Control method and device, and ground mobile terminal

Abstract

This application discloses a control method and apparatus, and a ground mobile terminal, relating to the field of terminal control technology; the method is applied to a mobile terminal. In this method, spatial perception capability is achieved by acquiring and utilizing sensor data. By acquiring the relative position information between the mobile terminal and a virtual target, the mobile terminal becomes an interactive entity with active spatial positioning and target tracking capabilities. Furthermore, a first output signal is output through a non-screen output channel. Since the characteristic parameters of the first output signal dynamically change with the relative position, the user does not need to look at the screen; the relative spatial relationship between the mobile terminal and the virtual target can be determined in real time simply by observing the dynamic changes in the characteristic parameters of the first output signal. This guides the user to manipulate the mobile terminal to approach the virtual target, facilitating the search and grasping of the virtual target, achieving a screenless, immersive, and interactive spatial human-computer interaction effect, and enhancing the sense of immersion.

Description

Technical Field

[0001] This application relates to the field of terminal control technology, and in particular to a control method and device, and a ground mobile terminal. Background Technology

[0002] Small, entertainment-oriented robots, drones, and other mobile terminals designed for home use generally suffer from technical defects such as fixed interaction methods and insufficient immersion when conducting immersive real-time human-computer interaction.

[0003] For example, current interactive gameplay relies on screen display devices such as mobile phones, tablets, dedicated remote controls, or AR glasses for target searching and grabbing. Users need to continuously look at the screen to obtain the target's location and distance information; once they are off the screen, they cannot complete the target search and grabbing. At the same time, the mobile terminal plays a singular role in the interaction, merely serving as a carrier for mobile execution, without deeply participating in target searching and grabbing, resulting in extremely poor interactive immersion. Summary of the Invention

[0004] This application provides a control method and apparatus, and a ground mobile terminal, which aims to fully utilize the mobile terminal's own spatial perception capabilities and non-screen output capabilities without relying on screen output, to achieve spatial guidance of virtual targets to facilitate the grasping of virtual targets and enhance the interactive immersion.

[0005] In a first aspect, this application provides a control method, the method comprising: Acquire sensor data from the mobile terminal; Based on sensor data, the relative position information of the mobile terminal and the virtual target in the first area is obtained. The first area is the ground area or space area where the mobile terminal is located. Based on the relative position information, the non-screen output channel of the mobile terminal is controlled to output a first output signal. The dynamic changes of the characteristic parameters of the first output signal indicate the changes in the relative position between the mobile terminal and the virtual target.

[0006] In the above method, by acquiring and utilizing sensor data, the mobile terminal can perceive its own pose in real time without external positioning facilities, thus achieving spatial awareness. By acquiring the relative position information between the mobile terminal and the virtual target, the mobile terminal is no longer just a carrier for movement, but an interactive subject with active spatial positioning and target tracking capabilities.

[0007] Furthermore, by outputting a first output signal through a non-screen output channel, the spatial position information of the virtual target is conveyed to the user without relying on screen output, thus achieving non-screen output capability. Since the dynamic changes in the characteristic parameters of the first output signal indicate relative position changes, the user does not need to look at the screen; they can determine the relative spatial relationship between the mobile terminal and the virtual target in real time simply by observing the dynamic changes in the characteristic parameters of the first output signal. This guides the user to manipulate the mobile terminal to approach the virtual target, facilitating the search and grasping of the virtual target, achieving a screenless and immersive spatial human-computer interaction effect, and enhancing the sense of immersion in the interaction.

[0008] In one possible example of the first aspect, the virtual target is located at a reachable location of the mobile terminal, the reachable location is in an unoccupied state, and there is at least one reachable path between the mobile terminal and the reachable location.

[0009] In this example, constraints of "non-occupied state" and "path reachability" are introduced during the virtual target generation phase to ensure that the location of the virtual target is reachable by the mobile terminal and that there is at least one collision-free reachable path from the current location of the mobile terminal to the location of the virtual target. This avoids the virtual target being generated inside obstacles or inaccessible areas surrounded by obstacles, thus ensuring the successful search and capture of the virtual target.

[0010] In one possible example of the first aspect, the virtual target includes at least one of a first type of virtual target located on the ground and a second type of virtual target located in space above the ground.

[0011] In this example, by dividing virtual targets into a first category of ground-based virtual targets and a second category of aerial virtual targets, the interactive space is expanded from a two-dimensional ground space to a three-dimensional spatial space. This allows for the search and capture of ground-based virtual targets using only the mobile terminal's ground mobility capabilities, and also enables the search and capture of aerial virtual targets by combining the mobile terminal's high-dynamic movement capabilities such as jumping and ascending, thus enriching the interaction types and enhancing the fun and immersion of the interaction.

[0012] In one possible example of the first aspect, the second type of virtual target corresponds to a ground location directly below that is a reachable location for the mobile terminal.

[0013] In this example, the ground location directly below the second type of virtual target includes the ground location of the projected landing point of the second type of virtual target and the height range of the second type of virtual target. The ground location of the projected landing point is unoccupied, and there is at least one collision-free reachable path between this ground location and the current location of the mobile terminal, thus ensuring that the mobile terminal can reach the projected landing point of the second type of virtual target without collision when performing ground movement. The height range of the second type of virtual target is reachable and unobstructed, thus ensuring that there is no risk of collision on the jump trajectory when the mobile terminal performs a jump action.

[0014] In one possible example of the first aspect, the above method also includes: Within the first region, candidate spatial coordinates are randomly sampled; A virtual target is generated at the location of the candidate spatial coordinates if the candidate spatial coordinates are in an unoccupied state, the spatial height of the candidate spatial coordinates is within the movement reach range of the mobile terminal, the height range of the candidate spatial coordinates is not occupied, and there is at least one reachable path between the mobile terminal and the location of the candidate spatial coordinates.

[0015] In this example, candidate spatial coordinates are randomly sampled and verified. A virtual target is generated only when all four conditions are met simultaneously: the candidate spatial coordinates are not occupied, the spatial height is within the reach of movement, there are no obstacles within the height range, and there is at least one reachable path.

[0016] By verifying that the candidate spatial coordinates are in an unoccupied state, locations where virtual targets cannot be placed, such as obstacles and site boundaries, can be eliminated. By verifying that the spatial height of the candidate spatial coordinates is within the reach of the mobile terminal, high-altitude virtual targets exceeding the vertical movement limits of the mobile terminal, such as jumping or lifting, can be avoided. By verifying that the height range of the candidate spatial coordinates is not occupied, the possibility of obstacles occupying the vertical direction above the virtual target can be ruled out, preventing collisions when the mobile terminal moves upward to grab the virtual target. By verifying that there is at least one reachable path between the mobile terminal and the candidate spatial coordinates, it is ensured that the mobile terminal can successfully reach the jump position below the virtual target.

[0017] In this way, through a multi-layered verification mechanism, the probability of generating invalid virtual targets is greatly reduced, effectively solving the problems of unreasonable sampling positions of virtual targets, capture failures, and interruptions in the interaction process. This ensures that the relative position information obtained from subsequent calculations and the output screenless guidance signals are all true and valid, thereby improving the reliability, security, and smoothness of the human-computer interaction process.

[0018] In one possible example of the first aspect, the above method also includes: Under the condition that the preset refresh conditions are met, adjust the position of the virtual target in the first area; The preset refresh conditions include one of the following: the mobile terminal has successfully captured the virtual target; the virtual target has not been successfully captured after a preset time has elapsed since its generation; the virtual target has not been successfully captured after a preset time has elapsed; or the distance between the mobile terminal and the virtual target is greater than a preset distance when the virtual target has elapsed for a preset time.

[0019] In this example, when the mobile terminal has successfully captured the virtual target, the position of the virtual target is refreshed, and a new virtual target can be generated in a timely manner, ensuring the cyclical development of human-computer interaction tasks and improving the continuity of interaction.

[0020] If a virtual target is generated but not acquired within a preset time period, or if a virtual target is not successfully captured within a preset time period, the search timeout is determined and the location is refreshed. This can prevent users from being stuck at the same virtual target location for a long time without finding it, and prevent the human-computer interaction task from becoming stagnant.

[0021] When the distance between the mobile terminal and the virtual target exceeds the preset distance after the virtual target has been searched for a preset time, the system can accurately distinguish between situations where the user actively abandons the search and situations where the user temporarily moves away from the virtual target. This reduces the chances of the virtual target being mistakenly refreshed and the human-computer interaction task being unexpectedly interrupted, thus improving the rationality of the refresh judgment.

[0022] In this way, by using flexible and controllable preset refresh conditions, we can avoid the monotony of gameplay caused by virtual targets remaining fixed for a long time, and reduce the probability of abnormal phenomena such as invalid searches, task freezes, and accidental target refreshes, thus ensuring the continuity and reliability of the human-computer interaction process.

[0023] In one possible example of the first aspect, the relative position information includes relative orientation information and / or relative distance information, and the non-screen output channel includes an audio output channel and / or a light output channel; The first output signal includes the sound signal from the sound effect output channel and / or the light signal from the light effect output channel; The dynamic changes in the characteristic parameters of the sound signal indicate the changes in the relative orientation and / or relative distance between the mobile terminal and the virtual target; The dynamic changes in the characteristic parameters of the optical signal indicate the changes in the relative orientation and / or relative distance between the mobile terminal and the virtual target.

[0024] In this example, multiple selectable limitations are made for relative position information, non-screen output channels, and the first output signal. Relative orientation information or relative distance information can be selected individually, or both can be used simultaneously. The sound effect output channel and the light effect output channel can be controlled individually, or the two output channels can work together, and a dynamic mapping relationship is established between the characteristic parameters of the sound signal and the light signal and the relative orientation and relative distance, respectively.

[0025] In this way, through multiple optional configuration options, the guidance method is flexible and configurable. It can achieve guidance based on relative orientation or distance using only a single output channel, or it can coordinate two output channels to simultaneously achieve dual guidance based on relative orientation and distance. The sound signal and the light signal are independent yet complementary, and can utilize both auditory and visual output channels to synchronously provide feedback on changes in relative position. This enhances the user's sensitivity to changes in the position of virtual targets, reduces the difficulty of searching and grasping, and improves the immersive interactive experience.

[0026] In one possible example of the first aspect, the audio output channel includes a speaker; The relative orientation information includes the relative angle between the current orientation of the mobile terminal and the first direction, where the first direction is the direction in which the mobile terminal is facing the virtual target; and / or, the relative distance information includes the relative distance between the mobile terminal and the virtual target; The characteristic parameters of a sound signal include the loudness and frequency of the sound generator. The dynamic change in loudness indicates the change in the relative angle, and the dynamic change in frequency indicates the change in the relative distance.

[0027] In this example, relative angles are mapped to sound loudness, and relative distances are mapped to sound frequency. This decouples the relative orientation and relative distance information, allowing for synchronous output through a single audio output channel. Changes in sound loudness indicate directional deviation, while changes in sound frequency indicate target distance, resulting in high signal recognition. Non-screen spatial guidance can be achieved without adding extra hardware channels, resulting in low hardware costs, easy algorithm implementation, and improved spatial guidance effectiveness.

