Mobile control method

Abstract

This application discloses a mobile control method, which includes: receiving an activation command for the mobile function of a mobile device; and controlling the mobile device to move along a movement path toward a location closer to a target object, according to the activation command, wherein the movement path is determined based on the location information of the target object and the environmental information surrounding the mobile device. This application not only simplifies the interaction method for the target object to control the mobile device and improves interaction efficiency, but also effectively improves the convenience of using the mobile device, thereby enhancing the user experience.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and to, but is not limited to, a motion control method. Background Technology

[0002] Parking and shuttle services are common vehicle usage scenarios. In practice, it has been found that in these scenarios, vehicles are often affected by environmental factors such as the size of the space and the weather, resulting in parking locations that are inconvenient for users to enter and exit the vehicle, which seriously affects the convenience of vehicle use and reduces the user experience.

[0003] Therefore, improving the convenience and user experience of vehicles in scenarios such as parking and shuttle services remains a technical challenge that needs to be addressed. Summary of the Invention

[0004] In view of this, the present application provides a mobile control method that not only simplifies the interaction method of the target object controlling the mobile device and improves the interaction efficiency, but also effectively improves the convenience of using the mobile device, thereby improving the user experience.

[0005] This application provides a motion control method, the method comprising: Receive activation instructions for the mobile functions of the mobile device; According to the activation command, the mobile device is controlled to move along a movement path toward a location closer to the target object. The movement path is determined based on the location information of the target object and the environmental information around the mobile device.

[0006] In the above embodiments, the mobile device can receive an activation command for its mobile function. When the mobile function is activated, the mobile device can determine a movement path based on the location information of the target object and the surrounding environment. The mobile device can then move along the movement path towards the location of the target object. In other words, as long as the mobile function is activated, the relative position of the target object can be understood based on its location. There is no need for complex interaction between the target object and the mobile device to control the mobile device to move towards the target object. This facilitates users entering and exiting the mobile device, simplifies the interaction method of the target object controlling the mobile device, improves interaction efficiency, and effectively enhances the ease of use of the mobile device, thereby improving the user experience. Moreover, the surrounding environment information is considered when controlling the mobile device to move towards the target object, which can avoid the risk of collision during the movement and improve the safety and reliability of the mobile device's movement.

[0007] In some embodiments, the method for determining the movement path includes: The movement direction of the mobile device is determined based on the location information, and the movement direction is the direction in which the mobile device moves closer to the target object; The movement path is determined based on the movement direction and the environmental information.

[0008] In the above embodiments, the mobile device can determine its movement direction based on the location information of the target object, which can make the movement direction of the mobile device closer to the target object, effectively shortening the distance between the target object and the mobile device. Moreover, the mobile device can also determine its movement path based on the movement direction and environmental information. This method of determining the movement path by combining environmental information can perceive and avoid surrounding obstacles, ensuring the safety and feasibility of the movement path while the mobile device approaches the target object, and improving the rationality of the movement path planning.

[0009] In some embodiments, controlling the mobile device to move along a movement path toward a location closer to the target object includes: Upon receiving a first action command from the target object, the mobile device is controlled to move along the movement path toward a location closer to the target object.

[0010] In the above embodiments, the mobile device can be controlled to move along the movement path toward the location of the target object by the first action command of the target object. This method of controlling the movement of the mobile device by recognizing the action of the target object not only improves the intuitiveness and accuracy of the control, but also simplifies the interaction method of the target object controlling the mobile device, thereby improving the interaction efficiency and interaction experience.

[0011] In some embodiments, the method further includes: During the process of controlling the movement of the mobile device, if a second action instruction from the target object is received, the mobile device is controlled to stop moving. The first action instruction is different from the second action instruction.

[0012] In the above embodiments, when the mobile device receives a second action instruction that is different from the first action instruction, it can also control the mobile device to stop moving based on the change in the action of the target object. This method of controlling the mobile device to stop moving by recognizing the change in the action of the target object reduces the difficulty for the mobile device to understand the action instruction, thereby improving the interaction efficiency.

[0013] In some embodiments, controlling the mobile device to move along a movement path toward a location closer to the target object includes: Upon receiving multiple third action commands from the target object within a preset time period, the mobile device is controlled to move along the movement path toward a location closer to the target object. The preset time period is used to reflect the duration of the mobile device's movement.

[0014] In the above embodiments, the mobile device can be controlled to move along the movement path toward a location closer to the target object by multiple third action commands from the target object within a preset time period. This method of controlling the movement of the mobile device by recognizing the continuous actions of the target object can avoid misidentifying a single action of the target object and miscontrolling the mobile device, and can further improve the accuracy of controlling the movement of the mobile device.

[0015] In some embodiments, the method further includes: If the third action command is not received during the process of controlling the movement of the mobile device, the mobile device shall be controlled to stop moving.

[0016] In the above embodiments, when the mobile device does not receive a third action instruction, it controls the mobile device to stop moving. This method of controlling the mobile device to stop moving by identifying whether the target object has performed a certain continuous action eliminates the need for the target object to learn complex actions, thereby reducing the learning cost of action instructions for the target object and further simplifying the interaction method of the target object controlling the mobile device. Moreover, the mobile device does not need to recognize multiple action instructions, which greatly reduces the difficulty for the mobile device to understand action instructions and provides a smoother and more natural interactive experience.

[0017] In some embodiments, the method further includes: During the process of controlling the movement of the mobile device, if an obstacle is detected on the movement path, the type of the obstacle is determined; If the type of obstacle indicates that the obstacle is static, update the movement path to control the mobile device to move along the updated movement path toward a location closer to the target object; or, If the type of obstacle indicates that the obstacle is dynamic, control the mobile device to pause moving until there is no obstacle on the movement path, then control the mobile device to continue moving along the movement path toward the location of the target object.

[0018] In the above embodiments, during the process of controlling the movement of the mobile device, if there are static obstacles on the movement path, the movement path is updated, enabling the mobile device to update its planned movement path in a timely manner based on changes in the environment, thus improving the flexibility and reliability of the mobile device. During the process of controlling the movement of the mobile device, if there are dynamic obstacles on the movement path, the mobile device is paused until the obstacles are no longer present, at which point movement resumes. This control method allows the mobile device to avoid consuming more resources to update its movement path when encountering dynamic obstacles that cause brief pauses. This method of determining whether to update the movement path based on the type of obstacle allows the mobile device to flexibly adopt different methods to control its movement, effectively improving the mobile device's ability to perceive environmental changes.

[0019] In some embodiments, the method further includes: When the mobile device moves to the location of the target object, the target distance between the mobile device and the target object is obtained; If the target distance is greater than a preset distance, a first prompt message is output, which is used to prompt whether to update the movement path; Upon receiving an update instruction for the target object, the movement path is updated to control the mobile device to move along the updated movement path toward a location closer to the target object.

