Control method of movable object, movable object, terminal, and storage medium

Abstract

The embodiment of the application provides a kind of movable object control method, movable object, terminal and storage medium, involve movable object technical field, in this method, in response to receiving first control instruction, control movable object and berth in preset position, first control instruction is used to indicate that movable object enters privacy protection state.Control environmental sensor carried on movable object is located in first preset angle in pitch direction;Wherein, in the case where environmental sensor is located in first preset angle, the field of view central axis of environmental sensor is not parallel with horizontal direction.In this way, by controlling movable object and berth in preset position and controlling the field of view central axis of environmental sensor and horizontal direction not parallel, to control movable object enters privacy protection state, in privacy protection state, the information that environmental sensor can be collected is limited, and then the privacy anxiety of user can be reduced.

Description

Technical Field

[0001] This invention relates to the field of movable object technology, and in particular to a control method for a movable object, a movable object, a terminal, and a storage medium. Background Technology

[0002] Currently, movable objects are being used more and more widely. By incorporating artificial intelligence models, movable objects possess the ability to perceive, learn, and dynamically interact with their environment. Users can control movable objects to perform a variety of tasks, such as sorting dishes, finding items, collecting trash, and organizing clothes.

[0003] In related technologies, movable objects may stay in the same space as users for a long time. Even if the movable object does not collect user information, users still have privacy concerns. Summary of the Invention

[0004] This application provides a method for controlling a movable object, the movable object, a terminal, and a storage medium to address users' privacy concerns.

[0005] In a first aspect, embodiments of this application disclose a control method for a movable object, the method comprising: In response to receiving a first control command, the movable object is controlled to stop at a preset position; the first control command is used to instruct the movable object to enter a privacy protection state. The environmental sensor mounted on the movable object is controlled to be located at a first preset angle in the pitch direction; wherein, when the environmental sensor is located at the first preset angle, the central axis of the field of view of the environmental sensor is not parallel to the horizontal direction.

[0006] This application also discloses a movable object, which includes a memory and a processor; The memory is used to store program code; The processor calls the program code, which, when executed, performs the following operations: In response to receiving a first control command, the movable object is controlled to stop at a preset position; the first control command is used to instruct the movable object to enter a privacy protection state. The environmental sensor mounted on the movable object is controlled to be located at a first preset angle in the pitch direction; wherein, when the environmental sensor is located at the first preset angle, the central axis of the field of view of the environmental sensor is not parallel to the horizontal direction.

[0007] This application also discloses a control terminal for a movable object, including: a processor, a memory, a communication interface, and a communication bus. The processor, the memory, and the communication interface communicate with each other through the communication bus. The memory is used to store executable instructions, which cause the processor to execute the method described above.

[0008] This application also discloses a readable storage medium storing instructions that, when executed by one or more processors, cause the processors to perform the methods described above.

[0009] This application also discloses a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method.

[0010] The embodiments of this application include the following advantages: In the control method for a movable object provided in this application embodiment, in response to receiving a first control command, the movable object is controlled to stop at a preset position. The first control command is used to instruct the movable object to enter a privacy protection state. The environmental sensor mounted on the movable object is controlled to be at a first preset angle in the pitch direction; wherein, when the environmental sensor is at the first preset angle, the central axis of the environmental sensor's field of view is not parallel to the horizontal direction. Thus, by controlling the movable object to stop at the preset position and controlling the central axis of the environmental sensor's field of view to be non-parallel to the horizontal direction, a privacy protection state is entered. In the privacy protection state, the information that the environmental sensor can collect is limited, thereby reducing the user's privacy anxiety.

[0011] Furthermore, by reducing users' privacy anxieties, the frequency of device use can be increased to some extent, thereby improving device utilization. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a flowchart illustrating the steps of a control method for a movable object provided in an embodiment of this application; Figure 2 This is a schematic diagram of an interface provided in an embodiment of this application; Figure 3 This is a schematic diagram of a direction provided in an embodiment of this application; Figure 4 This is another schematic diagram of the interface provided in the embodiment of this application; Figure 5 This is yet another interface schematic diagram provided in the embodiments of this application; Figure 6 This is a block diagram of a movable object provided in an embodiment of this application. Detailed Implementation

[0014] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0015] First, an exemplary application scenario related to the embodiments of this application will be described. The control method for movable objects provided in the embodiments of this application can be applied to privacy protection scenarios. The movable object can be a smart device equipped with environmental sensors; for example, the movable object can include a robot vacuum cleaner, a robot mop, a robot, etc. In practical applications, movable objects often only collect data from the environment through their onboard environmental sensors and execute user-issued tasks based on the collected data. However, since movable objects may reside in the same space as users for extended periods in practical applications—for example, a robot may be permanently stationed in a user's home—users may still experience privacy concerns even if the movable object does not collect user information. This privacy concern may reduce user trust in the movable object, leading to a decrease in its utilization rate.

[0016] Accordingly, in order to reduce users' privacy concerns and improve the utilization rate of movable objects, embodiments of this application provide a control method for movable objects. The control method for movable objects will be described in detail below.

[0017] Figure 1 This is a flowchart illustrating the steps of a control method for a movable object provided in an embodiment of this application, as shown below. Figure 1 As shown, the method may include: Step 101: In response to receiving a first control command, control the movable object to stop at a preset position; the first control command is used to instruct the movable object to enter a privacy protection state.

[0018] Step 102: Control the environmental sensor mounted on the movable object to be located at a first preset angle in the pitch direction; wherein, when the environmental sensor is located at the first preset angle, the central axis of the field of view of the environmental sensor is not parallel to the horizontal direction.

[0019] The execution entity of the control method for the movable object can be a processor built into the movable object itself, such as the central processing unit (CPU) or microcontroller unit (MCU) of the movable object. Alternatively, the execution entity of the control method for the movable object can also be a control terminal that is communicatively connected to the movable object, such as a remote control for controlling the movable object or a mobile phone with an application for controlling the movable object.

[0020] When the executing entity is a processor mounted on the movable object itself, the first control command can be a control command sent directly by the user to the movable object. For example, the first control command can be a voice control command sent by the user to the movable object, carrying a wake-up word and a word indicating entry into privacy protection mode. The wake-up word can be pre-set according to the actual product, and this application embodiment does not impose any limitations on this. The word indicating entry into privacy protection mode can be a word semantically related to entering privacy protection mode, such as "enter privacy protection mode," "enable privacy protection mode," "enter privacy mode," "enable privacy mode," etc. Assuming the wake-up word is "XX," the user can say "XX, enable privacy protection mode" to the movable object, thus issuing the first control command to the movable object.