[0028] In one possible example of the first aspect, the light effect output channel includes an array of light-emitting dots; The relative orientation information includes the relative angle between the current orientation of the mobile terminal and the first direction, where the first direction is the direction in which the mobile terminal is facing the virtual target; and / or, the relative distance information includes the relative distance between the virtual target and the mobile terminal. The characteristic parameters of the optical signal include the color of the light-emitting points in the light-emitting point array and the flicker frequency of the light-emitting points. The dynamic change of the light-emitting point color indicates the change of the relative angle, and the dynamic change of the light-emitting point flicker frequency indicates the change of the relative distance.

[0029] In this example, the relative angle is mapped to the color of the light-emitting point, and the relative distance is mapped to the flashing frequency of the light-emitting point. This decouples the relative orientation and relative distance information, allowing for synchronous output through a single light effect output channel. Changes in the color of the light-emitting point indicate directional deviation, while changes in the flashing frequency indicate the distance to the target, resulting in high signal recognition. This method achieves non-screen space guidance without adding extra hardware channels, resulting in low hardware costs, easy algorithm implementation, and improved spatial guidance performance.

[0030] In one possible example of the first aspect, the light effect output channel includes an array of light-emitting dots; The relative orientation information includes the relative angle between the current orientation of the mobile terminal and the first direction, where the first direction is the direction in which the mobile terminal is facing the virtual target; and / or, the relative distance information includes the relative distance between the virtual target and the mobile terminal. The characteristic parameters of the optical signal include the horizontal position and vertical height of the light-emitting points in the light-emitting point array. The dynamic change of the horizontal position of the light-emitting points indicates the change of the relative angle, and the dynamic change of the vertical height of the light-emitting points indicates the change of the relative distance.

[0031] In this example, the relative angle is mapped to the horizontal position of the light-emitting point, and the relative distance is mapped to the vertical height of the light-emitting point. This decouples the relative orientation and relative distance information, allowing for synchronous output through a single light effect output channel. Changes in the horizontal position of the light-emitting point indicate directional deviation, while changes in the vertical height indicate the distance to the target, resulting in high signal recognition. This method achieves non-screen space guidance without adding extra hardware channels, resulting in low hardware costs, easy algorithm implementation, and improved spatial guidance performance.

[0032] In one possible example of the first aspect, the above method also includes: When the mobile terminal approaches the virtual target at a distance no greater than a preset distance, a prompt message is output to indicate that the mobile terminal has successfully captured the virtual target.

[0033] In this example, the distance between the mobile terminal and the virtual target is used as the basis for judging the capture. When the distance between the two is less than or equal to a preset distance threshold, the corresponding prompt message is triggered to inform the user that the mobile terminal has successfully captured the virtual target.

[0034] In this way, by setting a preset distance, the capture and judgment of virtual targets can be completed simply and efficiently, reducing the hardware cost and algorithm computation overhead of mobile terminals. Immediately outputting a prompt message after a successful capture provides clear and intuitive feedback to the user, allowing them to know in a timely manner that the capture task has been completed and facilitating the next round of searching. Simultaneously, this capture judgment mechanism works in conjunction with the aforementioned off-screen space guidance to prevent users from repeatedly searching for virtual targets due to uncertainty about whether the capture was successful, thus optimizing the interactive experience.

[0035] In one possible example of the first aspect, the prompting information includes voice prompts and / or action prompts; Voice prompts are used to indicate to the mobile terminal that the virtual target has been successfully captured by playing a preset voice message. Action prompts are used to indicate to the mobile terminal that the virtual target has been successfully captured by driving the mobile terminal to perform preset actions.

[0036] In this example, the notification message after a successful capture is set as a voice prompt and / or a motion prompt. Voice prompts deliver the capture result directly to the user with clear audio content, ensuring the feedback is unambiguous and highly recognizable. Motion prompts utilize the mobile device's jumping, turning, and acrobatic movements for feedback, fully leveraging the device's motion capabilities and making the feedback more vivid and intuitive.

[0037] In this way, auditory feedback is achieved by driving the mobile terminal to play preset voice, and / or motion feedback is achieved by driving the mobile terminal to perform preset actions, thereby informing the user that the virtual target has been successfully captured.

[0038] In one possible example of the first aspect, the above method also includes: When the countdown ends, an indication message is output, which indicates the number of virtual targets successfully captured and / or the points earned from capturing virtual targets.

[0039] In this example, after the countdown ends, the number of successfully captured virtual targets and / or the points earned are displayed to the user via an indicator message. Using the countdown as the game's settlement node enables a timed gameplay mechanism for human-computer interaction; outputting the game results data uniformly after the countdown ends provides the user with clear and complete feedback. Displaying the number of successfully captured virtual targets intuitively reflects the user's progress in the search task. Displaying the points earned from capturing virtual targets quantifies the user's performance in this game, introducing a scoring and competitive mechanism, and increasing the sense of purpose and challenge in human-computer interaction.

[0040] In one possible example of the first aspect, the above method also includes: When the number of successfully captured virtual targets reaches a set number, a second indication message is output, which indicates the time taken to capture the set number of virtual targets.

[0041] The set quantity can be understood as the total number of virtual targets that need to be successfully captured in a single human-computer interaction game. For example, the set quantity is 5 virtual targets.

[0042] This time information can be the duration taken to capture a set number of virtual targets. For example, the time elapsed from the start of the timer until the set number of virtual targets is successfully captured.

[0043] This time information can also be other information related to the time spent capturing a set number of virtual targets. For example, it could be points. Optionally, the shorter the time spent capturing the set number of virtual targets, the higher the points.

[0044] In this example, reaching a predetermined number of successfully captured virtual targets marks the settlement point. This transforms the objective of the human-computer interaction game from "capturing as many virtual targets as possible within a limited time" to "capturing a fixed number of virtual targets in the shortest possible time," thus creating a racing-style human-computer interaction game. This way, users have a clear and constant amount of remaining tasks throughout the game, eliminating the need to choose between remaining time and remaining targets, resulting in a more compact game pace. Furthermore, the completion time is a continuous, quantifiable metric that can be directly compared across games and users, allowing users to compare their own historical performance or that of other users, increasing their willingness to replay the game.

[0045] Furthermore, since the quantification accuracy of completion time is much higher than that of the quantification accuracy of capture quantity (for example, completion time can be accurate to 0.1 seconds), it can still distinguish subtle differences in user skill levels in shorter games, avoiding the problem of clustered scores caused by the discreteness and insufficient differentiation of capture quantity when using capture quantity as the settlement result.

[0046] In one possible example of the first aspect, the above method also includes: Simultaneously with stopping the timing, the adjustment of the virtual target's position within the first area is stopped, as is the output of the first output signal through the non-screen output channel.

[0047] In this example, the virtual target refresh and the first output signal are stopped synchronously at the settlement node. On the one hand, this avoids the generation of virtual targets that the user cannot capture after settlement, as well as the output of guidance signals without corresponding targets, preventing the user from misjudging whether the game has ended. On the other hand, after the first output signal (such as prompt sound effects) stops, the indication information output during the settlement phase will not be obscured by the first output signal, ensuring the clear communication of the settlement results.

[0048] In one possible example of the first aspect, the above method also includes: The time information is compared with the historical best time; if the time information is better than the historical best time, a record-breaking prompt message is output, and the historical best time is updated according to the time information.

[0049] In this example, by comparing the time taken to complete the current game with the best historical time, and outputting a record-breaking notification when the completion time is better than the best historical time, the user is provided with a longitudinal performance reference across games and real-time positive feedback, which further enhances the challenge of human-computer interaction and the motivation to continue playing.

[0050] In one possible example of the first aspect, the above method also includes: If the timer reaches the preset time limit and the number of successfully captured virtual targets does not reach the set number, the timer stops and a third indication message is output, which indicates the number of successfully captured virtual targets.

[0051] In this example, by using a preset time limit as a fallback settlement condition, the game is prevented from dragging on indefinitely if the user fails to capture a sufficient number of virtual targets, thus ensuring that the duration of each human-computer interaction game is controllable. The number of successfully captured virtual targets is then used as the settlement result, allowing meaningful feedback even for games where the preset number of targets is not reached.

[0052] Secondly, this application provides a control device, comprising: Acquisition unit, used to acquire sensor data from the mobile terminal; The acquisition unit is also used to acquire relative position information between the mobile terminal and the virtual target in a first area based on sensor data. The first area is the ground area or space area where the mobile terminal is located. The control unit is used to control the output of a first output signal from the non-screen output channel of the mobile terminal based on the relative position information. The dynamic change of the characteristic parameters of the first output signal indicates the change in the relative position between the mobile terminal and the virtual target.

[0053] Thirdly, this application provides a control device, which includes a processor, a memory, and a computer program or signaling stored in the memory. The processor executes the computer program or signaling to implement the method described in the first aspect above.

[0054] Fourthly, this application provides a ground mobile terminal, comprising: Sensors are used to acquire sensor data from ground-based mobile terminals. The control device is used to obtain the relative position information of the ground mobile terminal and the virtual target in the first area based on sensor data; The control device is also used to control the output of a first output signal from the non-screen output channel of the ground mobile terminal based on the relative position information. The dynamic change of the characteristic parameters of the first output signal indicates the change in the relative position between the ground mobile terminal and the virtual target.

[0055] In one possible example of the fourth aspect, the ground mobile terminal includes a body and legs, at least one of which is equipped with sensors; the legs are used to move the body on the ground and to drive the body to jump above the ground relative to the ground.

[0056] In one possible example of the fourth aspect, the control device is the control device described in the third aspect above.

[0057] Fifthly, this application provides a computer-readable storage medium storing a computer program or instructions that, when executed, implement the steps of the method described in the first aspect.

[0058] Sixthly, this application provides a computer program product, including a computer program or instructions, which, when executed, implement the steps of the method described in the first aspect. For example, the computer program product may be a software installation package.

[0059] It is worth noting that the technical effects of the technical solutions in the second to sixth aspects can be referred to the technical effects of the technical solutions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of the hardware and software architecture of a mobile terminal according to an embodiment of this application; Figure 2 This is a flowchart illustrating a control method according to an embodiment of this application; Figure 3 This is a functional unit block diagram of a control device according to an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a control device according to an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a ground mobile terminal according to an embodiment of this application. Detailed Implementation

[0061] The terms "first," "second," etc., used in the embodiments of this application are used to distinguish different objects, not to describe a specific order. "At least one of the following" or similar expressions in the embodiments of this application refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent the following seven cases: a; b; c; a and b; a and c; b and c; a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0062] Small, entertainment-oriented robots, drones, and other mobile terminals designed for home use face challenges such as insufficient positioning accuracy, limited mobility, and rigid interaction methods when conducting immersive real-time human-computer interaction activities, making it difficult to provide truly immersive real-time human-computer interaction experiences.