[0020] In the above embodiments, when the mobile device moves to the location of the target object, considering that the target object may move, the distance between the mobile device and the target object is used to remind the target object whether to update the movement path, and the movement path is updated when the update instruction is received. This method can flexibly adjust the movement path according to the location of the target object in a timely manner, which improves the timeliness and flexibility of the mobile device path planning, and makes the final location of the mobile device convenient for users to enter and exit the mobile device, further improving the convenience of using the mobile device.

[0021] In some embodiments, prior to receiving the activation instruction for the mobile function of the mobile device, the method further includes: When the target object is located in a first preset area of ​​the external environment of the mobile device, the identity of the target object is verified to obtain the verification result; Receiving the activation command for the mobile function of the mobile device includes: When the verification result indicates that the verification passed and the target object is located in a second preset area of ​​the external environment of the mobile device, the activation command is received, wherein the area centered on the mobile device indicated by the first preset area is larger than the area centered on the mobile device indicated by the second preset area.

[0022] In the above embodiments, when the target object is in the first preset area, the target object is verified. After the verification is successful, if the target object moves to the second preset area closer to the mobile device, the activation command for the mobile device's movement function is received. This method of verifying identity before controlling the interaction of the mobile device can avoid the risk of collision caused by the movement of the mobile device due to misidentification of the activation command in the first preset area, and ensure that the activation command can only activate the mobile device's movement function in the second preset area, thereby improving the reliability of the mobile device.

[0023] In some embodiments, the activation instruction is a fourth action instruction for the target object. Before controlling the mobile device to move along the movement path toward a location closer to the target object according to the activation instruction, the method further includes: Acquire a video stream of the external environment of the mobile device, the video stream including the target action of the target object; Extract the skeletal keypoint sequence of the target action from the video stream, the skeletal keypoint sequence being used to reflect the pose changes of the target action; The sequence of key skeletal points is input into the target skeleton recognition model to obtain the fourth action command.

[0024] In the above embodiments, if the activation command is the fourth action command, the mobile device can extract the skeletal key point sequence of the target object's target action, and then input the skeletal key point sequence into the target skeleton recognition model to identify the fourth action command. This method of identifying target actions based on skeletal key point sequences can reduce the influence of the external environment on the recognition results, capture the details of the target action's posture changes, effectively improve the accuracy of target action recognition, and thus improve the accuracy of controlling the mobile device's movement functions. Moreover, identifying target actions through the target skeleton recognition model can reduce the difficulty and computational load of the mobile device in recognizing target actions, and improve recognition efficiency.

[0025] This application provides a mobile control device, the device comprising: The receiving module is used to receive activation commands for the mobile functions of the mobile device; The control module is used to control the mobile device to move along a movement path toward a location closer to the target object according to the activation command. The movement path is determined based on the location information of the target object and the environmental information around the mobile device.

[0026] This application provides a mobile device, including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the program to implement the method described in this application.

[0027] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the methods described in this application.

[0028] This application provides a computer program product, including a computer program that, when executed by a processor, implements the methods described in this application. Attached Figure Description

[0029] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0030] Figure 1 This is a flowchart illustrating a motion control method disclosed in an embodiment of this application; Figure 2 This is a schematic diagram of a process for receiving an activation command, as disclosed in an embodiment of this application. Figure 3 This is a schematic diagram illustrating an application scenario of a motion control method disclosed in an embodiment of this application; Figure 4 This is a schematic diagram of a process for determining a movement path disclosed in an embodiment of this application; Figure 5A This is a schematic diagram of controlling the movement of a mobile device as disclosed in an embodiment of this application; Figure 5B This is a schematic diagram of another method for controlling the movement of a mobile device as disclosed in an embodiment of this application; Figure 6 This is a schematic diagram of another process for determining a movement path disclosed in an embodiment of this application; Figure 7 This is a schematic diagram of the interaction process of a mobile device disclosed in an embodiment of this application; Figure 8 This is a structural block diagram of a mobile control device disclosed in an embodiment of this application; Figure 9 This is a structural block diagram of a mobile device disclosed in an embodiment of this application. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0033] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0034] It should be noted that the terms "first, second, third" used in the embodiments of this application are used to distinguish similar or different objects and do not represent a specific order of objects. It can be understood that "first, second, third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0035] Parking and shuttle services are common vehicle usage scenarios. In practice, it has been found that in these scenarios, vehicles are often affected by environmental factors such as the size of the space and the weather, resulting in parking locations that are inconvenient for users to enter and exit the vehicle, which seriously affects the convenience of vehicle use and reduces the user experience.

[0036] For example, taking parking scenarios as an example, controlling a vehicle to park in narrow spaces or adverse environments often suffers from problems such as low recognition accuracy, cumbersome interaction processes, and long waiting times. For instance, in confined spaces like narrow parking spaces, users often need to enter the vehicle to operate the system or rely on poorly designed remote controls, which not only reduces the user experience but also introduces a higher risk of collision and personal safety when the distance between the vehicle and obstacles is extremely small. Furthermore, in inclement weather such as rain or snow, users are forced to expose themselves to harsh conditions to operate the vehicle. Even if some vehicles support parking control via a mobile application, operating the application in rain or snow severely affects the touchscreen functionality, thus failing to guarantee user comfort and safety while ensuring reliable interaction. Finally, for scenarios requiring minor adjustments to the vehicle's position, such as temporary repositioning, users need to manually perform complex operations, which is excessively time-consuming.

[0037] For example, in the scenario of a driverless vehicle shuttle, although the vehicle is parked at the passenger's designated pick-up point, due to environmental perception errors, traffic rule restrictions, and other reasons, the final parking location may be somewhat different from the passenger's location. The passenger needs to walk to the vehicle's location, which is inconvenient and unsafe, and seriously reduces the passenger's experience. Especially in scenarios such as inclement weather or when passengers are carrying large luggage, passengers are forced to walk to the vehicle's parking location or even need to place a new order. This process not only wastes the vehicle's transportation resources but also seriously affects the passenger's experience.

[0038] This demonstrates that environmental factors negatively impact the user experience in scenarios such as parking and shuttle services. Therefore, improving the convenience and user experience of vehicles in these scenarios remains a technical challenge that needs to be addressed.

[0039] In view of this, embodiments of this application provide a mobile control method, which includes: receiving an activation command for the mobile function of a mobile device; and controlling the mobile device to move along a mobile path toward a location closer to a target object, the mobile path being determined based on the location information of the target object and the environmental information surrounding the mobile device. Embodiments of this application not only simplify the interaction method for the target object to control the mobile device and improve interaction efficiency, but also effectively improve the convenience of using the mobile device, thereby enhancing the user experience.

[0040] The mobile control method proposed in this application is applied to a mobile device, which can be a vehicle, drone, airplane, ship, robot, etc. This application does not limit the application to such devices.

[0041] It should be noted that in the exemplary applications of vehicles provided in this application, the vehicles can be implemented as cars, commercial vehicles, special operation vehicles (such as fire trucks, emergency rescue vehicles, police cars, ambulances, etc.), motorcycles, electric bicycles, agricultural and engineering machinery vehicles (such as tractors, harvesters, excavators, bulldozers, etc.), special robot vehicles, etc.

