upon discovering the Bluetooth device, the location information of the Bluetooth device is determined based on the Bluetooth signal transmitted by the Bluetooth device and the location of the autonomous mobile device.

8. The method according to claim 1, characterized in that, Determining the location information of the Bluetooth device upon discovery includes: Upon detecting the Bluetooth device, the device moves within the target area according to a preset movement strategy and detects the Bluetooth signal sent by the Bluetooth device until the Bluetooth signal strength of the Bluetooth device meets the second condition. If the Bluetooth signal strength of the Bluetooth device meets the second condition, the location information of the Bluetooth device is determined based on the Bluetooth signal sent by the Bluetooth device and the location of the autonomous mobile device.

9. The method according to claim 7 or 8, characterized in that, The step of determining the location information of the Bluetooth device based on the Bluetooth signal sent by the Bluetooth device and the location of the autonomous mobile device includes: The distance between the Bluetooth device and the autonomous mobile device is determined based on the strength of the Bluetooth signal transmitted by the Bluetooth device. The location information of the Bluetooth device is determined based on the distance and the location of the autonomous mobile device.

10. The method according to claim 1, characterized in that, Determining the location information of the Bluetooth device includes: determining the location information of the Bluetooth device based on UWB positioning technology when both the Bluetooth device and the autonomous mobile device support ultra-wideband (UWB) communication.

11. The method according to claim 10, characterized in that, Determining the location information of the Bluetooth device based on UWB positioning technology includes: The Bluetooth device is triggered to send a first UWB signal to the autonomous mobile device; Receive and parse the first UWB signal to determine the flight time of the first UWB signal; The distance between the autonomous mobile device and the Bluetooth device is determined based on the flight time, and the angle of arrival of the first UWB signal is determined based on the UWB signal receiving antenna array of the autonomous mobile device. The location information of the Bluetooth device is determined based on the distance and the angle of arrival.

12. The method according to claim 10, characterized in that, Determining the location information of the Bluetooth device based on UWB positioning technology includes: At at least three locations, UWB bidirectional ranging is performed with the Bluetooth device to obtain the distance between the autonomous mobile device and the Bluetooth device at the at least three locations; The location information of the Bluetooth device is determined based on the location information of the at least three locations and the distance between the autonomous mobile device and the Bluetooth device at the at least three locations.

13. The method according to claim 1, characterized in that, The method further includes: The location information of the Bluetooth device is stored in the Bluetooth device discovery list.

14. The method according to claim 13, characterized in that, The method further includes: The first information of the Bluetooth device is stored in the Bluetooth device discovery list; The first information includes at least one of the following: The location status indication information of the Bluetooth device; The Bluetooth device provides time information at the location indicated by the location information.

15. The method according to claim 1, characterized in that, The autonomous mobile device includes robots or drones of any shape.

16. The method according to claim 1, characterized in that, The prompt that outputs the location information and / or the location information includes at least one of the following: Send the location information to the first terminal; Play a prompt voice indicating the location information; Instruct the first terminal to play a prompt voice indicating the location information; Play a prompt voice guiding the user to locate the Bluetooth device; The first terminal is a terminal device paired with the autonomous mobile device.

17. The method according to claim 16, characterized in that, The autonomous mobile device is a robotic vacuum cleaner, and the step of sending the location information of the Bluetooth device to the first terminal includes: The location of the Bluetooth device is marked on the map of the target area drawn by the robotic vacuum cleaner; The map, which identifies the location of the Bluetooth device, is output to the first terminal.

18. The method according to claim 1, characterized in that, The method further includes: Upon discovering the Bluetooth device, a feedback signal is sent to the Bluetooth device, wherein the feedback signal is used to indicate that the Bluetooth device has been discovered by the autonomous mobile device.

19. The method according to any one of claims 1-8 and 10-18, characterized in that, The Bluetooth signal is broadcast by the Bluetooth device according to the first broadcast strategy; The first broadcast strategy includes at least one of the following: When the Bluetooth device uses Bluetooth Low Energy communication, it broadcasts Bluetooth signals at preset time intervals. If the disconnection time between the Bluetooth device and the first terminal is greater than or equal to a first time, a Bluetooth signal is broadcast, wherein the first terminal is a terminal device paired with the Bluetooth device. If the duration during which the Bluetooth device is not detected by the autonomous mobile device is greater than or equal to the second duration, a Bluetooth signal is broadcast.

20. A method for assisting in finding Bluetooth devices, characterized in that, Applied to a first terminal, the method includes: Receive location information of Bluetooth devices sent by autonomous mobile devices; And / or, Receive instruction information sent by the autonomous mobile device, and play a prompt voice containing the location information according to the instruction information; The Bluetooth device is discovered by the autonomous mobile device after it autonomously moves within the target area and detects the Bluetooth signal, provided that a first condition is met. The first condition includes at least one of the autonomous mobile device being in a preset working mode and receiving a locator command. The location information is determined by the autonomous mobile device after it discovers the Bluetooth device. The indication information is used to instruct the first terminal to play a prompt voice containing the location information.

21. The method according to claim 20, characterized in that, Before receiving the location information of the Bluetooth device sent by the autonomous mobile device, the method further includes: A locator command is sent to the autonomous mobile device to find the Bluetooth device, wherein the location information is fed back by the autonomous mobile device after receiving the locator command.

22. The method according to claim 20, characterized in that, The method further includes: Displays the location information of the Bluetooth device.

23. The method according to claim 22, characterized in that, The autonomous mobile device is a robotic vacuum cleaner, and the location information includes a map that identifies the location of the Bluetooth device; The display of the location information of the Bluetooth device includes: Display a map showing the locations of the Bluetooth devices.

24. The method according to claim 20, characterized in that, The Bluetooth signal is broadcast by the Bluetooth device according to a first broadcast strategy. Before receiving the location information of the Bluetooth device sent by the autonomous mobile device, the method further includes: In response to a request to set a Bluetooth signal broadcast policy for the Bluetooth device, the first broadcast policy is set for the Bluetooth device; The first broadcast strategy includes at least one of the following: When the Bluetooth device uses Bluetooth Low Energy communication, it broadcasts Bluetooth signals at preset time intervals. If the disconnection time between the Bluetooth device and the first terminal is greater than or equal to the first time, a Bluetooth signal is broadcast. If the duration during which the Bluetooth device is not detected by the autonomous mobile device is greater than or equal to the second duration, a Bluetooth signal is broadcast.

25. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 1 to 24.

26. A computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device is able to perform the method as described in any one of claims 1 to 24.

27. A computer program product comprising instructions, characterized in that, When the computer executes the instructions of the computer program product, the computer performs the method as described in any one of claims 1 to 24.

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