[0063] For example, taking mobile terminals as robots, in terms of positioning accuracy, most robots rely solely on wheeled odometry for pose estimation. During high-speed movement, turning, jumping and landing, wheel slippage, or uneven ground, the cumulative positioning error increases rapidly, resulting in significant drift. To maintain a stable pose for an extended period, external positioning facilities such as mobile apps, external base stations, or QR codes are typically required, increasing the barrier to entry and limiting the robot's range of motion and autonomy. Regarding movement capabilities, most robots generally have slow walking speeds and lack vertical or acrobatic movements such as jumping and somersaults. Their limb movements are limited, making it difficult to create memorable gameplay feedback. In terms of interaction, most products are limited to preset functions such as voice Q&A, following, and obstacle avoidance, lacking human-computer interaction designs that combine the robot's high-dynamic movement capabilities with spatial awareness.

[0064] The following provides specific examples of the mobile terminal in the embodiments of this application.

[0065] In the embodiments of this application, the mobile terminal can refer to a smart terminal with spatial mobility and interaction capabilities for home scenarios.

[0066] In one possible example, the mobile terminal is a terrestrial mobile terminal.

[0067] For example, ground-based mobile terminals include wheeled or legged robots. These robots can be embodied intelligent terminals centered on interaction, equipped with sensors and motion actuators, capable of moving autonomously or remotely in a home environment, and interacting with users through sound, light, and body movements.

[0068] In one possible example, the mobile terminal is an over-the-air mobile terminal.

[0069] For example, aerial mobile terminals include drones, which can be aerial vehicles controlled by radio remote control equipment or their own programs, and have the ability to move in space and carry payloads.

[0070] In one possible example, the mobile terminal has independent environmental awareness, autonomous localization and mapping, high dynamic motion execution, on-the-spot audio-visual interaction, and embedded algorithm computing capabilities.

[0071] In one possible example, the mobile terminal adopts a layered architecture design, mainly divided into two major layers: hardware layer and software layer. With the hardware and software working together, it can completely operate independently without external base stations, screen terminals, positioning markers and other auxiliary facilities, and complete the entire process of screenless spatial treasure hunt interactive game.

[0072] like Figure 1 As shown, Figure 1 This is an architectural diagram of the hardware and software layers of a mobile terminal according to an embodiment of this application. Figure 1 In this context, the mobile terminal includes a hardware layer 110 and a software layer 120.

[0073] Hardware layer 110 can serve as the basic hardware platform for mobile terminals, providing the physical foundation for mobile terminals to realize sensing, motion, and interaction functions. Hardware layer 110 includes a sensing sensor component 1101, a motion execution component 1102, a human-computer interaction output component 1103, and a control component 1104.

[0074] The sensing sensor component 1101 can simultaneously collect environmental depth information, mobile terminal attitude angular velocity data, and wheel displacement mileage data, providing raw sensor data for multimodal fusion positioning and mapping.

[0075] Optionally, the sensing sensor assembly 1101 includes at least one of a stereo camera, a depth camera, an inertial measurement unit (IMU), a wheeled odometer, a laser distance sensor (LDS), a time-of-flight (ToF) depth sensor, and an ultra-wideband (UWB) sensor.

[0076] Stereo cameras or depth cameras can be used to acquire environmental depth information to support mapping and obstacle detection. They can continuously acquire environmental depth images and obtain spatial information on obstacle distribution and passable areas.

[0077] An inertial measurement unit (IMU) can be used to sense the device's own acceleration and angular velocity. It can collect triaxial angular velocity, acceleration, and attitude angle data at high frequency, compensate for instantaneous posture changes under high speed and jumping impact, and capture the dynamic attitude changes of the mobile terminal in real time during high-speed movement, turning, and jumping impact.

[0078] Wheel odometers can provide continuous wheel speed and displacement references, and can collect wheel rotation pulse signals in real time to obtain equipment travel displacement and speed data.

[0079] The motion execution component 1102 can support high-dynamic motion actions such as high-speed movement, turning in place, jumping in place, and somersaults on mobile terminals, and provides hardware support for virtual target grabbing, game feedback celebration actions, etc.

[0080] Optionally, the motion execution component 1102 includes a drive motor and a motion chassis (such as a wheeled, legged, or rotor-type chassis) to enable the mobile terminal to perform motion capabilities such as planar movement, turning, jumping, somersaulting, and taking off.

[0081] The human-computer interaction output component 1103 can realize multi-tone sound effect output, dynamic adjustment of volume and flashing frequency, and variable display of light color and light spot position, and is used to complete screenless space guided interaction.

[0082] Optionally, the human-computer interaction output component 1103 includes a non-screen output channel. For example, the non-screen output channel includes a speaker or buzzer, an eye-emitting diode (LED) dot matrix, or a red-green-blue (RGB) light strip.

[0083] The control component 1104 can be used to carry an embedded computing platform, which is responsible for receiving all sensor data, performing algorithm calculations, motion control, and outputting interactive signals.

[0084] The control components include a processor and memory. The processor may be a Central Processing Unit (CPU), a Microcontroller Unit (MCU), a Digital Signal Processor (DSP), or a Field-Programmable Gate Array (FPGA). The memory may include Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read-Only Memory (EPROM), or Compact Disc Read-Only Memory (CD-ROM), etc.

[0085] The software layer 120 can serve as the core logic layer for human-computer interaction in mobile terminals. The software layer 120 includes a positioning and mapping algorithm module 1201, a site safety detection module 1202, a virtual target management module 1203, a mapping guidance module 1204, and a game control module 1205.

[0086] Optionally, the software layer 120 is deployed on the local main control platform of the mobile terminal, without the need for cloud or external device assistance.

[0087] The positioning and mapping algorithm module 1201 can realize the fusion of various sensor data, build virtual space maps in real time, suppress positioning drift under high dynamic conditions, and stably output the real-time pose of mobile terminals.

[0088] The venue safety inspection module 1202 can autonomously complete venue safety inspections and determine whether the venue space and ground conditions meet the safety requirements for acrobatic sports.

[0089] The virtual target management module 1203 can realize the generation, reachability verification, refresh and timeout fault tolerance of virtual targets.

[0090] The mapping guidance module 1204 can establish a dynamic mapping relationship between relative position information and characteristic parameters of the output signal of the non-screen output channel, thereby realizing screenless spatial guidance.

[0091] The game control module 1205 is responsible for game timing, differentiated scoring, capture judgment, action feedback and quick restart logic, forming a complete immersive human-computer interaction game closed loop.

[0092] The following is a specific example illustrating one control method in an embodiment of this application.

[0093] Figure 2 This is a flowchart illustrating a control method according to an embodiment of this application, which is applied to a mobile terminal. Figure 2 In this method, the method includes: S210. Acquire sensor data from the mobile terminal.

[0094] S220. Based on sensor data, obtain the relative position information of the mobile terminal and the virtual target in a first area, where the first area is the ground area or space area where the mobile terminal is located.

[0095] S230. Based on the relative position information, control the output of a first output signal from the non-screen output channel of the mobile terminal, wherein the dynamic change of the characteristic parameters of the first output signal indicates the change in the relative position between the mobile terminal and the virtual target.

[0096] In the above method, by acquiring and utilizing sensor data, the mobile terminal can perceive its own pose in real time without external positioning facilities, thus achieving spatial awareness. By acquiring the relative position information between the mobile terminal and the virtual target, the mobile terminal is no longer just a carrier for movement, but an interactive subject with active spatial positioning and target tracking capabilities.

[0097] Furthermore, by outputting a first output signal through a non-screen output channel, the spatial position information of the virtual target is conveyed to the user without relying on a screen, thus achieving non-screen output capability. The dynamic changes in the characteristic parameters of the first output signal indicate relative positional changes. Users can determine the relative spatial relationship between the mobile terminal and the virtual target in real time through these dynamic changes, guiding the user to maneuver the mobile terminal closer to the virtual target. This facilitates the search and grasping of the virtual target, achieving a screenless and immersive spatial human-computer interaction effect and enhancing the sense of immersion.

[0098] In one possible example Figure 2 The mobile terminal mentioned above is Figure 1 Mobile terminals in China.

[0099] The following provides specific examples illustrating the content of S210.

[0100] Sensor data can be raw sensor data collected by the sensors of the mobile terminal. For example, it can be data collected by the sensing sensor component 1101. In this way, sensor data can be collected in real time using the mobile terminal's own hardware, without relying on external base stations, visual markers, or host devices.

[0101] In one possible example, sensor data includes multi-source sensor data, which can be a set of raw sensing data with complementary characteristics collected synchronously by multiple sensors of a mobile terminal.

[0102] In this way, by fusing and complementing data from multiple sources, the shortcomings of a single odometer, such as large cumulative positioning errors and severe positioning drift under conditions of high-speed movement, wheel slippage, and impact from jumping and landing, can be effectively compensated. This improves the stability and robustness of the mobile terminal's spatial perception, providing a high-precision, low-drift spatial coordinate foundation for subsequent virtual target generation, spatial relative position calculation, screenless spatial guidance, and precise grasping interaction, thus enabling autonomous immersive spatial interaction without external positioning facilities.

[0103] Optionally, the various sensor data collected by multiple sensors are time-aligned and preprocessed to form synchronous, stable, and usable multi-source sensor data.

[0104] Optionally, the multiple sensors include at least two of the following: stereo camera, depth camera, IMU, wheel odometer, laser rangefinder, ToF depth sensor, UWB sensor, etc.

[0105] Wheel-type odometers can collect wheel rotation pulse signals in real time to obtain data on equipment displacement and speed.

[0106] Optionally, the multi-source sensor data includes at least two of the following: environmental depth data from a stereo camera, attitude motion data from an IMU, and displacement velocity data from a wheeled odometer. In one example, the multi-source sensor data includes environmental depth data from a stereo camera, attitude motion data from an IMU, and displacement velocity data from a wheeled odometer. This allows for the use of high-frequency attitude data from the IMU to compensate for instantaneous motion deviations, the use of environmental data from the stereo camera to correct spatial position errors, and the use of displacement velocity data from the wheeled odometer to provide positioning.

[0107] The following provides specific examples illustrating the content of S220.

[0108] The first region can be understood as the spatial range where the mobile terminal is located.

[0109] A virtual target can be understood as a non-physical interactive object with independent spatial coordinates. It does not have a corresponding physical entity and exists only in the virtual space constructed by the mobile terminal. Users need to control the mobile terminal to move in real space to approach and grab the virtual target. For example, virtual targets include virtual coins.

[0110] Relative position information can be understood as the two-dimensional or three-dimensional spatial positional relationship parameters of the virtual target relative to the mobile terminal in the spatial coordinate system of the first region. It is spatial information that represents the real-time spatial correspondence between the two.

[0111] In one possible example, the first region is a local ground or spatial region centered on the real-time location of the mobile terminal and dynamically updated as the mobile terminal moves.