[0042] To make the objectives and technical solutions of this application clearer and more intuitive, the mobile control method disclosed in this application will be described in detail below with reference to the accompanying drawings. It should be understood that the execution subject of the embodiments of this application may also be a processor or chip in a mobile device.

[0043] To facilitate the explanation and description of the motion control method provided in the embodiments of this application, the following description mainly uses the application of the motion control method to a vehicle as an example in the relevant drawings. Please refer to... Figure 1 , Figure 1 This is a flowchart illustrating a motion control method disclosed in an embodiment of this application, as shown below. Figure 1The method shown may include the following steps: Step 110: The mobile device receives an activation command for the mobile functions of the mobile device.

[0044] In this embodiment, the mobile device has a mobility function, which, when activated, can control the movement of the mobile device. For example, in a parking scenario, the mobility function indicates the vehicle's parking function; when activated, the vehicle can automatically park or exit. In a shuttle scenario, the mobility function indicates the vehicle's shuttle function; when activated, the vehicle can actively move towards the user's location.

[0045] In this embodiment of the application, when the mobile device receives an activation command for the mobile function, it can control the movement of the mobile device.

[0046] Optionally, activation commands include, but are not limited to, action commands, voice commands, and application commands. For example, a user can activate the vehicle's mobility function through gestures, such as waving from outside the vehicle to control its movement; a user can also activate the vehicle's mobility function through specific voice commands, such as saying "Please move here" to control the vehicle's movement; a user can also control the vehicle's movement through control buttons on the vehicle's app.

[0047] It should be noted that the action commands can be hand gestures, facial expressions, leg movements, etc., and this application does not limit them. The aforementioned action commands, voice commands, etc., can all be customized by those skilled in the art and users, and this application does not limit them.

[0048] As an optional implementation, if the activation command is issued by a target object in the external environment of the mobile device, after receiving the activation command for the mobile function, the mobile device can also be controlled to move towards the location of the target object. For example, in a parking scenario, if the parking space is narrow, the driver can control the vehicle to move by waving from outside the vehicle, so that the vehicle can be parked smoothly from the parking space without the driver needing to enter the vehicle to manually control the parking, effectively improving the convenience of the parking scenario.

[0049] It should be noted that the target audience refers to the user associated with the mobile device; that is, only the user associated with the mobile device can activate the mobile functions of the mobile device. For example, driver A's mobile phone information can be added through a vehicle app, and the phone can be connected to the vehicle via Bluetooth, allowing driver A to control the vehicle's movement through the Bluetooth connection established between the phone and the vehicle.

[0050] As an optional implementation, the mobile device needs to verify the identity of the target object before receiving the activation command, and can only receive the activation command in a preset area after the verification is successful. Please refer to [link to relevant documentation]. Figure 2 , Figure 2 This is a flowchart illustrating the process of receiving an activation command as disclosed in an embodiment of this application. The implementation of receiving the activation command for mobile functions in step 110 can be achieved through steps 111 to 112, which will be described in detail below.

[0051] Step 111: When the target object is in the first preset area of ​​the external environment of the mobile device, the mobile device performs identity verification on the target object and obtains the verification result.

[0052] In this embodiment, the mobile device can divide its external environment into different regions, each with a different area. These different regions include, but are not limited to, a first preset region and a second preset region. These different regions are used for interaction between the target object and the mobile device when the target object is within the region. For example, two concentric ring-shaped interaction regions can be constructed, such as the area in front of the vehicle, the area to the left, and the area to the right, serving as the first preset region and the second preset region.

[0053] Optionally, the area centered on the mobile device indicated by the first preset area is larger than the area centered on the mobile device indicated by the second preset area. It should be noted that there may be overlapping sub-regions between each area. For example, the area centered on the mobile device indicated by the first preset area may include the area centered on the mobile device indicated by the second preset area; that is, the area where the second preset area is located is within the first preset area, and they are overlapping sub-regions. It can be understood that the second preset area is a smaller area nested within the first preset area.

[0054] As an example, please see Figure 3 , Figure 3 This is a schematic diagram illustrating an application scenario of a motion control method disclosed in an embodiment of this application. For example... Figure 3 As shown, each vehicle's location is divided into different preset areas, such as... Figure 3 (a) shows the parking space area where the vehicle is located, which is divided into a first preset area 11 and a second preset area 12. The area of ​​the first preset area 11 is larger than the area of ​​the second preset area 12. (b) shows the parking space area where the vehicle is located, which is divided into a first preset area 21 and a second preset area 22. The area of ​​the first preset area 21 is larger than the area of ​​the second preset area 22. (c) shows the parking space area where the vehicle is located, which is divided into a first preset area 31 and a second preset area 32. The area of ​​the first preset area 31 is larger than the area of ​​the second preset area 32.

[0055] As an optional implementation, the way a mobile device divides its external environment into different areas may include: the mobile device can obtain the location information of the mobile device and determine a first preset area and a second preset area based on the location information of the mobile device; wherein, the first preset area is the area centered on the mobile device and corresponding to a distance of a first preset distance from the mobile device, and the second preset area is the area centered on the mobile device and corresponding to a distance of a second preset distance from the mobile device, and the first preset distance is greater than the second preset distance.

[0056] As an optional implementation, if the mobile function is a parking function, the way the mobile device divides the external environment into different areas may include: the mobile device can obtain the location information of the mobile device and the parking space type in the external environment, and determine the first preset area and the second preset area based on the location information of the mobile device and the parking space type.

[0057] Optionally, parking space types in the external environment include, but are not limited to, perpendicular parking spaces, parallel parking spaces, and angled parking spaces. As an example, such as... Figure 3 (a) shows a perpendicular parking space, (b) shows a parallel parking space, and (c) shows a diagonal parking space.

[0058] Mobile devices can determine a first preset area and a second preset area based on their location information and the type of parking space. As an example, such as... Figure 3 (a) shows a vertical parking space divided into a first preset area 11 and a second preset area 12; (b) shows a parallel parking space divided into a first preset area 21 and a second preset area 22; and (c) shows a slanted parking space divided into a first preset area 31 and a second preset area 32.

[0059] In this embodiment of the application, when the target object is in the external environment of the mobile device, the mobile device can obtain the location information of the target object and determine the area where the target object is located based on the location information; wherein, the location information includes the coordinate position of the target object relative to the mobile device, and the location information is used to reflect the direction and distance of the target object relative to the mobile device.

[0060] Optionally, the mobile device can acquire the location information of the target object at a first preset time interval. For example, assuming the first preset time interval is 1 minute, the mobile device acquires the location information of the target object every 1 minute. It should be noted that the first preset time interval can be set by those skilled in the art according to actual needs, and this application does not limit it in this regard.

[0061] If the mobile device determines that the target object is in the first preset area based on the location information, it will verify the identity of the target object. In other words, the first preset area is used to verify the identity of the target object, i.e., the unlocking area, so as to achieve seamless user authentication within the first preset area.