[0021] The first control command can also be sent from the control terminal to the movable object. Specifically, it can be sent from the application (APP) on the control terminal that is responsible for interacting with the movable object. For example, the control terminal can send a first control command to the robot in response to a user's first trigger operation. The first trigger operation is used to indicate entering a privacy protection state. The first trigger operation can be an operation where the user inputs first descriptive information in the interactive interface. The first descriptive information can be input via voice or text, and its semantics indicate that the privacy protection state is enabled. Figure 2 This is a schematic diagram of an interface provided in an embodiment of this application, such as... Figure 2 As shown, users can input voice commands via the voice input function. For example, a user can long press... Figure 2 Press and hold the "Press and hold to speak" button to trigger the voice input function. Alternatively, users can also input text through the text input function on this interface; for example, a user can click... Figure 2The "keyboard" button triggers the text input function. For example, if a user inputs the text "XX, enable privacy protection," the control terminal sends a first control command to the movable object when the user inputs "XX, enable privacy protection" via voice or text input.

[0022] Upon receiving a first control command, the movable object can control its own moving components (e.g., the chassis of a robot) to stop at a preset position and control its environmental sensors to be at a first preset angle in the pitch direction. After stopping at the preset position and the environmental sensors are at the first preset angle in the pitch direction, the movable object enters a privacy protection state.

[0023] When the execution subject is a control terminal that is a movable object, the first control command can be a control command sent by a user to the control terminal. For example, the first control command can be a voice control command or a text control command sent by the user to the control terminal, carrying a phrase indicating entry into privacy protection mode. For instance, the user can send the first control command to the control terminal by voice inputting "Enable privacy protection mode" or text inputting "Enable privacy protection mode" in the interactive interface displayed on the control terminal. Upon receiving the first control command, the control terminal can send a control command to the movable object to instruct it to dock at a preset position, thereby instructing the movable object to control its own body movement components (e.g., the chassis of a robot) to dock at the preset position. Additionally, it can send a control command to the movable object to instruct its environmental sensors to be positioned at a first preset angle in the pitch direction, thereby controlling the movable object to enter privacy protection mode.

[0024] By controlling movable objects to dock at preset locations, the movable objects that have entered privacy protection mode are restricted to the preset locations. This can weaken the presence of movable objects, limit the information that environmental sensors can collect, and thus reduce users' privacy anxiety.

[0025] In one implementation, the preset location can be a location found by the movable object according to preset rules. This application embodiment does not limit this; for example, the preset rules can indicate that the location of the movable object's charging station should be prioritized as the preset location. Since the charging station of the movable object is often located in a corner that users do not frequently pass through, the presence of the movable object can be weakened, limiting the information that environmental sensors can collect, thereby effectively reducing users' privacy anxiety. In another implementation, the preset location can also be a pre-set fixed location. For example, the user can pre-specify a location as the parking position when entering privacy protection mode. Users can specify the location with the least privacy concerns as the preset location, so that the movable object entering privacy protection mode can further reduce users' privacy anxiety.

[0026] Environmental sensors can be devices such as lidar and cameras. By controlling the environmental sensor mounted on a movable object to be positioned at a first preset angle in the pitch direction, the central axis of the environmental sensor's field of view is not parallel to the horizontal direction. The first preset angle can be pre-set; the larger the first preset angle, the more the environmental sensor's field of view is occupied by the sky (ceiling) or the ground, reducing the environmental information acquired by the sensor in the horizontal direction. By controlling the environmental sensor to be positioned at the first preset angle in the pitch direction, the field of view of the environmental sensor is limited, reducing the information that the environmental sensor can collect, further limiting the information that the environmental sensor can collect, thereby alleviating users' privacy concerns.

[0027] In this embodiment, in response to receiving a first control command, a movable object is controlled to stop at a preset position. The first control command instructs the movable object to enter a privacy protection state. An environmental sensor mounted on the movable object is controlled to be positioned at a first preset angle in the pitch direction; wherein, when the environmental sensor is at the first preset angle, the central axis of the environmental sensor's field of view is not parallel to the horizontal direction. Thus, by controlling the movable object to stop at the preset position and controlling the central axis of the environmental sensor's field of view to be non-parallel to the horizontal direction, a privacy protection state is entered. In this privacy protection state, the information that the environmental sensor can collect is limited, thereby reducing the user's privacy anxiety.

[0028] Furthermore, by reducing users' privacy anxieties, the frequency of device use can be increased to some extent, thereby improving device utilization.

[0029] Optionally, in this embodiment, the environmental sensor can be one or more. The environmental sensor can be mounted on the movable object via a gimbal, or it can be fixedly mounted on a moving part of the movable object. The moving part of the movable object includes the head and / or the hand of the movable object. It is understood that the moving part of the movable object can also include other parts, such as a robot's arm, etc., and this embodiment does not limit this.

[0030] The above-mentioned step of controlling the environmental sensor mounted on the movable object to be located at a first preset angle in the pitch direction may specifically include: controlling the gimbal to rotate so that the environmental sensor is located at the first preset angle in the pitch direction; and / or controlling the movement of the movable part of the movable object so that the environmental sensor is located at the first preset angle in the pitch direction.

[0031] Specifically, for any environmental sensor mounted on a movable object, when the environmental sensor is mounted on the movable object via a gimbal, the gimbal can be controlled to rotate so that the environmental sensor is located at a first preset angle in the pitch direction. The specific type of gimbal can be determined by the actual situation, and this application embodiment does not limit this. For example, the gimbal can be a single-axis gimbal, a multi-axis gimbal, or a ball head gimbal, etc. A rotation command can be sent to instruct the gimbal to rotate to the first preset angle in the pitch direction, thereby causing the environmental sensor to be located at the first preset angle in the pitch direction.

[0032] When the environmental sensor is fixedly mounted on a movable part of a movable object, the movement of the movable part can be controlled so that the environmental sensor is positioned at a first preset angle in the pitch direction. Specifically, if the environmental sensor is fixedly mounted on the head of the movable object, the movement of the head can be controlled so that the environmental sensor is positioned at the first preset angle in the pitch direction. For example, a rotation command instructing the head to rotate can be sent to instruct the head of the movable object to rotate to the first preset angle in the pitch direction, thereby causing the environmental sensor to be positioned at the first preset angle in the pitch direction. If the environmental sensor is fixedly mounted on the hand of a movable object, the movement of the hand can be controlled so that the environmental sensor is positioned at the first preset angle in the pitch direction. For example, a movement command instructing the hand to move can be sent to instruct the hand of the movable object to move in the pitch direction, thereby causing the environmental sensor to be positioned at the first preset angle in the pitch direction.