[0112] In one possible example, for a ground mobile terminal such as a wheeled or legged robot, or for a scenario of a virtual target on the ground, the first region is the ground plane where the mobile terminal is located, and the coordinates in the relative position information include two-dimensional coordinates or three-dimensional coordinates.

[0113] In one possible example, for a scenario involving an aerial mobile terminal such as a drone, or a virtual target in the air, the first region is the airspace where the mobile terminal is located, and the coordinates in the relative position information include three-dimensional coordinates.

[0114] In one possible example, the mobile terminal can construct a virtual spatial map corresponding to a first region. For instance, the mobile terminal can obtain a virtual spatial map after digitally modeling the first region.

[0115] Optionally, the virtual space map is stored in the memory of the mobile terminal in the form of a grid (such as an occupied grid map), geometric elements, feature points, or topological map.

[0116] Optionally, a virtual space map is a digital representation of the surrounding space constructed in memory by a mobile terminal based on sensors (such as stereo cameras, depth cameras, etc.) to perceive and model the surrounding environment. For example, a virtual space map includes an occupation grid map.

[0117] Optionally, the virtual target is defined and stored in the form of coordinate data within the virtual space map.

[0118] In one possible example, the first area can be the space currently perceived by the mobile terminal, or it can be an effective activity space that the mobile terminal can perceive, pass through, and perform motion and grasping operations in. The location of the virtual target is within the first area.

[0119] In one possible example, the first area is the area that passes the venue safety inspection. The venue safety inspection includes ensuring that the dimensions of the venue space and the ground conditions meet the safety requirements for acrobatic sports.

[0120] For example, taking a mobile terminal as a robot, after entering the game, the robot looks around in place to determine if the venue and ground conditions meet the safety requirements for acrobatic movements. If the venue is too small, the ground is uneven, or the safety space is insufficient to complete movements such as jumps or somersaults, a voice prompt will indicate that the venue has not passed the safety inspection and a new venue needs to be selected.

[0121] In one possible example, the relative position information is calculated from sensor data.

[0122] In one possible example, relative position information includes relative orientation information and / or relative distance information. Thus, through relative orientation information and / or relative distance information, the mobile terminal can fully analyze the precise positional state of the virtual target in space. This allows for subsequent mapping of the relative orientation information and / or relative distance information to dynamic feature changes in non-screen output channels, achieving screen-independent spatial guidance. This enables users to accurately perceive the target's location and distance, completing spatial search and grasping interactions.

[0123] Relative orientation information can be understood as the angular deviation and directional relationship between the virtual target and the orientation of the mobile terminal. It is used to characterize the virtual target's position in front of, behind, to the left, to the right of the mobile terminal and its deflection angle, including the angle between the current orientation of the mobile terminal and the direction in which the front of the mobile terminal faces the virtual target (i.e., the direction of the line connecting the center of mass of the mobile terminal to the virtual target).

[0124] Relative distance information can be understood as the difference in straight-line distance between the mobile terminal and the virtual target in spatial coordinates, used to characterize the spatial distance between them, including the distance between the mobile terminal and the virtual target.

[0125] In one possible example, the virtual target is located in a reachable location of the mobile terminal, the reachable location is in an unoccupied state, and there is at least one reachable path between the mobile terminal and the reachable location.

[0126] As can be seen, by introducing the constraints of "non-occupied state" and "path reachability" in the generation stage of virtual targets, we can ensure that the location of the virtual target is reachable by the mobile terminal and that there is at least one collision-free reachable path from the current location of the mobile terminal to the location of the virtual target. This will prevent the virtual target from being generated inside obstacles or inaccessible areas surrounded by obstacles, and ensure the successful search and capture of the virtual target.

[0127] In one possible example, the virtual target includes at least one of a first type of virtual target located on the ground and a second type of virtual target located in space above the ground.

[0128] The first type of virtual target can be understood as a virtual target located on the ground with a height of approximately 0.

[0129] The second type of virtual target can be understood as a virtual target located at a certain height (such as 20cm to 35cm) above the ground, whose height is within the range that can be reached by the mobile terminal's jumping or ascending movements.

[0130] As can be seen, by dividing virtual targets into a first category of ground-based virtual targets and a second category of aerial virtual targets, the interactive space is expanded from a two-dimensional ground space to a three-dimensional space. This allows for the search and capture of ground-based virtual targets using only the mobile terminal's ground mobility capabilities, and also enables the search and capture of aerial virtual targets by combining the mobile terminal's high-dynamic movement capabilities such as jumping and ascending, thus enriching the types of interaction and enhancing the fun and immersion of the interaction.

[0131] For example, the first type of virtual target includes virtual coins on the ground, and the second type of virtual target includes virtual coins in the air.

[0132] Optionally, the ground location directly below the second type of virtual target is the reachable location of the mobile terminal.

[0133] The second type of virtual target corresponds to the ground position directly below it, which is the reachable position of the mobile terminal. This can be understood as the planar and vertical reachability of the second type of virtual target.

[0134] Planar reachability can be understood as follows: the ground location corresponding to the projection landing point of the second type of virtual target is in an unoccupied state of the grid, and there is at least one collision-free reachable path between this ground location and the current location of the mobile terminal. In this way, planar reachability ensures that the mobile terminal can reach the projection landing point of the second type of virtual target without collision when performing ground movement.

[0135] Vertical accessibility can be understood as the ability to access the second type of virtual target within its height range without obstacles. In this way, vertical accessibility ensures that there is no risk of collision on the jump trajectory when the mobile terminal performs a jumping action.

[0136] In one possible example, the above Figure 2 The method shown also includes: Within the first region, candidate spatial coordinates are randomly sampled; A virtual target is generated at the location of the candidate spatial coordinates if the candidate spatial coordinates are in an unoccupied state, the spatial height of the candidate spatial coordinates is within the movement reach range of the mobile terminal, the height range of the candidate spatial coordinates is not occupied, and there is at least one reachable path between the mobile terminal and the location of the candidate spatial coordinates.

[0137] It is evident that by randomly sampling candidate spatial coordinates and verifying that the candidate spatial coordinates are only generated when all four conditions are met simultaneously: non-occupied state, spatial height within the reach of movement, no obstacles within the height range, and at least one reachable path.

[0138] By verifying that the candidate spatial coordinates are in an unoccupied state, locations where virtual targets cannot be placed, such as obstacles and site boundaries, can be eliminated. By verifying that the spatial height of the candidate spatial coordinates is within the reach of the mobile terminal, high-altitude virtual targets exceeding the vertical movement limits of the mobile terminal, such as jumping or lifting, can be avoided. By verifying that the height range of the candidate spatial coordinates is not occupied, the possibility of obstacles occupying the vertical direction above the virtual target can be ruled out, preventing collisions when the mobile terminal moves upward to grab the virtual target. By verifying that there is at least one reachable path between the mobile terminal and the candidate spatial coordinates, it is ensured that the mobile terminal can successfully reach the jump position below the virtual target.

[0139] In this way, through a multi-layered verification mechanism, the probability of generating invalid virtual targets is greatly reduced, effectively solving the problems of unreasonable sampling positions of virtual targets, capture failures, and interruptions in the interaction process. This ensures that the relative position information obtained from subsequent calculations and the output screenless guidance signals are all true and valid, thereby improving the reliability, security, and smoothness of the human-computer interaction process.

[0140] In one possible example, the above Figure 2 The method shown also includes: If the preset refresh conditions are met, the position of the virtual target is adjusted within the first area; The preset refresh conditions include one of the following: the mobile terminal has successfully captured the virtual target; the virtual target has not been successfully captured after a preset time has elapsed since its generation; the virtual target has not been successfully captured after a preset time has elapsed; or the distance between the mobile terminal and the virtual target is greater than a preset distance when the virtual target has elapsed for a preset time.

[0141] It is evident that when the mobile terminal has successfully captured the virtual target, refreshing the position of the virtual target can generate a new virtual target in a timely manner, ensuring the cyclical execution of human-computer interaction tasks and improving the continuity of interaction.

[0142] If a virtual target is generated but not acquired within a preset time period, or if a virtual target is not successfully captured within a preset time period, the search timeout is determined and the location is refreshed. This can prevent users from being stuck at the same virtual target location for a long time without finding it, and prevent the human-computer interaction task from becoming stagnant.

[0143] When the distance between the mobile terminal and the virtual target exceeds the preset distance after the virtual target has been searched for a preset time, the system can accurately distinguish between situations where the user actively abandons the search and situations where the user temporarily moves away from the virtual target. This reduces the chances of the virtual target being mistakenly refreshed and the human-computer interaction task being unexpectedly interrupted, thus improving the rationality of the refresh judgment.

[0144] In this way, by using flexible and controllable preset refresh conditions, we can avoid the monotony of gameplay caused by virtual targets remaining fixed for a long time, and reduce the probability of abnormal phenomena such as invalid searches, task freezes, and accidental target refreshes, thus ensuring the continuity and reliability of the human-computer interaction process.

[0145] In one possible example, S220 involves obtaining the relative position information of the mobile terminal and the virtual target in the first area based on sensor data, including: Based on sensor data, construct a virtual space map and estimate the pose of the mobile terminal; Generate virtual targets within a virtual space map and configure spatial coordinates for the virtual targets; Based on the pose of the mobile terminal and the spatial coordinates of the virtual target, the relative position information of the mobile terminal and the virtual target in the first region is calculated.

[0146] It is evident that by constructing a virtual spatial map in real time using sensor data and estimating the mobile terminal's pose, the mobile terminal can autonomously complete environmental spatial mapping and self-pose recognition without a mobile app, external base station, or external positioning facilities such as QR codes. This effectively overcomes the shortcomings of traditional mobile terminals, such as positioning drift and weak spatial perception capabilities, providing a stable and accurate unified spatial coordinate system for subsequent virtual interaction scenarios. By generating virtual targets in the virtual spatial map and configuring their spatial coordinates, the virtual targets possess clear spatial location attributes. By jointly calculating the mobile terminal's pose and the spatial coordinates of the virtual targets, accurate relative position information can be stably obtained, providing a high-precision spatial data foundation for subsequent non-screen dynamic guidance, target search, and grasping determination.

[0147] For example, taking a mobile terminal as a robot, multimodal fusion is used to obtain multi-source sensor data centered on the robot's current position, combining sensor data collected by a stereo camera, IMU, and wheeled odometry. This multimodal fusion is used to suppress drift under conditions such as high speed, slippage, and impacts from jumps. A virtual space map of approximately 3m × 3m is constructed in real time based on the multi-source sensor data. Passable areas and obstacles are marked on the virtual space map, and the robot's pose is continuously estimated based on the multi-source sensor data. Virtual coins are generated in the virtual space map and equipped with spatial coordinates. Finally, based on the robot's pose and the spatial coordinates of the virtual target, the relative position information of the robot and the virtual target in the virtual space map is calculated.