[0062] Alternatively, mobile devices can verify the identity of a target object through at least one method such as motion recognition, voice recognition, facial recognition, or Bluetooth verification.

[0063] As an example, when a user is 10 meters away from the vehicle (i.e., the user is in the first preset area centered on the vehicle), the vehicle will be triggered to verify the user's identity. If the vehicle detects the user's facial information and recognizes the user's facial information as that of a driver whose facial information has been registered, the vehicle will be unlocked, i.e., the identity verification is successful. Alternatively, if the vehicle detects the user's mobile phone that has been pre-connected to the vehicle via Bluetooth key, the vehicle will be unlocked, i.e., the identity verification is successful.

[0064] It should be noted that verifying the identity of the target object within the first preset area is only used to unlock the mobile device and will not activate the mobile device's mobile functions.

[0065] Step 112: When the verification result indicates that the verification has passed and the target object is in the second preset area of ​​the external environment of the mobile device, the mobile device receives the activation command.

[0066] It is understandable that the verification result includes verification passing or verification failing. If the mobile device determines that the verification result for the target object has passed, it can further determine whether the target object is in a second preset area of ​​the mobile device's external environment based on location information, that is, whether the target object has moved closer to the mobile device.

[0067] If the mobile device determines that the target object is in the second preset area based on the location information, it receives the activation command. In other words, since the activation command is used to activate the mobile device's movement function, the second preset area is used to receive and identify the activation command, i.e., the calling area, in order to control the movement of the mobile device within the second preset area.

[0068] As an example, when the user is 5 meters away from the vehicle (i.e., the user is in the second preset area centered on the vehicle), the vehicle will receive and recognize the activation command. If the vehicle detects the user's "waving" action (an example of the activation command), and if it recognizes the "waving" action as a recorded action, it will receive and recognize the "waving" action and activate the vehicle's movement function.

[0069] It should be noted that the location information, environmental information, actions, voice, facial information, etc. involved in the embodiments of this application can be information that has been fully authorized by all parties.

[0070] By adopting the implementation method of steps 111 to 112 above, when the target object is in the first preset area, the identity of the target object is verified; after the verification is passed, if the target object moves to the second preset area closer to the mobile device, the activation command for the mobile function of the mobile device is received. This method of verifying identity first and then controlling the interaction of the mobile device can avoid the risk of collision caused by the movement of the mobile device due to misidentification of the activation command in the first preset area, and ensure that the activation command can only activate the mobile function of the mobile device in the second preset area, thereby improving the reliability of the mobile device.

[0071] In this embodiment, after receiving an activation command for the mobile function of the mobile device, the mobile device can acquire environmental information surrounding the mobile device. This environmental information may include road information, obstacle information, traffic participant information, and road condition information. Specifically, road information reflects the lane and parking space where the mobile device is located; obstacle information reflects information about buildings, roadblocks, walls, etc.; traffic participant information may include information about pedestrians and other mobile devices; and road condition information reflects information about congested road sections and construction zones.

[0072] Optionally, the mobile device can acquire surrounding environmental information at a second preset time interval. For example, assuming the second preset time interval is 1 minute, the mobile device acquires environmental information every 1 minute. It should be noted that the second preset time interval can be set by those skilled in the art according to actual needs, and this application does not limit it in this regard.

[0073] Step 120: According to the activation command, the mobile device controls itself to move along a movement path toward the location of the target object. The movement path is determined based on the location information of the target object and the environmental information around the mobile device.

[0074] In this embodiment of the application, after receiving an activation command for the mobile device's movement function, and before controlling the mobile device to move along the movement path toward a location closer to the target object according to the activation command, the mobile device can recognize the activation command.

[0075] As an optional implementation, when the activation command is an action command, before the mobile device is controlled to move along the movement path toward the location of the target object according to the activation command, the mobile device can also recognize the action command, which is the fourth action command of the target object.

[0076] Optionally, the mobile device can identify the fourth action command of the target object by: the mobile device acquiring a video stream of the external environment of the mobile device, the video stream including the target action of the target object; extracting the skeletal keypoint sequence of the target action from the video stream, the skeletal keypoint sequence being used to reflect the pose change of the target action; and inputting the skeletal keypoint sequence into the target skeleton recognition model to identify the fourth action command.

[0077] After acquiring a video stream, the mobile device extracts the target action of the target object from the video stream. The target action can include an action within a single time period or multiple consecutive actions within a preset duration. It can be understood that, to improve recognition accuracy, multiple consecutive actions can be extracted as the target action of the target object.

[0078] After the mobile device extracts the target action of the target object, it can extract the skeletal keypoint sequence of the target action, which includes the pose information of the corresponding skeletal keypoints in the target action.

[0079] Optionally, the skeletal keypoint sequence of the target action can be extracted by a pose estimation algorithm, including but not limited to OpenPose pose estimation algorithm, MMPose pose estimation algorithm, etc., and a spatiotemporal skeleton graph can be constructed by the above pose estimation algorithms.

[0080] It should be noted that skeletal keypoints can include key locations such as the target object's hand, shoulder, elbow, and wrist, and the skeletal keypoint sequence can be a 2D or 3D skeletal keypoint sequence.

[0081] The mobile device inputs a sequence of skeletal key points into a target skeletal recognition model to obtain a fourth action command. The target skeletal recognition model is trained on a preset skeletal recognition model based on a preset key point sequence. Optionally, the preset skeletal recognition model can be a neural network model, a convolutional neural network model, a recurrent neural network model, etc.; this application does not limit the type of model.

[0082] As an example, firstly, a 3D convolutional neural network model is constructed using a 3D skeletal motion recognition framework (PoseC3D) as the basic network architecture. This model can capture the spatial distribution and dynamic changes of skeletal keypoint sequences, accurately capturing subtle differences in hand gestures. Then, preset keypoint sequences for different hand gestures (e.g., left, right, forward, stop) are input into the model for training. The model can extract the skeletal keypoint sequences for different hand gestures and, considering the differences in hand gestures, learn the motion trajectory of the hand keypoints relative to the body's central axis (e.g., the line connecting the shoulders). For example, "waving to the left" is represented by a horizontal reciprocating movement of the left or right hand in the left side of the body; "waving forward" is represented by a vertical reciprocating movement of the hand in front of the body; and "stop gesture" is represented by an open palm and extended arm. Finally, the model outputs the corresponding hand gesture recognition results: "left, right, forward, stop".

[0083] It should be noted that this application does not limit the target action of the target object mentioned above. That is, any type of action can activate the movement function of the mobile device. For example, waving to the left or making a stop gesture can activate the movement of the vehicle.

[0084] Through the aforementioned model training process, the target skeleton recognition model can accurately identify and distinguish different hand gestures using data on key points of the human skeleton, thereby improving recognition accuracy and enhancing anti-interference capabilities. Furthermore, it eliminates the need to transmit or process user facial images, processing only skeletal data, thus better protecting user privacy. Moreover, the computational load required for processing skeletal data is far less than that for processing video streams, reducing the deployment difficulty of the target skeleton recognition model.