[0033] In this embodiment, an environmental sensor is mounted on a movable object using a gimbal. By controlling the rotation of the gimbal, the environmental sensor can be positioned at a first preset angle in the pitch direction. For an environmental sensor fixed to a moving part of a movable object, controlling the movement of the moving part of the movable object allows the environmental sensor to be positioned at the first preset angle in the pitch direction. This, to a certain extent, ensures the efficiency of controlling the environmental sensor to be positioned at the first preset angle in the pitch direction.

[0034] Optionally, in the embodiments of this application, the pitch direction includes a top-down direction or a bottom-up direction. The step of controlling the environmental sensor mounted on the movable object to be at a first preset angle in the pitch direction may specifically include: controlling the environmental sensor mounted on the movable object to be at a first preset angle in the top-down direction, so that the central axis of the environmental sensor's field of view faces the ground; and / or, the angle between the central axis of the environmental sensor's field of view and the horizontal direction is greater than 45°.

[0035] Figure 3 This is a schematic diagram of a direction provided in an embodiment of this application, such as... Figure 3 As shown, taking the environmental sensor of a movable object's head as an example, Figure 3 A side view of the head is shown. Figure 3 The central axis of the field of view of the environmental sensor on the Zhongke head is parallel to the horizontal direction. The "looking down" direction refers to a downward tilt, and the "looking up" direction refers to an upward tilt. This is understandable. Figure 3 The hardware structure shown is only a partial illustration. Figure 3 The image only shows a portion of the structure of the movable object; the movable object also includes other components. Figure 3 Not shown in the image.

[0036] When the gimbal or moving parts control the environmental sensor to move in an upward direction, the central axis of the environmental sensor's field of view moves towards the sky. With continuous movement, more and more of the sky (ceiling) occupies the sensor's field of view. When the gimbal or moving parts control the environmental sensor to move in an upward direction, positioning it at 90°, the central axis of the environmental sensor's field of view is perpendicular to the horizontal, and the sensor's field of view is completely occupied by the sky (ceiling) or the ground. Taking a head-mounted environmental sensor as an example, by controlling the head of a movable object to rotate in an upward direction, the environmental sensor rotates in the same direction, causing the object's head to face the sky, creating an upward-looking posture.

[0037] When the gimbal or moving parts drive the environmental sensor to move in a top-down direction, the central axis of the environmental sensor's field of view moves towards the ground. With continuous movement, more and more of the environmental sensor's field of view is occupied by the ground. The first preset angle can be 90°. When the gimbal or moving parts drive the environmental sensor to move in a top-down direction, and the environmental sensor is at a 90° angle in the top-down direction, the central axis of the environmental sensor's field of view is perpendicular to the horizontal direction, and the environmental sensor's field of view is completely occupied by the ground. Taking a head-mounted environmental sensor as an example, by controlling the head of a movable object to rotate in a top-down direction, the environmental sensor is also rotated in a top-down direction, causing the movable object's head to face the ground, presenting a downward-facing state. Taking a hand-mounted environmental sensor as an example, assuming the environmental sensor is placed in the palm, the central axis of the environmental sensor's field of view is oriented towards the ground by controlling the hand of a movable object to move it to a palm-down position.

[0038] For any environmental sensor on a movable object, the center axis of the sensor's field of view can be controlled to face the ground, or the angle between the center axis of the sensor's field of view and the horizontal direction can be controlled to be greater than 45°. Specifically, the first preset angle can be greater than 45°, and the pan-tilt unit or moving parts can be controlled to move the environmental sensor in the top-down direction, so that the environmental sensor is located in the top-down direction at an angle greater than 45° between its center axis of the field of view and the horizontal direction. When there are multiple environmental sensors, some of these environmental sensors may have their center axes of the field of view facing the ground, and some environmental sensors may have their center axes of the field of view at an angle greater than 45° between their center axes of the field of view and the horizontal direction.

[0039] In this embodiment, by controlling the center axis of the environmental sensor's field of view to face the ground and the angle between the center axis and the horizontal direction to be greater than 45°, the movable object appears to be tilted downwards and close to the ground, thereby effectively alleviating the user's privacy anxiety. Simultaneously, by controlling the angle between the center axis of the environmental sensor's field of view and the horizontal direction to be greater than 45°, the field of view of the environmental sensor can be effectively limited, thereby effectively controlling the information that the environmental sensor can collect and alleviating the user's privacy anxiety.

[0040] Optionally, this application embodiment may further include the following steps: Step S21, controlling the robotic arm of the movable object to adjust to a first preset posture; wherein, the first preset posture includes the robotic arm being vertically downward. Wherein, if the robotic arm of the movable object is not currently in a vertically downward posture, a command can be sent to instruct the robotic arm to adjust its posture, causing the robotic arm to slowly move to a vertically downward posture and lock, i.e., in the privacy protection state, the robotic arm maintains a vertically downward posture. Specifically, after the movable object is docked at a preset position, the environmental sensor mounted on the movable object can be controlled to be at a first preset angle in the pitch direction, and the robotic arm of the movable object can be controlled to adjust to the first preset posture. Alternatively, these operations can be performed in parallel, and this application embodiment does not limit this.

[0041] In this embodiment, by controlling the robotic arm of the movable object to adjust to a vertically downward posture, the presence of the movable object can be further weakened, thereby reducing the user's privacy anxiety to a greater extent and further improving the utilization rate of the device.

[0042] Optionally, in this embodiment, the display screen of the movable object can also be controlled to display a preset expression; wherein, the preset expression is an expression corresponding to the privacy protection state. Taking a robot as an example, the display screen can be the screen of the robot's face, or it can be the screen of the robot's chest; this embodiment does not limit this. The preset expression can be pre-set; for example, the preset expression can be a sleeping expression. In this embodiment, by controlling the display screen of the movable object to display an expression corresponding to the privacy protection state, the user can intuitively perceive that the movable object has entered a privacy protection state, which can further reduce privacy anxiety.

[0043] Optionally, controlling the movable object to stop at a preset position includes: Step 1011: When the movable object is currently in working mode, control the movable object to perform the closing operation of the current task, and after completing the closing operation, control the movable object to stop at a preset position.