[0148] Optionally, all areas of the virtual space map are composed of grids, each grid being marked as occupied or vacant; virtual targets include a first type of virtual target; virtual targets are generated within the virtual space map, including: Within the ground layer of the virtual space map, the first candidate spatial coordinates are randomly sampled; Verify whether the first candidate spatial coordinates meet the first and second conditions. The first condition is that the grid where the first candidate spatial coordinates are located is marked as idle. The second condition is that there are no grids marked as occupied on the path from the mobile terminal to the first candidate spatial coordinates. If both of the first and second conditions pass the verification, a first type of virtual target is generated at the position of the first candidate spatial coordinates; If at least one of the first and second conditions fails the verification, the first candidate spatial coordinates are resampled, and the first and second conditions are re-verified until the verification is successful.

[0149] The first condition can be understood as the first candidate spatial coordinate being in an unoccupied state, indicating that there are no obstacles at the location of the first candidate spatial coordinate.

[0150] The second condition can be understood as the existence of at least one reachable path between the location of the mobile terminal and the location of the first candidate spatial coordinates.

[0151] As can be seen, since the first type of virtual target is located on the ground, it is necessary to randomly sample the first candidate spatial coordinates within the ground layer of the virtual space map to ensure that the position of the first candidate spatial coordinates is on the ground. Furthermore, by verifying the first and second conditions, it is ensured that the position of the first candidate spatial coordinates is reachable by the mobile terminal, and that there is at least one collision-free reachable path from the mobile terminal's current position to the position of the first candidate spatial coordinates. This prevents the first type of virtual target from being generated inside obstacles or in inaccessible areas surrounded by obstacles, thus ensuring the successful search and capture of the first type of virtual target.

[0152] Optionally, all areas of the virtual space map are composed of grids, each grid being marked as occupied or vacant; virtual targets include a second type of virtual target; virtual targets are generated within the virtual space map, including: Within the aerial layer of the virtual space map, randomly sample the coordinates of the second candidate space. The second candidate spatial coordinates are verified to meet the third, fourth, and fifth conditions. The third condition is that the grid where the second candidate spatial coordinates are located is marked as idle. The fourth condition is that there are no grids marked as occupied on the path from the mobile terminal to the target projection point. The fifth condition is that the spatial height of the second candidate spatial coordinates is within the movement reach range of the mobile terminal and there are no grids marked as occupied within the height range of the second candidate spatial coordinates. The target projection point is the projection point of the second candidate spatial coordinates to the ground layer. If three of the third, fourth, and fifth conditions are met, a second type of virtual target will be generated at the location of the second candidate spatial coordinates. If at least one of the third, fourth, and fifth conditions fails, the second candidate spatial coordinates are resampled, and the third, fourth, and fifth conditions are re-verified until they pass.

[0153] The third condition can be understood as the second candidate spatial coordinate being in an unoccupied state, indicating that the location of the first candidate spatial coordinate is unobstructed.

[0154] The fourth condition can be understood as the existence of at least one reachable path between the location of the mobile terminal and the location of the projection point of the second candidate spatial coordinates.

[0155] The fifth condition can be understood as the mobile terminal being able to move to the position of the second candidate spatial coordinates, and there is no risk of collision on the movement trajectory.

[0156] As can be seen, since the second type of virtual target is in the air, it is necessary to randomly sample the second candidate spatial coordinates within the air layer of the virtual space map to ensure that the position of the second candidate spatial coordinates is in the air. Furthermore, by verifying the third, fourth, and fifth conditions, it is ensured that the position of the second candidate spatial coordinates is reachable by the mobile terminal, that there is at least one collision-free reachable path from the mobile terminal's current position to the position of the second candidate spatial coordinates, and that the second type of virtual target is reachable within its height range. This avoids the second type of virtual target being generated inside obstacles or in inaccessible areas surrounded by obstacles, ensuring that there is no collision risk on the jump trajectory when the mobile terminal performs a jump action, and guaranteeing the successful search and capture of the second type of virtual target.

[0157] Optionally, virtual targets are generated within the virtual space map, including generating a first type of virtual target and a second type of virtual target within the virtual space map. The generation of the first and second types of virtual targets can be described with reference to the foregoing content, and will not be repeated here.

[0158] For example, taking a mobile terminal as a robot, two candidate spatial coordinates are randomly sampled within a virtual space map. These candidate coordinates are verified to ensure they are not located within an obstacle zone and that there is at least one path from the robot's current position to the candidate coordinates. If the verification fails, resampling is performed until the verification passes. Finally, one virtual coin on the ground and one virtual coin in the air are generated at the locations of the two candidate coordinates, with the two coins spaced close together. The virtual coin in the air hovers approximately 20-30 cm off the ground, at the robot's jump reach height. Furthermore, one virtual coin on the ground and one virtual coin in the air are always present in the virtual space map.

[0159] The following provides specific examples illustrating the content of S230.

[0160] A non-screen output channel can be a hardware output path on a mobile terminal that outputs sensing signals to the outside world through a non-display screen (such as a non-LCD or OLED screen).

[0161] The characteristic parameters of the first output signal can be parameters in the first output signal that can be perceived by the user and can be quantized and adjusted.

[0162] In one possible example, the non-screen output channel is used to convert the relative position information between the mobile terminal and the virtual target into an output signal that can be directly perceived by humans. It does not rely on any form of screen rendering and does not require users to obtain the relative orientation and / or relative distance of the virtual target by viewing visual content such as map icons, target arrows, and coordinate screens on the screen, thereby achieving non-screen spatial guidance.

[0163] In one possible example, the non-screen output channel includes at least one of the following: audio output channel, light output channel, vibration output channel, and body motion output channel. The audio output channel is used to output sound signals, the light output channel is used to output light signals, the vibration output channel is used to output vibration signals, and the body motion output channel is used to output body motion signals.

[0164] The dynamic changes in the characteristic parameters of the sound signal indicate the relative positional changes between the mobile terminal and the virtual target; the dynamic changes in the characteristic parameters of the light signal indicate the relative positional changes between the mobile terminal and the virtual target; the dynamic changes in the characteristic parameters of the vibration signal indicate the relative positional changes between the mobile terminal and the virtual target; and the dynamic changes in the characteristic parameters of the body motion signal indicate the relative positional changes between the mobile terminal and the virtual target.

[0165] Optionally, the audio output channel includes a speaker, which may be a loudspeaker or a buzzer. The speaker outputs an audio signal whose characteristic parameters include beeping sounds, pitch variations, loudness, frequency, and directional voice announcements. Thus, the dynamic changes in the characteristic parameters of the audio signal indicate the relative positional changes between the mobile terminal and the virtual target.

[0166] Optionally, the light effect output channel includes a light-emitting dot array, which may include an eye indicator light or eye dot array on the mobile terminal, an LED array or RGB light strip distributed around the perimeter of the mobile terminal, etc. The light-emitting dot array can output a light signal, the characteristic parameters of which include the color of the light-emitting dots, the flashing frequency of the light-emitting dots, the brightness, and the distribution of the illuminated positions (such as the horizontal position and vertical height of the light-emitting dots in the array). In this way, the dynamic changes in the characteristic parameters of the light signal indicate the changes in the relative position between the mobile terminal and the virtual target.

[0167] Optionally, the vibration output channel includes a vibration motor, which can be installed on a remote control, a compatible mobile phone handset, or a mobile terminal. The vibration motor outputs a vibration signal, the characteristic parameters of which include vibration intensity and vibration orientation. Thus, the dynamic changes in the characteristic parameters of the vibration signal indicate the relative positional changes between the mobile terminal and the virtual target.

[0168] Optionally, the motion output channel includes a motion execution component of the mobile terminal. This motion execution component can output a motion signal, the characteristic parameters of which include the swing direction and amplitude of the mobile terminal's body.

[0169] In one possible example, the first output signal includes an audio signal from an audio effects output channel, and the characteristic parameters of the audio signal have a mapping relationship with relative position information. This mapping relationship allows dynamic changes in the characteristic parameters of the audio signal to indicate changes in the relative position of the mobile terminal and the virtual target.

[0170] Optionally, the characteristic parameters of the sound signal representing or mapping relative orientation information include sound loudness. For example, a higher sound loudness indicates a smaller relative angle between the mobile terminal and the virtual target; a lower sound loudness indicates a larger relative angle between the mobile terminal and the virtual target. Increasing sound loudness indicates a gradually decreasing relative angle between the mobile terminal and the virtual target. Conversely, decreasing sound loudness indicates a gradually increasing relative angle between the mobile terminal and the virtual target.

[0171] Optionally, the characteristic parameters of the sound signal that characterize or map relative orientation information include the sound frequency. For example, a faster sound frequency results in a smaller relative angle between the mobile terminal and the virtual target; a slower sound frequency results in a larger relative angle between the mobile terminal and the virtual target. If the sound frequency increases, it indicates that the relative angle between the mobile terminal and the virtual target is gradually decreasing. If the sound frequency decreases, it indicates that the relative angle between the mobile terminal and the virtual target is gradually increasing.

[0172] Optionally, the characteristic parameters of the sound signal that characterizes or maps relative orientation information include voice content broadcasting, which provides voice prompts about the relative angle between the mobile terminal and the virtual target, or prompts about changes in the relative angle between the mobile terminal and the virtual target.

[0173] Optionally, the characteristic parameters of the sound signal representing or mapping relative distance information include sound loudness. For example, a higher sound loudness indicates a smaller relative distance between the mobile terminal and the virtual target; conversely, a lower sound loudness indicates a larger relative distance. Increasing sound loudness indicates a gradually decreasing relative distance between the mobile terminal and the virtual target. Conversely, decreasing sound loudness indicates a gradually increasing relative distance between the mobile terminal and the virtual target.

[0174] Optionally, the characteristic parameters of the sound signal representing or mapping relative distance information include the sound frequency. For example, a faster sound frequency indicates a smaller relative distance between the mobile terminal and the virtual target; a slower sound frequency indicates a larger relative distance between the mobile terminal and the virtual target. If the sound frequency increases, it indicates that the relative distance between the mobile terminal and the virtual target is gradually decreasing. If the sound frequency decreases, it indicates that the relative distance between the mobile terminal and the virtual target is gradually increasing.

[0175] Optionally, the feature parameters of the sound signal that characterizes or maps relative distance information include voice content broadcasting, which provides voice prompts about the relative distance between the mobile terminal and the virtual target, or indicates changes in the relative distance between the mobile terminal and the virtual target.

[0176] Optionally, as shown in Table 1. In Table 1, the audio output channel includes a speaker; the relative position information includes relative orientation information and / or relative distance information; the relative orientation information includes the relative angle between the current orientation of the mobile terminal and a first direction, where the first direction is the direction in which the front of the mobile terminal faces the virtual target; the relative distance information includes the relative distance between the mobile terminal and the virtual target; the characteristic parameters of the sound signal include the loudness of the speaker, the frequency of the speaker, and the speech content being played.

[0177] In Table 1, the dynamic changes in loudness indicate the changes in the relative angle, the dynamic changes in frequency indicate the changes in the relative distance, and the dynamic changes in the speech content indicate the changes in the relative angle and / or the relative distance.