[0085] Using the above implementation method, if the activation command is the fourth action command, the mobile device can extract the skeletal key point sequence of the target object's target action, and then input the skeletal key point sequence into the target skeleton recognition model to identify the fourth action command. This method of identifying target actions based on skeletal key point sequences can reduce the influence of the external environment on the recognition results, capture the details of the target action's posture changes, effectively improve the accuracy of target action recognition, and thus improve the accuracy of controlling the mobile device's movement functions. Moreover, recognizing target actions through the target skeleton recognition model can reduce the difficulty and computational load of the mobile device in recognizing target actions, and improve recognition efficiency.

[0086] In this embodiment, after recognizing the activation command, the mobile device can determine its movement path based on the location information of the target object and the environmental information surrounding the mobile device. The implementation method for determining the movement path will be described in detail below.

[0087] As an optional implementation, the mobile device can determine its movement path based on the location information of the target object and the environmental information surrounding the mobile device. See also... Figure 4 , Figure 4 This is a flowchart illustrating a method for determining a movement path as disclosed in an embodiment of this application. The implementation of determining the movement path of the mobile device in step 120 can be achieved through the following steps 121 to 122, which will be described in detail below.

[0088] Step 121: The mobile device determines its direction of movement based on the location information. The direction of movement is the direction in which the mobile device moves closer to the target object.

[0089] Based on the location information of the target object, the mobile device can understand the user's relative position. For example, when it is detected that driver A is located in the left front area of ​​the vehicle, the vehicle can determine that it needs to move towards the left front area, that is, the mobile device's direction of movement is to the left front. The mobile device can then move to the left front accordingly, greatly improving the intuitiveness and accuracy of control.

[0090] Optionally, the mobile device can determine its direction of movement based on location information by inputting the location information into a target detection model to determine the direction of movement. The target detection model can track the location of the target object in real time and accurately determine the current location of the target object within the mobile device's area.

[0091] Step 122: The mobile device determines the movement path based on the direction of movement and environmental information.

[0092] After determining its direction of movement, the mobile device can also combine information about its surrounding environment to plan its movement path, enabling it to move closer to the target object based on the planned path.

[0093] Optionally, the movement path refers to the path through which a target object can enter and exit the mobile device via its openable and closable components when the mobile device travels along the movement path to the corresponding destination location. It should be noted that, taking a vehicle as an example, the openable and closable components are used to indicate the vehicle door. That is, when the vehicle approaches the driver, the location must ensure that the driver can normally open the door and enter the vehicle.

[0094] It should be noted that the location information and environmental information involved in the embodiments of this application can be information that has been fully authorized by all parties.

[0095] By adopting the implementation methods of steps 121 to 122 above, the mobile device can determine the direction of movement based on the location information of the target object, so that the direction of movement of the mobile device is closer to the target object, effectively shortening the distance between the target object and the mobile device; moreover, the mobile device can also determine the movement path of the mobile device based on the direction of movement and environmental information. This method of determining the movement path by combining environmental information can perceive and avoid surrounding obstacles, so that the mobile device can ensure the safety and feasibility of the movement path while approaching the target object, and improve the rationality of the movement path planning.

[0096] As described in the foregoing embodiments, a mobile device can be controlled to move along a movement path toward a location closer to the target object. This method does not require recognizing complex gestures or actions to control the movement of the mobile device. The following will further describe the implementation methods for controlling the movement of the mobile device described above.

[0097] As an optional implementation, the way in which the mobile device controls the mobile device to move along the movement path toward a location closer to the target object may include: the mobile device controlling the mobile device to move along the movement path toward a location closer to the target object when it receives an action command.

[0098] Mobile devices can be controlled to move along a movement path toward a location closer to the target object based on different action commands, which will be described in detail below.

[0099] Method 1: The action command is the first action command of the target object. The first action command is used to control the mobile device to move along the movement path toward a position closer to the target object. The mobile device controls itself to move along the movement path toward a position closer to the target object in the following ways: upon receiving the first action command from the target object, the mobile device controls itself to move along the movement path toward a position closer to the target object.

[0100] It can be understood that the first action command of the target object is used to control the mobile device to move along the movement path toward the location of the target object. In other words, the first action command is to activate the function of the mobile device to move along the movement path toward the location of the target object.

[0101] As an example, please see Figure 5A , Figure 5A This is a schematic diagram illustrating a method for controlling the movement of a mobile device, as disclosed in an embodiment of this application. Figure 5A As shown in (a), when a user performs a forward gesture (an example of a first action command), the vehicle can park itself in the parking space in the direction of the user and drive to the user's location based on the gesture.

[0102] Using the above method 1, the mobile device can be controlled to move along the movement path toward the location of the target object by the first action command of the target object. This method of controlling the movement of the mobile device by recognizing the action of the target object not only improves the intuitiveness and accuracy of the control, but also simplifies the interaction method of the target object controlling the mobile device, and improves the interaction efficiency and interaction experience.

[0103] Optionally, during the movement of the mobile device based on the first action command, it can also be controlled to stop moving by switching action commands. If the mobile device receives a second action command from the target object while controlling its movement, it can stop moving; the first action command and the second action command are different.

[0104] It can be understood that the second action command of the target object is used to control the mobile device to stop moving. If the mobile device receives a second action command that is different from the first action command, then the mobile device is controlled to stop moving.

[0105] As an example, such as Figure 5A As shown in (b), when a user performs a stop gesture (an example of a second action command) during the parking process, the vehicle can stop parking based on the gesture and the vehicle stops moving.

[0106] By adopting the above implementation method, when the mobile device receives a second action instruction that is different from the first action instruction, it can also control the mobile device to stop moving based on the change in the action of the target object. This method of controlling the mobile device to stop moving by recognizing the change in the action of the target object reduces the difficulty for the mobile device to understand the action instruction, thereby improving the interaction efficiency.

[0107] Method 2: The action commands are multiple third action commands to the target object within a preset duration. The preset duration reflects the duration of the mobile device's movement, and the multiple third action commands control the mobile device to move along the movement path towards a location closer to the target object. The way the mobile device controls itself to move along the movement path towards a location closer to the target object can include: upon receiving multiple third action commands from the target object within the preset duration, the mobile device controls itself to move along the movement path towards a location closer to the target object.

[0108] It can be understood that multiple third action instructions for the target object within a preset time period are used to control the mobile device to move along the movement path toward a location closer to the target object. In other words, the continuous third action instructions are to activate the function of the mobile device to move along the movement path toward a location closer to the target object.

[0109] As an example, please see Figure 5B , Figure 5BThis is a schematic diagram illustrating another method for controlling the movement of a mobile device, as disclosed in an embodiment of this application. Figure 5B As shown in (a), when the user makes a forward gesture (an example of a third action command), the vehicle can park itself in the parking space in the direction of the user and drive to the user's location based on the gesture.

[0110] It should be noted that those skilled in the art can set a preset duration based on actual needs, and this application does not impose any restrictions on this.