[0044] Step 1012: When the movable object is currently in idle mode, control the movable object to dock at a preset position.

[0045] Specifically, it can detect whether a movable object is currently performing a task. If the movable object is currently performing a task, it can be determined that the movable object is currently in working mode. If the movable object is not currently performing a task, it can be determined that the movable object is currently in idle mode. That is, idle mode means that the movable object is in a state of not performing a task, and working mode means that the movable object is in a state of performing a task.

[0046] If a movable object is abruptly interrupted while performing a task and immediately stops at a preset position, it may pose a safety hazard. For example, if a movable object is retrieving a water cup and immediately stops at a preset position, the subsequent actions of adjusting the robotic arm to a first preset posture and adjusting the environmental sensors to a first preset angle in the pitch direction could cause the water in the cup to spill onto the ground, creating a safety hazard.

[0047] In this embodiment, when the movable object is in idle mode, since it is not currently performing a task, it can be directly controlled to dock at a preset position to promptly enter a privacy-protected state. When the movable object is in working mode, it is first controlled to directly execute the finishing operation of the current task, and then controlled to dock at the preset position. This avoids the problem of sudden interruption of execution, which could cause security risks.

[0048] Optionally, when a movable object performs a task, it often divides the task into multiple sub-tasks. The specific implementation of dividing the task into sub-tasks is determined by the splitting algorithm used by the movable object, and this application embodiment does not limit this. For example, the task of retrieving a water cup can be divided into several sub-tasks: moving to the location of the water cup, picking up the water cup, and delivering the water cup to the destination. Accordingly, the current task performed by the movable object includes multiple sub-tasks. The steps for controlling the movable object to perform the closing operation of the current task may specifically include: step 1011a, stopping the currently executing sub-task in the current task and stopping the start of sub-tasks to be executed.

[0049] Specifically, a stop label can be set for the subtask to be executed, or the subtask to be executed can be deleted directly to prevent the movable object from starting the subtask. Simultaneously, the currently executing subtask can be stopped. For example, in one implementation, the subtask can be stopped after it has been successfully completed; alternatively, in another implementation, the subtask can be terminated only after ensuring that the movable object has safely placed the held item.

[0050] In this embodiment of the application, by directly stopping the currently executing subtask and stopping the start of the subtask to be executed, the movable object can quickly complete the closing operation of the current task, thereby ensuring the efficiency of entering the privacy protection state to a certain extent.

[0051] Optionally, the step of stopping the currently executing subtask in the current task may specifically include: Step 1011a1: When the robotic arm is currently holding an item, place the held item, and after placing it, adjust the robotic arm to a second preset posture; the second preset posture is when the line connecting the shoulder and elbow of the robotic arm is perpendicular to the horizontal plane.

[0052] Step 1011a2: If the robotic arm is not currently holding an item, directly adjust the robotic arm to the second preset posture.

[0053] The robotic arm may include a shoulder, elbow, and hand. The second preset posture can also be referred to as the zero-position posture of the robotic arm. The specific form of the second preset posture can be defined as needed, and this application embodiment does not limit it. For example, in one implementation, the second preset posture is a state in which the line connecting the shoulder and elbow of the robotic arm is perpendicular to the horizontal plane.

[0054] This application embodiment determines the operation to be performed based on the current state of the robotic arm (whether it is holding an item). Specifically, it can determine whether the robotic arm is currently holding an item by using data from sensors installed on the robotic arm. For example, it can read the pressure value detected by the pressure sensor on the robotic arm's hand. If the pressure value is greater than a preset pressure threshold, it is determined that the robotic arm is currently holding an item. If the pressure value is not greater than the preset pressure threshold, it is determined that the robotic arm is not currently holding an item.

[0055] Furthermore, if the robotic arm is not currently holding an item and is already in a second preset posture, no corresponding control command needs to be issued. If the robotic arm is not in the second preset posture, a command to retract the robotic arm can be sent to instruct it to retract to the second preset posture. In one implementation, a first speed parameter can be determined for the robotic arm according to a pre-set first action duration, wherein the shorter the first action duration, the faster the action speed represented by the first speed parameter. The first action duration can be pre-set as needed; for example, the first action duration can be 5 seconds. The first speed parameter is not less than the minimum speed parameter required to complete the retraction to the second preset posture within the first action duration. Accordingly, the command to retract the robotic arm can carry the first speed parameter to instruct the robotic arm to retract to the second preset posture according to the first speed parameter. In this way, by controlling the robotic arm to retract to the second preset posture according to the first speed parameter, it can be ensured that the robotic arm can adjust to the second preset posture within the first action duration, thereby avoiding the problem of excessive adjustment time and ensuring adjustment efficiency.

[0056] When the robotic arm is currently holding an item, a placement command can be sent first to instruct the robotic arm to place the held item. For example, the robot can select the nearest stable surface, such as a table, the ground, etc., and place the held item on the stable surface. In one implementation, a second speed parameter can be determined for the robotic arm according to a pre-set second action duration, wherein the shorter the second action duration, the faster the action speed represented by the second speed parameter. The second action duration can be pre-set as needed; for example, the second action duration can be 15 seconds. The second speed parameter is not less than the minimum speed parameter required to complete the item placement within the second action duration. Accordingly, the placement command can carry the second speed parameter to instruct the robotic arm to place the held item according to the second speed parameter. In this way, by controlling the robotic arm to place the held item according to the second speed parameter, it can be ensured that the robotic arm can complete the item placement within the second action duration, thereby avoiding the problem of excessively long placement time and ensuring placement efficiency.

[0057] Next, after placement is completed, a command can be sent to control the retraction of the robotic arm, instructing it to retract to a second preset posture. In one implementation, a third speed parameter can be determined for the robotic arm according to a pre-set third action duration, wherein the shorter the third action duration, the faster the action speed represented by the third speed parameter. The third action duration can be preset as needed; for example, the third action duration can be the same as the first action duration mentioned above, such as 5 seconds. The third speed parameter is not less than the minimum speed parameter required to complete the retraction to the second preset posture within the third action duration. Accordingly, the command to control the retraction of the robotic arm can carry the third speed parameter to instruct the robotic arm to retract to the second preset posture according to the third speed parameter. In this way, by controlling the robotic arm to retract to the second preset posture according to the third speed parameter, it can be ensured that the robotic arm can adjust to the second preset posture within the third action duration, thereby avoiding the problem of excessive adjustment time and ensuring adjustment efficiency.