[0178] Table 1

[0179] In one possible example, the first output signal includes an optical signal from the optical effect output channel, and the characteristic parameters of the optical signal have a mapping relationship with the relative position information. Thus, through this mapping relationship, the dynamic changes in the characteristic parameters of the optical signal can indicate the changes in the relative position between the mobile terminal and the virtual target.

[0180] Optionally, the characteristic parameters of the light signal representing or mapping relative orientation information include the color of the light-emitting point. For example, if the color of the light-emitting point gradually changes from blue to red, the relative angle is smaller; if the color of the light-emitting point gradually changes from red to blue, the relative angle is larger. If the color of the light-emitting point is red, it indicates that the mobile terminal is facing the virtual target. Of course, the embodiments of this application are not limited to "blue" and "red" and can be replaced with other pre-agreed colors.

[0181] Optionally, the characteristic parameters of the optical signal that characterize or map relative orientation information include the flicker frequency of the light source. A faster flicker frequency indicates a smaller relative angle; a slower flicker frequency indicates a larger relative angle. Increasingly faster flicker frequencies indicate a gradually decreasing relative angle. Increasingly slower flicker frequencies indicate a gradually increasing relative angle.

[0182] Optionally, the characteristic parameters of the optical signal that characterize or map relative orientation information include the horizontal position of the light-emitting point. For example, if the mobile terminal is facing the virtual target to the left, the light-emitting point is horizontally to the left in the light-emitting point array; if the mobile terminal is facing the virtual target to the right, the light-emitting point is horizontally to the right in the light-emitting point array; if the mobile terminal is facing the virtual target directly, the light-emitting point is horizontally in the middle of the light-emitting point array.

[0183] Optionally, the characteristic parameters of the optical signal that characterize or map relative orientation information include the vertical height of the light-emitting point. If the mobile terminal is facing the virtual target to the left, the light-emitting point is vertically upward on the light-emitting point array; if the mobile terminal is facing the virtual target to the right, the light-emitting point is vertically downward on the light-emitting point array; if the mobile terminal is facing the virtual target directly, the light-emitting point is vertically centered on the light-emitting point array.

[0184] Optionally, the characteristic parameters of the optical signal that characterize or map relative distance information include the color of the emission point. For example, if the color of the emission point gradually changes from blue to red, the relative distance is smaller; if the color of the emission point gradually changes from red to blue, the relative distance is larger. Of course, the embodiments of this application are not limited to "blue" and "red" and can be replaced with other pre-agreed colors.

[0185] Optionally, the characteristic parameters of the optical signal characterizing or mapping relative distance information include the flicker frequency of the light-emitting point. A faster flicker frequency indicates a smaller relative distance; a slower flicker frequency indicates a larger relative distance between the mobile terminal and the virtual target. Increasingly faster flicker frequencies indicate a gradually decreasing relative distance, while decreasing flicker frequencies indicate a gradually increasing relative distance.

[0186] Optionally, the characteristic parameters of the optical signal that characterize or map relative distance information include the horizontal position of the emitting point. For example, if the emitting point moves horizontally from the left (or right) side to the center of the emitting point array, the relative distance decreases; if the emitting point moves horizontally to the left (or right) side of the emitting point array, the relative distance increases.

[0187] Optionally, the characteristic parameters of the optical signal that characterize or map relative distance information include the vertical height of the emitting point. If the emitting point moves vertically from the top (or bottom) to the middle of the emitting point array, the relative distance decreases; if the emitting point moves vertically to the top (or bottom) of the emitting point array, the relative distance increases.

[0188] Optionally, as shown in Table 2. In Table 2, the light effect output channel includes an array of light-emitting points; the relative position information includes the relative angle and the relative distance; the characteristic parameters of the light signal include the color of the light-emitting points, the flashing frequency of the light-emitting points, the horizontal position of the light-emitting points, and the vertical height of the light-emitting points.

[0189] In Table 2, the dynamic change of the color of the light-emitting point indicates the change of the relative angle, the dynamic change of the flashing frequency of the light-emitting point indicates the change of the relative distance, the dynamic change of the horizontal position of the light-emitting point indicates the change of the relative angle, and the dynamic change of the vertical height of the light-emitting point indicates the change of the relative distance.

[0190] Table 2

[0191] In one possible example, the first output signal includes a vibration signal from a vibration output channel, and the characteristic parameters of the vibration signal have a mapping relationship with relative position information. Thus, through this mapping relationship, the dynamic changes in the characteristic parameters of the vibration signal can indicate the changes in the relative position between the mobile terminal and the virtual target.

[0192] For example, as shown in Table 3. In Table 3, the vibration output channel includes a vibration motor; the relative position information includes the relative angle and the relative distance; the characteristic parameters of the vibration signal include the vibration orientation and the vibration intensity; the dynamic change of the vibration orientation indicates the change of the relative angle, and the dynamic change of the vibration intensity indicates the change of the relative distance.

[0193] Optionally, the characteristic parameters of the vibration signal that characterize or map relative orientation information include vibration orientation. For example, if the vibration is on the left, the virtual target is to the left of the mobile terminal's current orientation; if the vibration is on the right, the virtual target is to the right of the mobile terminal's current orientation.

[0194] Optionally, the characteristic parameters of the vibration signal that characterize or map relative orientation information include vibration intensity. The stronger the vibration intensity, the smaller the relative angle; the weaker the vibration intensity, the larger the relative angle. Increasingly stronger vibration intensity indicates a gradually decreasing relative angle. Increasingly weaker vibration intensity indicates a gradually increasing relative angle.

[0195] Optionally, the characteristic parameters of the vibration signal that characterize or map relative distance information include the vibration orientation. For example, if the vibration orientation moves from both sides towards the center, the relative distance is smaller; if the vibration orientation moves to both sides, the relative distance is larger.

[0196] Optionally, the characteristic parameters of the vibration signal that characterize or map relative distance information include vibration intensity. Stronger vibration intensity corresponds to a smaller relative distance; weaker vibration intensity corresponds to a larger relative distance. Increasingly stronger vibration intensity indicates a gradually decreasing relative distance, while decreasing vibration intensity indicates a gradually increasing relative distance.

[0197] Optionally, as shown in Table 3. In Table 3, the vibration output channel includes a vibration motor; the relative position information includes the relative angle and the relative distance; the characteristic parameters of the vibration signal include the vibration orientation and the vibration intensity; the dynamic change of the vibration orientation indicates the change of the relative angle, and the dynamic change of the vibration intensity indicates the change of the relative distance.

[0198] Table 3

[0199] In one possible example, the first output signal includes a body motion signal from the body motion output channel, and there is a mapping relationship between the characteristic parameters of the body motion signal and the relative position information. Thus, through this mapping relationship, the dynamic changes in the characteristic parameters of the body motion signal can indicate the changes in the relative position between the mobile terminal and the virtual target.

[0200] Optionally, the characteristic parameters of the body motion signal that characterize or map relative orientation information include the direction of body sway. For example, if the direction of body sway is to the left, the virtual target is to the left of the mobile terminal's current orientation; if the direction of body sway is to the left, the virtual target is to the right of the mobile terminal's current orientation.

[0201] Optionally, the characteristic parameters of the body motion signal that characterize or map relative orientation information include the amplitude of the fuselage sway. A larger fuselage sway amplitude corresponds to a smaller relative angle; conversely, a smaller fuselage sway amplitude corresponds to a larger relative angle. Increasing fuselage sway amplitude indicates a gradually decreasing relative angle. Increasing vibration intensity indicates a gradually increasing relative angle.

[0202] Optionally, the characteristic parameters of the body motion signal that characterize or map relative distance information include the amplitude of body sway. A larger amplitude of body sway indicates a smaller relative distance; a smaller amplitude of body sway indicates a larger relative distance. Increasingly larger amplitude of body sway indicates a gradually decreasing relative distance. Conversely, decreasing amplitude of body sway indicates a gradually increasing relative distance.

[0203] Optionally, as shown in Table 4. In Table 4, the body motion output channel includes the motion execution component of the mobile terminal; the relative position information includes the relative angle and the relative distance; the characteristic parameters of the body motion signal include the body swing direction and the body swing amplitude; the dynamic change of the body swing direction indicates the change of the relative angle, and the dynamic change of the body swing amplitude indicates the change of the relative distance.

[0204] Table 4

[0205] The following is about the above. Figure 2 The method shown provides a specific example illustrating the virtual target capture mechanism.

[0206] In one possible example, the above Figure 2 The method shown also includes: When the mobile terminal approaches the virtual target at a distance no greater than a preset distance, a prompt message is output to indicate that the mobile terminal has successfully captured the virtual target.

[0207] As can be seen, the distance between the mobile terminal and the virtual target is used as the basis for judging the capture. When the distance between the two is less than or equal to the preset distance threshold, the corresponding prompt information is triggered to inform the user that the mobile terminal has successfully captured the virtual target.

[0208] In this way, by setting a preset distance, the capture and judgment of virtual targets can be completed simply and efficiently, reducing the hardware cost and algorithm computation overhead of mobile terminals. Immediately outputting a prompt message after a successful capture provides clear and intuitive feedback to the user, allowing them to know in a timely manner that the capture task has been completed and facilitating the next round of searching. Simultaneously, this capture judgment mechanism works in conjunction with the aforementioned off-screen space guidance to prevent users from repeatedly searching for virtual targets due to uncertainty about whether the capture was successful, thus optimizing the interactive experience.

[0209] For example, taking a mobile terminal as a robot, for the first type of virtual target, the robot moves on the ground to approach the first type of virtual target. When the distance between the robot and the first type of virtual target is not greater than a preset distance, a prompt message is output. For the second type of virtual target, the robot moves on the ground and performs operations such as jumping. When the distance between the robot and the first type of virtual target is not greater than a preset distance, a prompt message is output.

[0210] Optionally, the prompting information includes voice prompts and / or action prompts. Voice prompts are used to indicate to the mobile terminal that it has successfully captured the virtual target by playing a preset voice message; action prompts are used to indicate to the mobile terminal that it has successfully captured the virtual target by performing a preset action.

[0211] As can be seen, by setting the notification message after successful capture to voice prompts and / or action prompts, the capture result can be directly conveyed to the user in clear audio, with unambiguous and highly recognizable feedback. Action prompts can utilize the mobile terminal's physical actions such as jumping, turning, and acrobatic movements for feedback, fully leveraging the mobile terminal's motion capabilities and making the feedback more vivid and intuitive.

[0212] In this way, auditory feedback is achieved by driving the mobile terminal to play preset voice, and / or motion feedback is achieved by driving the mobile terminal to perform preset actions, thereby informing the user that the virtual target has been successfully captured.

[0213] Optionally, the preset voice played for the first type of virtual target is different from the preset voice played for the second type of virtual target. In this way, the mobile terminal is driven to play different voices for different types of virtual targets, thereby creating differentiated prompts.