[0111] Using the above method 2, the mobile device can be controlled to move along the movement path toward the location of the target object by multiple third action commands from the target object within a preset time period. This method of controlling the movement of the mobile device by recognizing the continuous actions of the target object can avoid misidentifying a single action of the target object and miscontrolling the mobile device, and can further improve the accuracy of controlling the movement of the mobile device.

[0112] Optionally, during the movement of the mobile device based on multiple third action commands, it also supports stopping the movement of the mobile device via a stop action command. If no third action command is received during the movement of the mobile device, the mobile device will stop moving.

[0113] It is understandable that since multiple third action commands from the target object within a preset time period are used to control the mobile device to move along the movement path toward a location closer to the target object, the mobile device will stop moving when no third action commands are received.

[0114] As an example, such as Figure 5B As shown in (b), when the vehicle is parking, if the user observes an obstacle suddenly appearing in front of the vehicle after making a forward gesture (an example of the third action command) for 10 seconds, the user can immediately stop executing the stop gesture, that is, when the gesture stops, the vehicle stops parking and stops moving.

[0115] By adopting the above implementation method, the mobile device stops moving when it does not receive a third action instruction. This method of controlling the mobile device to stop moving by identifying whether the target object has performed a certain continuous action eliminates the need for the target object to learn complex actions, thereby reducing the learning cost of action instructions for the target object and further simplifying the interaction method of the target object controlling the mobile device. Moreover, the mobile device does not need to recognize multiple action instructions, which greatly reduces the difficulty for the mobile device to understand action instructions and provides a smoother and more natural interactive experience.

[0116] It should be noted that the mobile device can be controlled to move along the movement path toward the location of the target object using either method 1 or method 2 described above.

[0117] As an optional implementation, temporary obstacles may appear in the movement path of the mobile device during its movement. Therefore, the mobile device can also determine the type of obstacle if an obstacle is detected in its movement path while controlling its movement. Different types of obstacles can be addressed by employing different methods to control the movement of the mobile device.

[0118] Optionally, if the obstacle type indicates that the obstacle is static, the mobile device can update the movement path to control the mobile device to move along the updated movement path toward a location closer to the target object.

[0119] It is understandable that other obstacles may suddenly appear in the path of a mobile device during its movement. Therefore, the mobile device can detect the obstacles in its path and determine the type of obstacle in order to control the mobile device in different ways.

[0120] When the obstacle is static, since static obstacles usually do not leave immediately, in order to improve the passage efficiency of mobile devices, the movement path of the mobile devices can be replanned, that is, the movement path is updated, so as to control the mobile devices to move along the updated movement path toward the location of the target object.

[0121] It should be noted that static obstacles include, but are not limited to, parked vehicles, traffic cones / ice cream cones, etc.

[0122] By adopting the above implementation method, if there are static obstacles in the movement path during the process of controlling the movement of the mobile device, the movement path is updated, so that the mobile device can update the planned movement path in a timely manner based on changes in the environment, thereby improving the flexibility and reliability of the mobile device.

[0123] Optionally, if the obstacle type indicates that the obstacle is dynamic, the mobile device can control the mobile device to pause its movement until there are no obstacles on the movement path, and then control the mobile device to continue moving along the movement path toward the location of the target object.

[0124] When the obstacle is dynamic, since dynamic obstacles usually leave immediately, in order to reduce the resource consumption of replanning the movement path of the mobile device, it is not necessary to replan the movement path of the mobile device. After the obstacle on the movement path leaves, the mobile device continues to move along the movement path toward the location of the target object.

[0125] It should be noted that static obstacles include, but are not limited to, temporarily parked vehicles and pedestrians.

[0126] Using the above implementation method, if there are dynamic obstacles on the movement path during the process of controlling the movement of the mobile device, the movement of the mobile device is paused until the obstacle is no longer present, and then the movement of the mobile device is resumed. This control method allows the mobile device to avoid consuming more resources to update the movement path when it encounters a dynamic obstacle that is briefly stopped.

[0127] The aforementioned method of determining whether to update the movement path based on the type of obstacle allows mobile devices to flexibly use different methods to control their movement, effectively improving the mobile devices' ability to perceive environmental changes.

[0128] As an optional implementation, as the mobile device moves along a path towards the location of the target object, the location of the target object may change; for example, the user's location may change due to surrounding vehicles. To ensure the mobile device gets as close to the target object as possible, the target distance between the mobile device and the target object can be detected to determine whether to update the movement path. Based on this, Figure 6 This is a schematic diagram of another process for determining a movement path disclosed in an embodiment of this application. Please refer to [link / reference]. Figure 6 After performing step 120 above, you can also perform steps 210 to 230, which will be explained in detail below.

[0129] Step 210: When the mobile device moves to the location of the target object, the target distance between the mobile device and the target object is obtained.

[0130] Once the mobile device moves along the movement path to the location of the target object, it can obtain the target distance between the mobile device and the target object. It should be understood that the destination location of the movement path is usually the location of the target object, but the location of the target object may change during the movement of the mobile device. Therefore, when the mobile device reaches the destination location of the movement path, there may still be a certain distance deviation between the destination location and the target object.

[0131] Step 220: If the target distance is greater than the preset distance, the mobile device outputs a first prompt message, which is used to prompt whether to update the movement path.

[0132] If the target distance between the mobile device and the target object exceeds a preset distance, the mobile device can output a first prompt message to remind the target object to update its movement path. In other words, because there may still be a certain distance deviation between the destination location and the target object when the mobile device reaches the destination location on its movement path, the movement path can be replanned in order to control the mobile device to get closer to the target object.

[0133] Optionally, the mobile device may output the first prompt information in ways including but not limited to outputting the first prompt information through an electronic device of the target object associated with the mobile device, or outputting the first prompt information through voice prompts.

[0134] It should be noted that those skilled in the art can set the preset distance value according to actual needs, and this application does not limit this.

[0135] Step 230: Upon receiving an update instruction from the target object, the mobile device updates its movement path to control the mobile device to move along the updated movement path toward a location closer to the target object.

[0136] If the target object agrees to update its movement path, it can send an update command to the mobile device. Optionally, the target object can send the update command in ways including, but not limited to, sending the update command through the target object's electronic device associated with the mobile device, or sending the update command via voice prompts.

[0137] It should be noted that the target distance involved in the embodiments of this application can be information that has been fully authorized by all parties.

[0138] By adopting the implementation method of steps 210 to 230 above, when the mobile device moves to the location of the target object, considering that the target object may move, the distance between the mobile device and the target object is used to remind the target object whether to update the movement path, and the movement path is updated when the update instruction is received. This method can flexibly adjust the movement path according to the location of the target object in a timely manner, which improves the timeliness and flexibility of the mobile device path planning, and makes the final parking location of the mobile device convenient for users to enter and exit the mobile device, further improving the convenience of using the mobile device.

[0139] As an optional implementation, during the process of controlling the movement of the mobile device, the mobile device may also output a second prompt message in a preset manner. The second prompt message is used to indicate at least one of the following: the destination of the mobile device, the distance between the mobile device and the destination, the direction of movement of the mobile device, and the movement path.