[0058] In this embodiment, the robotic arm is only adjusted to the second preset posture when it is not currently holding an item. When the robotic arm is currently holding an item, the item is placed first, and the robotic arm is adjusted to the second preset posture only after placement is complete. This avoids the safety hazards caused by posture adjustment while holding an item, thus ensuring safety.

[0059] Optionally, in this embodiment of the application, the step of controlling the movable object to stop at a preset position may specifically include: Step S31: In response to the movable object being located at the charging station, control the movable object to stop at the charging station, and the charging station can be used to charge the movable object.

[0060] Step S32: In response to the movable object not being located at the charging station, control the movable object to move and dock at the charging station.

[0061] In one implementation, specifically, when the movable object is currently in working mode, it is controlled to perform the cleanup operation of the current task. After completing the cleanup operation, in response to the movable object being located at a charging station, it is controlled to dock at the charging station. In response to the movable object not being located at a charging station, it is controlled to move and dock at the charging station. When the movable object is currently in idle mode, it is directly controlled to dock at the charging station in response to the movable object being located at a charging station. In response to the movable object not being located at a charging station, it is controlled to move and dock at the charging station.

[0062] In this embodiment, in response to the first control command, the chassis of the movable object can stop moving according to the planned route of the current task, and instead detect whether its current position is consistent with the location of the charging pile. If the current position is consistent with the location of the charging pile, it means that the movable object is located at the charging pile. Accordingly, the location of the charging pile can be directly used as the preset position, and without controlling movement, the movable object can be directly controlled to perform a docking action to dock at the charging pile. If the current position is inconsistent with the location of the charging pile, it means that the movable object is not located at the charging pile. Accordingly, the movable object can be controlled to move to the charging pile before docking.

[0063] In this embodiment, in response to the movable object being located at a charging station, the movable object is controlled to dock at the charging station. In response to the movable object not being located at a charging station, the movable object is controlled to move and dock at a charging station, using the location of the charging station as a preset position. Since the charging station is often located in a corner that users do not frequently pass by, the presence of the movable object can be weakened, thus reducing users' privacy concerns to a greater extent. At the same time, by docking at the charging station, the movable object can be recharged in a timely manner, avoiding the problem of insufficient power affecting subsequent normal use.

[0064] Optionally, the step of controlling the movable object to move and dock at the charging station in response to the movable object not being located at the charging station may specifically include: Step S32a: In response to the fact that the movable object is not located at the charging pile and the distance between it and the charging pile is not greater than a first preset distance, control the movable object to move and stop at the charging pile.

[0065] Optionally, the method described in this application embodiment may also include the following steps: Step S32b: In response to the movable object not being located at the charging pile and the distance between it and the charging pile being greater than the first preset distance, control the movable object to stop at a position at a second preset distance from the wall within the preset range.

[0066] The first preset distance can be preset according to actual conditions. For example, it can be set according to the actual size of the family. The larger the family area, the larger the first preset distance can be. This application embodiment does not limit this. In one application scenario, the first preset distance can be 5 meters.

[0067] If the system detects whether the current location is different from the location of the charging station, it can determine the distance between the current location and the location of the charging station. If this distance is not greater than a first preset distance, for example, if the movable object is within 5 meters of the charging station, it can be controlled to move and stop at the charging station. If this distance is greater than the first preset distance, for example, if the movable object is more than 5 meters away from the charging station, it can be controlled to stop at a wall within a preset range.

[0068] The wall within the preset range can be a wall centered on the movable object, with the distance between the movable object and the wall not exceeding a third preset distance. The third preset distance can be preset according to actual conditions; for example, it can be set according to the actual size of the home. The larger the home area, the larger the third preset distance can be, but this embodiment does not limit this. The third preset distance can be the same as or different from the first preset distance. In one application scenario, the third preset distance can be 5 meters. Accordingly, in response to the instruction to stop at a wall within the preset range, the movable object can first select the nearest wall among the walls within the third preset distance, then move towards that wall and stop at a position a second preset distance from that wall. The second preset distance can be preset; for example, the second preset distance can be 0.1 meters, etc. By stopping at a position a second preset distance from the wall, it is possible to avoid scraping the wall and to prevent the movable object from being located at a doorway or passageway, thus avoiding obstructing user passage. In some embodiments, the wall within the preset range can include the corner of a wall.

[0069] In this embodiment, in response to the movable object not being located at the charging pile and the distance to the charging pile not exceeding a first preset distance, the movable object is controlled to move and dock at the charging pile. In response to the movable object not being located at the charging pile and the distance to the charging pile exceeding the first preset distance, the movable object is controlled to dock at a position at a second preset distance from a wall within a preset range. This avoids the problem of excessively long docking times when the object is far from the charging pile, and allows for quick docking by directly docking at a wall within the preset range when the object is far from the charging pile, while minimizing the presence of the movable object and ensuring its equipment safety.

[0070] Optionally, controlling the movable object to stop at a position at a second preset distance from the wall within a preset range includes: step S32b1, controlling the movable object to stop at a position at a second preset distance from the wall with the environmental sensor facing the wall.

[0071] In this embodiment, as the movable object moves toward the wall, the environmental sensor can be adjusted to face the wall. This limits the information that the environmental sensor can collect during movement and after stopping, thereby improving privacy protection.

[0072] Taking the head-mounted environmental sensor as an example, since the head itself faces the wall as the movable object moves toward it, no additional control commands need to be issued to the head-mounted environmental sensor. For other environmental sensors that do not face the wall while moving toward it, the pan-tilt unit or the moving part containing the environmental sensor can be controlled to adjust the environmental sensor to face the wall.

[0073] In this embodiment, by controlling the movable object to stop at a position a second preset distance from the wall with the environmental sensor facing the wall, the environmental sensor is always facing the wall during the movement and after stopping, thereby improving the level of privacy protection.

[0074] Optionally, the embodiments of this application may further include the following steps: Step S41: In response to receiving a second control command, control the environmental sensor mounted on the movable object to be positioned at a second preset angle in the pitch direction. The second control command is used to instruct the movable object to exit the privacy protection state. Wherein, when the environmental sensor is positioned at the second preset angle, the central axis of the field of view of the environmental sensor is parallel to the horizontal direction.