[0214] Optionally, the preset actions performed for the first type of virtual target are different from the preset actions performed for the second type of virtual target. In this way, the mobile terminal is driven to perform different actions for different types of virtual targets, thereby creating differentiated prompts.

[0215] The following is about the above. Figure 2 The method shown provides a specific example illustrating the counting, timing, and scoring mechanisms for virtual targets.

[0216] In one possible example, the above Figure 2 The method shown also includes: When the countdown ends, the first indication information is output, which indicates the number of virtual targets successfully captured and / or the points obtained from capturing virtual targets.

[0217] As can be seen, after the countdown ends, the first instruction message provides feedback to the user on the number of successfully captured virtual targets and / or the points earned. Using the countdown as the game settlement node enables a timed gameplay mechanism for human-computer interaction games; the unified output of game results data after the countdown ends provides users with clear and complete feedback on the game results. By providing feedback on the number of successfully captured virtual targets, the user's search task completion status can be intuitively reflected. By providing feedback on the points earned from capturing virtual targets, the user's gameplay results for this game can be quantified, introducing a scoring and competitive mechanism, increasing the sense of purpose and challenge in human-computer interaction games.

[0218] For example, if a first-class virtual target is successfully captured, 1 point is added, i.e., +1 point; if a second-class virtual target is successfully captured, 3 points are added, i.e., +3 points.

[0219] Optionally, the countdown can be started when the virtual target is first generated. Therefore, using the initial generation of the virtual target as the start time of the countdown avoids the problem of the countdown starting prematurely before the virtual target is generated, ensuring that the countdown duration is consistent with the actual effective playtime available for the user to search.

[0220] In another possible example, the above Figure 2 The method shown also includes: When the number of successfully captured virtual targets reaches a set number, a second indication message is output, which indicates the time taken to capture the set number of virtual targets.

[0221] The set quantity can be understood as the total number of virtual targets that need to be successfully captured in a single human-computer interaction game. For example, the set quantity is 5 virtual targets.

[0222] This time information can be the duration taken to capture a set number of virtual targets. For example, the time elapsed from the start of the timer until the set number of virtual targets is successfully captured.

[0223] This time information can also be other information related to the time spent capturing a set number of virtual targets. For example, it could be points. Optionally, the shorter the time spent capturing the set number of virtual targets, the higher the points.

[0224] In this example, reaching a predetermined number of successfully captured virtual targets marks the settlement point. This transforms the objective of the human-computer interaction game from "capturing as many virtual targets as possible within a limited time" to "capturing a fixed number of virtual targets in the shortest possible time," thus creating a racing-style human-computer interaction game. This way, users have a clear and constant remaining task throughout the game, eliminating the need to choose between remaining time and remaining target counts, resulting in a more compact game pace. Furthermore, the completion time is a continuous, quantifiable metric that can be directly compared across games and users, allowing users to compare their own historical scores or those of other users, increasing their willingness to replay the game.

[0225] Furthermore, since the quantification accuracy of completion time is much higher than that of the quantification accuracy of capture quantity (for example, completion time can be accurate to 0.1 seconds), it can still distinguish subtle differences in user skill levels in shorter games, avoiding the problem of clustered scores caused by the discreteness and insufficient differentiation of capture quantity when using capture quantity as the settlement result.

[0226] Optionally, the scheme can use positive timing, meaning the timing starts at the moment the virtual target is first generated. This avoids the problem of timing starting prematurely before the virtual target is generated, ensuring that the time taken for completion is consistent with the actual effective search time available to the user.

[0227] Optionally, the above Figure 2 The method shown also includes: Simultaneously with stopping the timing, the adjustment of the virtual target's position within the first area is stopped, as is the output of the first output signal through the non-screen output channel.

[0228] It is evident that simultaneously stopping the refresh of virtual targets and the output of the first output signal at the settlement node can, on the one hand, prevent the generation of virtual targets that users cannot capture after settlement, and prevent the output of guidance signals without corresponding targets, thus preventing users from misjudging whether the game has ended; on the other hand, after the first output signal (such as prompt sound effects) stops, the indication information output during the settlement phase will not be obscured by the first output signal, ensuring the clear communication of the settlement results.

[0229] Optionally, the above Figure 2 The method shown also includes: The time information is compared with the historical best time; if the time information is better than the historical best time, a record-breaking prompt message is output, and the historical best time is updated according to the time information.

[0230] As can be seen, by comparing the time taken to complete the current game with the best historical time, and outputting a record-breaking notification when the completion time is better than the best historical time, users are provided with a longitudinal performance reference across games and real-time positive feedback, which further enhances the challenge of human-computer interaction and the motivation to continue playing.

[0231] Optionally, the best historical time is stored in the mobile terminal's memory. In this way, the recording, comparison, and updating of the best historical time are all completed locally on the mobile terminal, without relying on a mobile app or cloud services, which is compatible with the aforementioned interaction method that does not rely on screen devices and external auxiliary facilities.

[0232] Optionally, the above Figure 2 The method shown also includes: If the timer reaches the preset time limit and the number of successfully captured virtual targets does not reach the set number, the timer stops and a third indication message is output, which indicates the number of successfully captured virtual targets.

[0233] As can be seen, by using a preset time limit as a fallback settlement condition, the system prevents situations where the game cannot end and becomes infinitely prolonged when the user fails to capture a sufficient number of virtual targets over a long period, thus ensuring that the duration of each human-computer interaction game is controllable. In this case, the number of successfully captured virtual targets is used as the settlement result, so that games that do not reach the preset number can still provide meaningful performance feedback.

[0234] Optionally, if the difference between the set number and the number of successfully captured virtual targets reaches a preset threshold, a remaining quantity prompt message can be output. For example, when two virtual targets remain uncaptured, a voice prompt saying "Two left" can be output, and when one virtual target remains uncaptured, a voice prompt saying "Last one" can be output. In this way, without relying on the task count displayed on the screen, users can know the task progress in a timely manner during the game, further enhancing the tension and sense of purpose in the racing game.

[0235] In one possible example, the aforementioned method of using the countdown ending as the settlement point and the method of using the number of successfully captured virtual targets reaching a preset number as the settlement point can be used individually or in combination. For example, the primary settlement point can be using the number of successfully captured virtual targets reaching a preset number, with the secondary settlement point being when the timer reaches a preset time limit. This allows for flexible selection of settlement mechanisms based on different needs of human-computer interaction gameplay, expanding the applicability of the gameplay.

[0236] The functional units of a control device according to an embodiment of this application are illustrated below.

[0237] The control method in the embodiments of this application has been described above from the perspective of the method. The functional units of the control device in the embodiments of this application are illustrated below.

[0238] To implement the steps described above, embodiments of this application divide each step into functional units to obtain a control device. The control device includes units that execute each function. These units are implemented in a combination of hardware and / or software. The division of these units is illustrative and represents only a logical functional division; in actual implementation, there may be other division methods.

[0239] When using integrated units, Figure 3 This is a functional unit block diagram of a control device according to an embodiment of this application. Figure 3 In the control device 300, there are an acquisition unit 301 and a control unit 302.

[0240] Optionally, the control device 300 may further include a storage unit for storing computer program code or instructions executed by the control device 300, the storage unit including a memory.

[0241] Optionally, the control device 300 may include a chip or a chip module.

[0242] Optionally, the control device 300 may also include a communication unit. The communication unit may be a communication interface, transceiver, transceiver circuit, etc. The communication unit includes a transmitting unit and / or a receiving unit.

[0243] Optionally, the control device 300 may also include a processing unit, within which the control unit 302 may be integrated. The processing unit may include a processor or a controller. For example, the processing unit may include a CPU, MCU, general-purpose processor, electronic control unit (ECU), DSP, application-specific integrated circuit (ASIC), FPGA, or other programmable logic devices.

[0244] The acquisition unit 301 and the control unit 302 are used to perform the above. Figure 2 Any step in the method shown, and when performing actions such as sending, may optionally call other units to complete the corresponding operation.

[0245] In a specific implementation, the acquisition unit 301 is used to acquire sensor data from the mobile terminal; The acquisition unit 301 is also used to acquire relative position information between the mobile terminal and the virtual target in a first area based on sensor data, wherein the first area is the ground area or space area where the mobile terminal is located. The control unit 302 is used to control the output of a first output signal by the non-screen output channel of the mobile terminal according to the relative position information. The dynamic change of the characteristic parameters of the first output signal indicates the change of the relative position between the mobile terminal and the virtual target.

[0246] It is evident that by acquiring and utilizing sensor data, mobile terminals can perceive their own pose in real time without external positioning facilities, thus achieving spatial awareness capabilities. By acquiring the relative position information between the mobile terminal and virtual targets, the mobile terminal is no longer merely a carrier for movement, but rather an interactive subject with active spatial positioning and target tracking capabilities.

[0247] Furthermore, by outputting a first output signal through a non-screen output channel, the spatial position information of the virtual target is conveyed to the user without relying on a screen display, thus achieving non-screen output capability. Since the dynamic changes in the characteristic parameters of the first output signal indicate relative position changes, the user does not need to look at the screen; they can determine the relative spatial relationship between the mobile terminal and the virtual target in real time simply by observing the dynamic changes in the characteristic parameters of the first output signal. This guides the user to manipulate the mobile terminal to approach the virtual target, facilitating the search and grasping of the virtual target, achieving a screenless and immersive spatial human-computer interaction effect, and enhancing the sense of immersion in the interaction.

[0248] In one possible example, the specific implementation of unit 301 and control unit 302 is obtained using the above-described method. Figure 2 The corresponding embodiments of the methods shown will not be described in detail here.

[0249] In one possible example, the control device 300 also includes other corresponding functional units for performing the above-mentioned tasks. Figure 2 The corresponding embodiments of the methods shown will not be described in detail here.

[0250] The structure of a control device according to an embodiment of this application will be illustrated below.

[0251] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of a control device according to an embodiment of this application. Figure 4 In the control device 400, there are processor 410, memory 420 and communication bus for connecting processor 410 and memory 420.

[0252] Optionally, the memory 420 includes, but is not limited to, RAM, ROM, EPROM or CD-ROM, and the memory 420 is used to store the program code executed by the control device 400 and the data transmitted.

[0253] Optionally, the control device 400 also includes a communication interface for receiving and sending data.

[0254] Optionally, the processor 410 may be a chip, CPU, MCU, ECU, general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component or any combination thereof.

[0255] In specific implementation, the processor 410 in the control device 400 is used to execute the computer program or instructions 421 stored in the memory 420 to perform the following operations: Acquire sensor data from the mobile terminal; Based on sensor data, the relative position information of the mobile terminal and the virtual target in the first area is obtained. The first area is the ground area or space area where the mobile terminal is located. Based on the relative position information, the non-screen output channel of the mobile terminal is controlled to output a first output signal. The dynamic changes of the characteristic parameters of the first output signal indicate the changes in the relative position between the mobile terminal and the virtual target.