[0140] Optionally, the preset method includes controlling the mobile device to project the second prompt information onto the external environment of the mobile device. It should be noted that the external environment refers to the environment outside the mobile device. Taking a parking scenario as an example, the external environment of the vehicle can be the ground, walls, or other locations outside the vehicle when it is parked.

[0141] Optionally, the second prompt information is projected onto a target projection area in the external environment, which is the area in front of and / or behind the mobile device in its direction of movement. It can be understood that the target projection area is the area in the external environment where the projected prompt information from the mobile device is displayed.

[0142] Optionally, the mobile device includes a projection component that can be used to project the second prompt information onto a target projection area. For example, the projection component can be a projector, a lighting component of the mobile device (e.g., in a vehicle, it can be a lighting component using digital light processing (DLP) technology), etc., and this application does not limit this to any particular type.

[0143] It is understood that mobile devices can project the second prompt information onto the area in front of and / or behind the mobile device in the direction of movement using a projection component.

[0144] Optionally, the preset method includes controlling the mobile device to voice-broadcast the second prompt message. The mobile device includes a voice broadcast component, which can broadcast the second prompt message.

[0145] Optionally, the preset method includes outputting a second prompt message through the target object's electronic device. It should be noted that the target object's electronic device is an electronic device that establishes a communication connection with a mobile device.

[0146] It should be noted that the preset methods involved in the embodiments of this application include at least one of the above.

[0147] Based on the foregoing embodiments, the implementation methods for controlling a mobile device to move toward a location closer to the target object are understood. Below, taking the control of a mobile device in a parking scenario as an example, the movement control method of this application embodiment will be described in detail.

[0148] Please see Figure 7 , Figure 7 This is a schematic diagram of the interaction process of a mobile device disclosed in an embodiment of this application. Figure 7 As shown, the vehicle includes parking functionality, specifically, as Figure 7 The interaction flow shown is as follows: Step 310: The vehicle obtains the user's location information.

[0149] Step 320: The vehicle determines whether the user is in the unlocked area based on the user's location information.

[0150] It should be noted that the unlock area is used to indicate the first preset area in the aforementioned embodiments.

[0151] Step 330: If the user is in the unlocked area, the vehicle verifies the user's identity and obtains the verification result.

[0152] Step 340: If the verification result indicates that the verification passed, the vehicle determines whether the user is in the call area based on the user's location information.

[0153] It should be noted that the summoning area is used to indicate the second preset area in the aforementioned embodiments.

[0154] Step 350: If the user is in the summoning area, the vehicle obtains the user's activation gesture and activates the vehicle's parking function.

[0155] Optionally, once the vehicle's parking function is activated, the vehicle's lights can flash to indicate to the user that the parking function is ready. It should be noted that the parking function is used to indicate the movement function in the aforementioned embodiments, and the activation gesture is used to indicate the activation command in the aforementioned embodiments.

[0156] Step 360: The vehicle acquires and recognizes the user's first action command, and determines whether the environment meets the conditions for movement based on the environmental information around the vehicle.

[0157] Optionally, the movement conditions include, but are not limited to, the absence of obstacles on the movement path.

[0158] Step 371: If the movement conditions are met, the vehicle outputs the first parking prompt information and controls the vehicle to park out based on the first action command.

[0159] Optionally, the vehicle may output the first parking warning message via an application prompt on the user's electronic device, a voice prompt, or other means. For example, a pop-up message may appear in the vehicle's app stating, "The vehicle is parking; please be careful."

[0160] Step 372: If the movement conditions are not met, the vehicle outputs a second parking prompt message and does not control the vehicle to park.

[0161] Optionally, the vehicle may output the second parking prompt information through methods such as application prompts on the user's electronic device or voice prompts. For example, a pop-up window in the vehicle's app may display a message such as "Unable to park temporarily, please try again later."

[0162] In step 380, during the process of controlling the vehicle to park, the vehicle can also acquire and recognize the user's second action command.

[0163] Step 390: If the second action command is a stop command, control the vehicle to stop parking.

[0164] It should be noted that, Figure 7 The specific implementation methods for each step shown can be found in the foregoing embodiments, and will not be repeated here. It should also be noted that the above... Figure 7 The corresponding interaction process also applies to connection scenarios, which will not be elaborated here.

[0165] By implementing the mobile control method provided in this application, a mobile device can receive an activation command for its mobile function. When the mobile function is activated, the mobile device can determine a movement path based on the location information of the target object and the surrounding environment, and control the mobile device to move along the movement path toward the location of the target object. In other words, as long as the mobile function is activated, the relative position of the target object can be understood based on its location. There is no need for complex interaction between the target object and the mobile device to control the mobile device to move toward the target object. This makes it convenient for users to enter and exit the mobile device, simplifies the interaction method of the target object controlling the mobile device, improves interaction efficiency, and effectively improves the convenience of using the mobile device, thereby improving the user experience. Moreover, when controlling the mobile device to move toward the target object, the surrounding environment information is also considered, which can avoid the risk of collision during the movement and improve the safety and reliability of the mobile device movement.

[0166] It should be understood that although the steps in the above flowcharts are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the above flowcharts may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps. In addition, the above embodiments can be implemented independently or in combination with each other, and different implementation methods in the above embodiments can also be combined with each other, without limitation.

[0167] Based on the foregoing embodiments, this application provides a mobile control device, which includes various modules and units included in each module, and can be implemented by a processor; of course, it can also be implemented by specific logic circuits; in the implementation process, the processor can be a central processing unit (CPU), microprocessor (MPU), digital signal processor (DSP) or field programmable gate array (FPGA), etc.

[0168] Please see Figure 8 , Figure 8 This is a structural block diagram of a mobile control device disclosed in an embodiment of this application, such as... Figure 8 The device shown includes a receiving module 810 and a control module 820.

[0169] The receiving module 810 is used to receive an activation command for the mobile function of the mobile device; The control module 820 is used to control the mobile device to move along a movement path toward the location of the target object according to the activation command. The movement path is determined based on the location information of the target object and the environmental information around the mobile device.

[0170] In some embodiments, the motion control device further includes a determining module; The determination module is used to determine the movement direction of the mobile device based on the location information, which is the direction in which the mobile device moves towards the target object; and to determine the movement path based on the movement direction and environmental information.

[0171] In some embodiments, the control module 820 is specifically used for: Upon receiving the first action command from the target object, control the mobile device to move along the movement path toward the location of the target object.

[0172] In some embodiments, the control module 820 is further configured to: During the process of controlling the movement of the mobile device, if a second action instruction from the target object is received, the mobile device is controlled to stop moving. The first action instruction and the second action instruction are different.

[0173] In some embodiments, the control module 820 is further specifically used for: Upon receiving multiple third action commands from the target object within a preset time period, the mobile device is controlled to move along the movement path toward a location closer to the target object. The preset time period is used to reflect the duration of the mobile device's movement.