[0075] When the executing entity is a movable object itself, the second control command can be a control command sent directly by the user to the movable object. For example, the second control command can be a voice control command sent by the user to the movable object, carrying a wake-up word and a phrase indicating exiting the privacy protection state. The phrase indicating exiting the privacy protection state can be a semantically related word, such as "exit privacy protection state," "end privacy protection state," "exit privacy mode," "end privacy mode," etc. Assuming the wake-up word is "XX," the user can say "XX, exit privacy protection state" to the movable object, thus issuing the second control command to the movable object. It is understood that if the user's voice does not contain a wake-up word when sending the first or second control command, the user's voice message can be ignored to avoid accidental triggering.

[0076] The second control command can also be sent from the control terminal to the movable object. For example, the control terminal can send a second control command to the robot in response to a user's second trigger operation. The second trigger operation is used to indicate exiting the privacy protection state. The second trigger operation can be an operation where the user inputs second descriptive information in the interactive interface. The second descriptive information can be input via voice input or text input, and its semantics are used to indicate closing the privacy protection state. For example, the user can input voice through the voice input function, for example... Figure 4 This is another interface diagram provided by an embodiment of the present invention. Users can long press... Figure 4 Press and hold the "Press and hold to speak" button to trigger the voice input function. Alternatively, users can also input text through the text input function on this interface; for example, a user can click... Figure 4 The "keyboard" button triggers the text input function. For example, if the user inputs the text "XX, exit privacy protection mode", the control terminal can send a second control command to the movable object when the user inputs "XX, exit privacy protection mode" via voice or text input.

[0077] When a movable object receives a second control command, it can control its own environmental sensor to be at a second preset angle in the pitch direction. After the environmental sensor is at the second preset angle in the pitch direction, the movable object exits the privacy protection state.

[0078] Specifically, the environmental sensor is positioned at a second preset angle in the pitch direction. This can specifically refer to the environmental sensor rotating until the angle between the center axis of the field of view and the horizontal direction is 0°. The gimbal or movable component can be controlled to rotate the environmental sensor in the opposite direction by the same angle as when entering the privacy protection state, thus controlling the environmental sensor to be positioned at the second preset angle in the pitch direction. For example, assuming that when entering the privacy protection state, the gimbal or movable component is controlled to rotate 90° in the upward direction, then when exiting the privacy protection state, the gimbal or movable component can be controlled to rotate 90° in the downward direction. Similarly, assuming that when entering the privacy protection state, the gimbal or movable component is controlled to rotate 90° in the downward direction, then when exiting the privacy protection state, the gimbal or movable component can be controlled to rotate 90° in the upward direction.

[0079] In this embodiment, in response to receiving a second control command, the environmental sensor mounted on the movable object is controlled to be positioned at a second preset angle in the pitch direction, making the central axis of the environmental sensor's field of view parallel to the horizontal direction, thus exiting the privacy protection state. In this way, the user can conveniently control the movable object to exit the privacy protection state based on the second control command, resulting in greater operational convenience. Simultaneously, by controlling the central axis of the environmental sensor's field of view to be parallel to the horizontal direction, the environmental sensor on the movable object can normally collect information, thereby ensuring that the movable object can normally execute the tasks issued by the user.

[0080] Optionally, after the movable object enters the privacy protection state, the embodiments of this application may further include the following steps: Step S51, in response to receiving a task execution instruction, outputting a first prompt message; wherein, the first prompt message is used to remind the user to control the movable object to exit the privacy protection state.

[0081] The task execution command can be sent by the user. For example, the user can send the command via voice or text through an interactive interface, or the user can input the command directly to the movable object via voice. For instance, a user can say "XX, please clean the living room" to the movable object to issue a task execution command.

[0082] After a movable object enters a privacy-protected state, it does not receive or execute tasks. Correspondingly, in response to receiving a task execution instruction, the movable object can output a first prompt message either verbally or as text. Alternatively, in response to receiving a task execution instruction, the control terminal can output the first prompt message in either verbal or text-based format on the display interface.

[0083] The specific content of the first prompt message can be preset. For example, the first prompt message could be "Please exit privacy protection mode first." The task will only be received and executed normally after the movable object exits privacy protection mode.

[0084] In this embodiment, in response to receiving a task execution instruction, a first prompt message is output to remind the user to control the movable object to exit the privacy protection state. By outputting this first prompt message, the user can intuitively understand that the movable object is currently in a privacy protection state and cannot receive or execute tasks; it needs to exit the privacy protection state first. This allows the user to promptly control the movable object to exit the privacy protection state when a task needs to be performed, thus ensuring that the task can be executed normally.

[0085] It should be noted that, in this embodiment, in response to receiving the first control command, when the movable object is currently in working mode, a second prompt message can be output. The second prompt message is used to remind the user that the task is about to be completed. In response to receiving the first control command, when the movable object is currently in idle mode, a third prompt message can be output. The third prompt message is used to remind the user that the object will soon be docked at a preset location. The output method of the second prompt message can refer to the output method of the first prompt message described above, and will not be repeated here. The specific content of the second prompt message can be preset; for example, the second prompt message can be "Okay, I'll finish what I'm doing first." The output method of the third prompt message can also refer to the output method of the first prompt message described above, and will not be repeated here. The specific content of the third prompt message can be preset; for example, the third prompt message can be "Okay, I'll find a corner to sit in." In this way, by outputting the second and third prompt messages, the user can intuitively understand the operation that the movable object is about to perform.

[0086] Optionally, in this embodiment, a first control can also be displayed in the interactive interface. Upon detecting a user's selection operation on the first control in the displayed interface, it is determined that a first trigger operation from the user has been received. The first control can be a button representing a "privacy protection state," and the specific operation form of selecting the first control can be predefined. For example, the selection operation of the first control can be a click operation, a long press operation, etc. In this embodiment, by displaying the first control in the interactive interface, the user can trigger the control terminal to control a movable object to enter a privacy protection state by selecting the first control, improving the convenience of user operation. It should be noted that in this embodiment, buttons whose corresponding functions are not used in the privacy protection state can also be set to an unselectable state. For example, the "one-click emergency stop" button can be grayed out, making it unselectable by the user. This avoids the problem of other buttons being accidentally pressed.