[0256] In the above operations, by acquiring and utilizing sensor data, the mobile terminal can perceive its own pose in real time without external positioning facilities, thus achieving spatial awareness. By acquiring the relative position information between the mobile terminal and the virtual target, the mobile terminal is no longer just a carrier for movement, but an interactive subject with active spatial positioning and target tracking capabilities.

[0257] Furthermore, by outputting a first output signal through a non-screen output channel, the spatial position information of the virtual target is conveyed to the user without relying on screen output, thus achieving non-screen output capability. Since the dynamic changes in the characteristic parameters of the first output signal indicate relative position changes, the user does not need to look at the screen; they can determine the relative spatial relationship between the mobile terminal and the virtual target in real time simply by observing the dynamic changes in the characteristic parameters of the first output signal. This guides the user to manipulate the mobile terminal to approach the virtual target, facilitating the search and grasping of the virtual target, achieving a screenless and immersive spatial human-computer interaction effect, and enhancing the sense of immersion in the interaction.

[0258] In one possible example, processor 410 is used to execute computer programs or instructions 421 stored in memory 420, and also to perform the above-mentioned... Figure 2 The corresponding embodiments of the methods shown will not be described in detail here.

[0259] The following is an example illustration of the structure of a ground mobile terminal according to an embodiment of this application.

[0260] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a ground mobile terminal according to an embodiment of this application. Figure 5In this context, the ground mobile terminal 500 includes a sensor 510 and a control device 520.

[0261] In a specific implementation, sensor 510 is used to acquire sensor data from the ground mobile terminal; The control device 520 is used to obtain the relative position information of the ground mobile terminal and the virtual target in the first area based on sensor data; The control device 520 is also used to control the output of a first output signal by the non-screen output channel of the ground mobile terminal according to the relative position information. The dynamic change of the characteristic parameters of the first output signal indicates the change of the relative position between the ground mobile terminal and the virtual target.

[0262] In the above operations, by acquiring and utilizing sensor data, the mobile terminal can perceive its own pose in real time without external positioning facilities, thus achieving spatial awareness. By acquiring the relative position information between the mobile terminal and the virtual target, the mobile terminal is no longer just a carrier for movement, but an interactive subject with active spatial positioning and target tracking capabilities.

[0263] Furthermore, by outputting a first output signal through a non-screen output channel, the spatial position information of the virtual target is conveyed to the user without relying on screen output, thus achieving non-screen output capability. Since the dynamic changes in the characteristic parameters of the first output signal indicate relative position changes, the user does not need to look at the screen; they can determine the relative spatial relationship between the mobile terminal and the virtual target in real time simply by observing the dynamic changes in the characteristic parameters of the first output signal. This guides the user to manipulate the mobile terminal to approach the virtual target, facilitating the search and grasping of the virtual target, achieving a screenless and immersive spatial human-computer interaction effect, and enhancing the sense of immersion in the interaction.

[0264] In one possible example, the ground mobile terminal 500 includes a body and legs, at least one of which is provided with a sensor 510; the legs are used to move the body on the ground and to drive the body to jump above the ground relative to the ground.

[0265] In one possible example, the control device 520 is as described above. Figure 4 The control device 400 in the middle.

[0266] Other related content of the embodiments of this application will be illustrated below.

[0267] In one possible example, embodiments of this application provide a computer-readable storage medium storing a computer program or instructions that, when executed, implement the steps described in the above method embodiments.

[0268] In one possible example, embodiments of this application provide a computer program product, including a computer program or instructions that, when executed, implement the steps described in the above method embodiments.

[0269] For the sake of simplicity, the above embodiments are all described as a series of actions. Those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously. Furthermore, the embodiments described in this application are preferred embodiments, and the actions, steps, modules, or units involved are not necessarily essential to the embodiments of this application. In the above embodiments, the descriptions of each embodiment have different focuses; parts not described in detail in a certain embodiment can be referred to the relevant descriptions of other embodiments.

[0270] The steps of the methods or algorithms described in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in RAM, flash memory, ROM, EPROM, electrically erasable programmable read-only memory (EEPROM), registers, hard disk, portable hard disk, read-only optical disk (CD-ROM), or any other form of storage medium known in the art.

[0271] The modules or units included in the various devices and products described in the above embodiments can be software modules or units, hardware modules or units, or a combination of both. For example, for various devices and products applied to or integrated into a chip, all of their modules or units can be implemented using hardware methods such as circuits, or at least some modules or units can be implemented using software programs that run on a processor integrated within the chip, while the remaining (if any) modules or units can be implemented using hardware methods such as circuits.

[0272] The specific embodiments described above further illustrate the purpose, technical solution, and technical effects of the embodiments of this application. It should be understood that the above descriptions are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A control method, characterized in that, The method includes: Acquire sensor data from the mobile terminal; Based on the sensor data, the relative position information of the mobile terminal and the virtual target in a first region is obtained, where the first region is the ground region or space region where the mobile terminal is located. Based on the relative position information, the non-screen output channel of the mobile terminal is controlled to output a first output signal, and the dynamic change of the characteristic parameters of the first output signal indicates the relative position change between the mobile terminal and the virtual target.

2. The method according to claim 1, characterized in that, The virtual target is located in a reachable location of the mobile terminal, the reachable location is in an unoccupied state, and there is at least one reachable path between the mobile terminal and the reachable location.

3. The method according to claim 1 or 2, characterized in that, The virtual targets include at least one of a first type of virtual targets located on the ground and a second type of virtual targets located in space above the ground.

4. The method according to claim 3, characterized in that, The ground location directly below the second type of virtual target is the reachable location of the mobile terminal.

5. The method according to claim 1, characterized in that, The method further includes: Within the first region, candidate spatial coordinates are randomly sampled; The virtual target is generated at the location of the candidate spatial coordinates when the location of the candidate spatial coordinates is unoccupied, the spatial height of the candidate spatial coordinates is within the movement reach range of the mobile terminal, the height range of the candidate spatial coordinates is not occupied, and there is at least one reachable path between the mobile terminal and the location of the candidate spatial coordinates.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: Under the condition that the preset refresh conditions are met, the position of the virtual target is adjusted within the first area; The preset refresh conditions include one of the following: the mobile terminal has successfully captured the virtual target; the virtual target has not been successfully captured after a preset time has elapsed since its generation; the virtual target has not been successfully captured after a preset time has elapsed; or the distance between the mobile terminal and the virtual target is greater than a preset distance when the virtual target has elapsed for a preset time.

7. The method according to any one of claims 1-6, characterized in that, The relative position information includes relative orientation information and / or relative distance information, and the non-screen output channel includes an audio output channel and / or a light output channel; The first output signal includes the sound signal from the sound effect output channel and / or the light signal from the light effect output channel; The dynamic changes in the characteristic parameters of the sound signal indicate the changes in the relative orientation and / or relative distance between the mobile terminal and the virtual target; The dynamic changes in the characteristic parameters of the optical signal indicate the changes in the relative orientation and / or relative distance between the mobile terminal and the virtual target.

8. The method according to claim 7, characterized in that, The audio output channel includes a speaker; The relative orientation information includes the relative angle between the current orientation of the mobile terminal and a first direction, where the first direction is the direction in which the front of the mobile terminal faces the virtual target; and / or, the relative distance information includes the relative distance between the mobile terminal and the virtual target; The characteristic parameters of the sound signal include the loudness and frequency of the sound generator. The dynamic change of the loudness indicates the change of the relative angle, and the dynamic change of the frequency indicates the change of the relative distance.

9. The method according to claim 7, characterized in that, The light output channel includes an array of light-emitting dots; The relative orientation information includes the relative angle between the current orientation of the mobile terminal and a first direction, where the first direction is the direction in which the front of the mobile terminal faces the virtual target; and / or, the relative distance information includes the relative distance between the virtual target and the mobile terminal; The characteristic parameters of the optical signal include the color of the light-emitting dots in the light-emitting dot array and the flicker frequency of the light-emitting dots. The dynamic change in the color of the light-emitting dots indicates the change in the relative angle, and the dynamic change in the flicker frequency of the light-emitting dots indicates the change in the relative distance; or... The characteristic parameters of the optical signal include the horizontal position and vertical height of the light-emitting points in the light-emitting point array. The dynamic change of the horizontal position of the light-emitting points indicates the change of the relative angle, and the dynamic change of the vertical height of the light-emitting points indicates the change of the relative distance.

10. The method according to any one of claims 1-9, characterized in that, The method further includes: When the mobile terminal approaches the virtual target at a distance not greater than a preset distance, a prompt message is output, which indicates that the mobile terminal has successfully captured the virtual target.

11. The method according to claim 10, characterized in that, The prompt information includes voice prompts and / or action prompts; The voice prompt information is used to prompt the mobile terminal that the virtual target has been successfully captured by driving the mobile terminal to play a preset voice message. The action prompt information is used to prompt the mobile terminal that it has successfully captured the virtual target by driving the mobile terminal to perform a preset action.

12. The method according to any one of claims 1-11, characterized in that, The method further includes: When the countdown ends, a first indication message is output, which indicates the number of virtual targets successfully captured and / or the points obtained from capturing the virtual targets.

13. The method according to any one of claims 1-11, characterized in that, The method further includes: When the number of successfully captured virtual targets reaches a set number, a second indication message is output, which indicates the time taken to capture the set number of virtual targets.

14. The method according to claim 13, characterized in that, The method further includes: Simultaneously with stopping the timing, the adjustment of the virtual target's position within the first area is stopped, and the output of the first output signal via the non-screen output channel is also stopped.

15. The method according to claim 13 or 14, characterized in that, The method further includes: Compare the time information with the historical best time taken; If the time information is better than the historical best time, output a record-breaking prompt message and update the historical best time according to the time information.

16. The method according to any one of claims 13-15, characterized in that, The method further includes: If the timer reaches the preset time limit and the number of successfully captured virtual targets does not reach the set number, the timer stops and a third indication message is output, which is used to indicate the number of successfully captured virtual targets.

17. A control device, characterized in that, It includes a processor, a memory, and a computer program or instructions stored on the memory, wherein the processor executes the computer program or instructions to implement the method as described in any one of claims 1-16.

18. A ground mobile terminal, characterized in that, include: Sensors are used to acquire sensor data from ground-based mobile terminals. A control device is used to obtain the relative position information of the ground mobile terminal and the virtual target in a first area based on the sensor data; The control device is further configured to control the output of a first output signal by the non-screen output channel of the ground mobile terminal according to the relative position information, wherein the dynamic change of the characteristic parameters of the first output signal indicates the relative position change between the ground mobile terminal and the virtual target.

19. The ground mobile terminal according to claim 18, characterized in that, The ground mobile terminal includes a body and legs, and at least one of the body or the legs is provided with the sensor; the legs are used to move the body on the ground and to drive the body to jump relative to the ground above the ground.

20. The ground mobile terminal according to claim 18 or 19, characterized in that, The control device is the control device as described in claim 17.

21. A computer-readable storage medium, characterized in that, The device stores a computer program or instructions that, when executed by a processor, implement the method as described in any one of claims 1-16.

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