[0174] In some embodiments, the control module 820 is further configured to: If no third action command is received during the process of controlling the movement of the mobile device, the mobile device shall be stopped.

[0175] In some embodiments, the determining module is further configured to determine the type of obstacle if an obstacle is detected on the movement path during the process of controlling the movement of the mobile device; The control module 820 is also used for: If the obstacle type indicates that the obstacle is static, update the movement path to control the mobile device to move along the updated path towards the location of the target object; or, If the obstacle type indicates that the obstacle is dynamic, control the mobile device to pause moving until there are no obstacles on the movement path, then control the mobile device to continue moving along the movement path toward the location of the target object.

[0176] In some embodiments, the motion control device further includes an acquisition module and an output module; The acquisition module is used to obtain the target distance between the mobile device and the target object when the mobile device moves to the location of the target object; The output module is used to: output a first prompt message when the target distance is greater than the preset distance. The first prompt message is used to prompt whether to update the movement path. The control module 820 is also used for: Upon receiving an update instruction from the target object, the movement path is updated to control the mobile device to move along the updated movement path toward a location closer to the target object.

[0177] In some embodiments, the motion control device further includes a verification module and an output module; The verification module is used to verify the identity of the target object when the target object is in a first preset area of ​​the external environment of the mobile device, and obtain the verification result. The receiving module is specifically used for: If the verification result indicates that the verification passed and the target object is located in the second preset area of ​​the external environment of the mobile device, an activation command is received. The area centered on the mobile device indicated by the first preset area is larger than the area centered on the mobile device indicated by the second preset area.

[0178] In some embodiments, the activation instruction is a fourth action instruction for the target object; The mobile control device also includes an extraction module and an identification module; The acquisition module is also used to acquire video streams of the external environment of the mobile device, including the target actions of the target object; The extraction module is used to extract the skeletal keypoint sequence of the target action from the video stream. The skeletal keypoint sequence is used to reflect the pose changes of the target action. The recognition module is used to input the sequence of skeletal key points into the target skeleton recognition model and obtain the fourth action command.

[0179] It should be noted that, in the embodiments of this application... Figure 8 The module division shown in the mobile control device is illustrative and represents only one logical functional division. In actual implementation, there may be other division methods.

[0180] Please refer to Figure 9 , Figure 9 This is a structural block diagram of a mobile device disclosed in an embodiment of this application. Figure 9 As shown, the mobile device includes a memory 910 and a processor 920, with the memory 910 storing executable program code.

[0181] The memory 910 is coupled to the processor 920; The processor 920 calls the executable program code stored in the memory 910 to execute any one of the motion control methods in the above method embodiments.

[0182] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of any of the motion control methods provided in the above embodiments.

[0183] This application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the motion control methods provided in the above embodiments.

[0184] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the mobile device to which the present application is applied. A specific mobile device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0185] It should be noted that the descriptions of the above embodiments of the apparatus, computer-readable storage medium, and computer program product are similar to the descriptions of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the embodiments of the apparatus, computer-readable storage medium, and computer program product of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0186] It should be understood that the phrases "one embodiment," "an embodiment," or "some embodiments" mentioned throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment," "in one embodiment," or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The descriptions of the various embodiments above tend to emphasize the differences between the various embodiments; their similarities or commonalities can be referred to mutually, and for the sake of brevity, they will not be repeated here.

[0187] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three kinds of relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist simultaneously, and object B exists alone.

[0188] It should be noted that, in this document, 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. Unless otherwise specified, 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 that element.

[0189] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of modules above is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, and can be electrical, mechanical, or other forms.

[0190] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0191] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0192] The features disclosed in the several device embodiments provided in this application can be arbitrarily combined without conflict to obtain new device embodiments.

[0193] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A motion control method, characterized in that, The method includes: Receive activation instructions for the mobile functions of the mobile device; According to the activation command, the mobile device is controlled to move along a movement path toward a location closer to the target object. The movement path is determined based on the location information of the target object and the environmental information around the mobile device.

2. The method according to claim 1, characterized in that, The method for determining the movement path includes: The movement direction of the mobile device is determined based on the location information, and the movement direction is the direction in which the mobile device moves closer to the target object; The movement path is determined based on the movement direction and the environmental information.

3. The method according to claim 1 or 2, characterized in that, Controlling the mobile device to move along the movement path toward a location closer to the target object includes: Upon receiving a first action command from the target object, the mobile device is controlled to move along the movement path toward a location closer to the target object.

4. The method according to claim 3, characterized in that, The method further includes: During the process of controlling the movement of the mobile device, if a second action instruction from the target object is received, the mobile device is controlled to stop moving. The first action instruction is different from the second action instruction.

5. The method according to claim 1 or 2, characterized in that, Controlling the mobile device to move along the movement path toward a location closer to the target object includes: Upon receiving multiple third action commands from the target object within a preset time period, the mobile device is controlled to move along the movement path toward a location closer to the target object. The preset time period is used to reflect the duration of the mobile device's movement.

6. The method according to claim 5, characterized in that, The method further includes: If the third action command is not received during the process of controlling the movement of the mobile device, the mobile device shall be controlled to stop moving.

7. The method according to claim 1 or 2, characterized in that, The method further includes: During the process of controlling the movement of the mobile device, if an obstacle is detected on the movement path, the type of the obstacle is determined; If the type of obstacle indicates that the obstacle is static, update the movement path to control the mobile device to move along the updated movement path toward a location closer to the target object; or, If the type of obstacle indicates that the obstacle is dynamic, control the mobile device to pause moving until there is no obstacle on the movement path, then control the mobile device to continue moving along the movement path toward the location of the target object.

8. The method according to claim 1 or 2, characterized in that, The method further includes: When the mobile device moves to the location of the target object, the target distance between the mobile device and the target object is obtained; If the target distance is greater than a preset distance, a first prompt message is output, which is used to prompt whether to update the movement path; Upon receiving an update instruction for the target object, the movement path is updated to control the mobile device to move along the updated movement path toward a location closer to the target object.

9. The method according to claim 1 or 2, characterized in that, Before receiving the activation instruction for the mobile function of the mobile device, the method further includes: When the target object is located in a first preset area of ​​the external environment of the mobile device, the identity of the target object is verified to obtain the verification result; Receiving the activation command for the mobile function of the mobile device includes: When the verification result indicates that the verification passed and the target object is located in a second preset area of ​​the external environment of the mobile device, the activation command is received, wherein the area centered on the mobile device indicated by the first preset area is larger than the area centered on the mobile device indicated by the second preset area.

10. The method according to claim 1 or 2, characterized in that, The activation command is the fourth action command for the target object. Before controlling the mobile device to move along the movement path towards the location of the target object according to the activation command, the method further includes: Acquire a video stream of the external environment of the mobile device, the video stream including the target action of the target object; Extract the skeletal keypoint sequence of the target action from the video stream, the skeletal keypoint sequence being used to reflect the pose changes of the target action; The sequence of key skeletal points is input into the target skeleton recognition model to obtain the fourth action command.

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