[0087] Optionally, in this embodiment, a second control may also be displayed in the interactive interface. Upon detecting a user's selection operation on the second control in the displayed interface, it is determined that a second trigger operation from the user has been received. The second control may be the same control as the first control described above, i.e., the same button. For example, Figure 5 This is another interface diagram provided by an embodiment of the present invention. The second control and the first control can be Figure 5The system includes a "Privacy Protection" button. Correspondingly, if the movable object is not currently in a privacy protection state, a first trigger operation from the user is determined upon detecting a user's selection of this button. If the movable object is currently in a privacy protection state, a second trigger operation from the user is determined upon detecting a user's selection of this button. Alternatively, the second control may not be the same as the first control. For example, a "Enter Privacy Protection State" button and a "Exit Privacy Protection State" button can be displayed. A first trigger operation from the user is determined upon detecting a user's selection of the "Enter Privacy Protection State" button. A second trigger operation from the user is determined upon detecting a user's selection of the "Exit Privacy Protection State" button. The specific operation form of the selection operation of the second control can be predefined. For example, the selection operation of the second control can be a click operation, a long press operation, etc. In this embodiment, by displaying the second control in the interactive interface, the user can trigger the control terminal to control the movable object to exit the privacy protection state by selecting the second control, thus improving the convenience of user operation.

[0088] Optionally, in this embodiment, after receiving the first control command but before entering the privacy protection state, a fourth prompt message may be output, indicating that the privacy protection state is being entered. After entering the privacy protection state, a fifth prompt message may be output, indicating that the privacy protection state has been entered.

[0089] The specific content of the fourth prompt message can be preset. For example, the fourth prompt message could be "Entering privacy protection mode". When outputting the fourth prompt message, it can be delivered by the movable object in the form of voice or text display. Alternatively, the control terminal can output the fourth prompt message in the display interface in the form of voice or text display. For example, the control terminal can display "Entering privacy protection mode" on the APP homepage. Furthermore, the specific content of the fifth prompt message can be preset. For example, the fifth prompt message could be "Currently in privacy protection mode, silently waiting, protecting your private space". The output method of the fifth prompt message can also refer to the output method of the aforementioned fourth prompt message, and will not be repeated here. In this way, by outputting the fourth and fifth prompt messages, users can intuitively understand the current state of the movable object.

[0090] Figure 6 This is a block diagram of a movable object provided in an embodiment of this application. The device includes: Memory 201 and processor 202; Memory 201 is used to store program code; Processor 202 calls program code, which, when executed, performs the following operations: In response to receiving a first control command, the movable object is controlled to stop at a preset position; the first control command is used to instruct the movable object to enter a privacy protection state. The environmental sensor mounted on the movable object is controlled to be located at a first preset angle in the pitch direction; wherein, when the environmental sensor is located at the first preset angle, the central axis of the field of view of the environmental sensor is not parallel to the horizontal direction.

[0091] In summary, in the movable object provided in this application embodiment, in response to receiving a first control command, the movable object is controlled to stop at a preset position. The first control command is used to instruct the movable object to enter a privacy protection state. The environmental sensor mounted on the movable object is controlled to be at a first preset angle in the pitch direction; wherein, when the environmental sensor is at the first preset angle, the central axis of the environmental sensor's field of view is not parallel to the horizontal direction. Thus, by controlling the movable object to stop at the preset position and controlling the central axis of the environmental sensor's field of view to be non-parallel to the horizontal direction, a privacy protection state is entered. In this privacy protection state, the information that the environmental sensor can collect is limited, thereby reducing the user's privacy anxiety.

[0092] Furthermore, by reducing users' privacy anxieties, the frequency of device use can be increased to some extent, thereby improving device utilization.

[0093] Optionally, the environmental sensor is mounted on the movable object via a gimbal, and controlling the environmental sensor mounted on the movable object to be at a first preset angle in the pitch direction includes: controlling the gimbal to rotate so that the environmental sensor is at the first preset angle in the pitch direction; and / or, The environmental sensor is fixedly mounted on the movable part of the movable object, the movable part of the movable object including the head and / or the hand of the movable object, and controlling the environmental sensor mounted on the movable object to be located at a first preset angle in the pitch direction includes: controlling the movement of the movable part of the movable object so that the environmental sensor is located at the first preset angle in the pitch direction.

[0094] Optionally, the pitch direction includes both the downward viewing direction and the upward viewing direction; The control of the environmental sensor mounted on the movable object to be located at a first preset angle in the pitch direction includes: controlling the environmental sensor mounted on the movable object to be located at a first preset angle in the top-view direction, so that the central axis of the field of view of the environmental sensor is oriented towards the ground; and / or, the angle between the central axis of the field of view of the environmental sensor and the horizontal direction is greater than 45°.

[0095] Optionally, the method further includes: The robotic arm controlling the movable object is adjusted to a first preset posture; wherein, the first preset posture includes the robotic arm pointing vertically downward.

[0096] Optionally, controlling the movable object to stop at a preset position includes: In response to the movable object being located at a charging station, the movable object is controlled to stop at the charging station, which can be used to charge the movable object; In response to the movable object not being located at the charging station, the movable object is controlled to move and dock at the charging station.

[0097] Optionally, the step of controlling the movable object to move and dock at the charging station in response to the movable object not being located at the charging station includes: In response to the fact that the movable object is not located at the charging pile and the distance between it and the charging pile is not greater than a first preset distance, the movable object is controlled to move and stop at the charging pile; The method further includes: in response to the movable object not being located at the charging pile and the distance from the charging pile being greater than the first preset distance, controlling the movable object to stop at a position at a second preset distance from the wall within a preset range.

[0098] Optionally, controlling the movable object to stop at a position a second preset distance from the wall within a preset range includes: controlling the movable object to stop at a position a second preset distance from the wall with the environmental sensor facing the wall.

[0099] Optionally, the method further includes: In response to receiving a second control command, the environmental sensor mounted on the movable object is controlled to be positioned at a second preset angle in the pitch direction. The second control command is used to instruct the movable object to exit the privacy protection state. The second control command is used to instruct the movable object to exit the privacy protection state, and when the environmental sensor is located at the second preset angle, the central axis of the field of view of the environmental sensor is parallel to the horizontal direction.

[0100] Optionally, controlling the movable object to stop at a preset position includes: When the movable object is currently in working mode, control the movable object to perform the closing operation of the current task, and after completing the closing operation, control the movable object to stop at a preset position. When the movable object is currently in idle mode, control the movable object to dock at a preset position.

[0101] Optionally, the current task includes multiple sub-tasks, and controlling the movable object to perform the closing operation of the current task includes: Stop the currently executing subtasks in the current task and stop the start of any subtasks to be executed.

[0102] Optionally, stopping the currently executing subtask in the current task includes: With the robotic arm currently holding an item, the item is placed, and after placement, the robotic arm is adjusted to a second preset posture; the second preset posture is when the line connecting the shoulder and elbow of the robotic arm is perpendicular to the horizontal plane. If the robotic arm is not currently holding an item, it is directly adjusted to the second preset posture.

[0103] Optionally, after the movable object enters a privacy-protected state, the method further includes: In response to receiving a task execution instruction, a first prompt message is output; wherein, the first prompt message is used to remind the user to control the movable object to exit the privacy protection state.

[0104] This application provides a control terminal for a movable object, including a processor, a memory, a communication interface, and a communication bus. The processor, memory, and communication interface communicate with each other via the communication bus; the memory stores at least one executable instruction, which causes the processor to execute the control method for the movable object described in the preceding embodiments. The executable instructions can form a program.

[0105] This application provides a readable storage medium storing instructions that, when executed by one or more processors, enable the processors to perform the control method for a movable object described in the foregoing embodiments. The readable storage medium can be one or more.

[0106] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the control method for a movable object described in the foregoing embodiments.

[0107] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0108] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this application can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0109] It should be noted that all actions involving the acquisition of signals, information, or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where the application is located, and with the authorization granted by the owner of the relevant device.

[0110] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0111] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors can be used in practice to implement some or all of the functions of some or all of the components in the control terminal according to the embodiments of this application. This application can also be implemented as a device or apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application can be stored on a computer-readable medium, or can take the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0112] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The terms "an embodiment," "embodiment," or "one or more embodiments" as used herein mean that a specific feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of this application. Furthermore, please note that the phrase "in one embodiment" does not necessarily refer to the same embodiment in all instances.

[0113] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0114] In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling a movable object, characterized in that, The method includes: In response to receiving a first control command, the movable object is controlled to stop at a preset position; the first control command is used to instruct the movable object to enter a privacy protection state. The environmental sensor mounted on the movable object is controlled to be located at a first preset angle in the pitch direction; wherein, when the environmental sensor is located at the first preset angle, the central axis of the field of view of the environmental sensor is not parallel to the horizontal direction.

2. The method according to claim 1, characterized in that, The environmental sensor is mounted on the movable object via a gimbal. Controlling the environmental sensor mounted on the movable object to be at a first preset angle in the pitch direction includes: controlling the gimbal to rotate so that the environmental sensor is at the first preset angle in the pitch direction; and / or, The environmental sensor is fixedly mounted on the movable part of the movable object, the movable part of the movable object including the head and / or the hand of the movable object, and controlling the environmental sensor mounted on the movable object to be located at a first preset angle in the pitch direction includes: controlling the movement of the movable part of the movable object so that the environmental sensor is located at the first preset angle in the pitch direction.

3. The method according to claim 1, characterized in that, The pitch direction includes the downward viewing direction and the upward viewing direction; The control of the environmental sensor mounted on the movable object to be located at a first preset angle in the pitch direction includes: controlling the environmental sensor mounted on the movable object to be located at a first preset angle in the top-view direction, so that the central axis of the field of view of the environmental sensor is oriented towards the ground; and / or, the angle between the central axis of the field of view of the environmental sensor and the horizontal direction is greater than 45°.

4. The method according to claim 1, characterized in that, The method further includes: The robotic arm controlling the movable object is adjusted to a first preset posture; wherein, the first preset posture includes the robotic arm pointing vertically downward.

5. The method according to claim 1, characterized in that, Controlling the movable object to stop at a preset position includes: In response to the movable object being located at a charging station, the movable object is controlled to stop at the charging station, which can be used to charge the movable object; In response to the movable object not being located at the charging station, the movable object is controlled to move and dock at the charging station.

6. The method according to claim 5, characterized in that, The step of controlling the movable object to move and dock at the charging station in response to the movable object not being located at the charging station includes: In response to the fact that the movable object is not located at the charging pile and the distance between it and the charging pile is not greater than a first preset distance, the movable object is controlled to move and stop at the charging pile; The method further includes: in response to the movable object not being located at the charging pile and the distance from the charging pile being greater than the first preset distance, controlling the movable object to stop at a position at a second preset distance from the wall within a preset range.

7. The method according to claim 6, characterized in that, The control of the movable object to stop at a position at a second preset distance from the wall within a preset range includes: controlling the movable object to stop at a position at a second preset distance from the wall with the environmental sensor facing the wall.

8. The method according to claim 1, characterized in that, The description also includes: In response to receiving a second control command, the environmental sensor mounted on the movable object is controlled to be positioned at a second preset angle in the pitch direction. The second control command is used to instruct the movable object to exit the privacy protection state. The second control command is used to instruct the movable object to exit the privacy protection state, and when the environmental sensor is located at the second preset angle, the central axis of the field of view of the environmental sensor is parallel to the horizontal direction.

9. The method according to claim 1, characterized in that, Controlling the movable object to stop at a preset position includes: When the movable object is currently in working mode, control the movable object to perform the closing operation of the current task, and after completing the closing operation, control the movable object to stop at a preset position. When the movable object is currently in idle mode, control the movable object to dock at a preset position.

10. The method according to claim 9, characterized in that, The current task includes multiple sub-tasks, and controlling the movable object to perform the closing operation of the current task includes: Stop the currently executing subtasks in the current task and stop the start of any subtasks to be executed.

11. The method according to claim 10, characterized in that, The step of stopping the currently executing subtask in the current task includes: With the robotic arm currently holding an item, the item is placed, and after placement, the robotic arm is adjusted to a second preset posture; the second preset posture is when the line connecting the shoulder and elbow of the robotic arm is perpendicular to the horizontal plane. If the robotic arm is not currently holding an item, it is directly adjusted to the second preset posture.

12. The method according to claim 1, characterized in that, After the movable object enters a privacy-protected state, the method further includes: In response to receiving a task execution instruction, a first prompt message is output; wherein, the first prompt message is used to remind the user to control the movable object to exit the privacy protection state.

13. A movable object, characterized in that, The movable object includes a memory and a processor; The memory is used to store program code; The processor calls the program code, which, when executed, performs the following operations: In response to receiving a first control command, the movable object is controlled to stop at a preset position; the first control command is used to instruct the movable object to enter a privacy protection state. The environmental sensor mounted on the movable object is controlled to be located at a first preset angle in the pitch direction; wherein, when the environmental sensor is located at the first preset angle, the central axis of the field of view of the environmental sensor is not parallel to the horizontal direction.

14. A control terminal for a movable object, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store executable instructions that cause the processor to perform the method as described in claims 1 to 12.

15. A readable storage medium, characterized in that, It stores instructions that, when executed by one or more processors, cause the processors to perform the method as claimed in any one of claims 1 to 12.

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