CN113096374A - Following control method, following device and user terminal - Google Patents

Following control method, following device and user terminal Download PDF

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Publication number
CN113096374A
CN113096374A CN202110349475.1A CN202110349475A CN113096374A CN 113096374 A CN113096374 A CN 113096374A CN 202110349475 A CN202110349475 A CN 202110349475A CN 113096374 A CN113096374 A CN 113096374A
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China
Prior art keywords
user terminal
following
following device
information
indication message
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CN202110349475.1A
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Chinese (zh)
Inventor
宫成龙
靳玉涛
王广东
王金光
李博
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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Priority to CN202110349475.1A priority Critical patent/CN113096374A/en
Publication of CN113096374A publication Critical patent/CN113096374A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/03—Control of position or course in two dimensions using near-field transmission systems, e.g. inductive-loop type
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Signal Processing (AREA)
  • Acoustics & Sound (AREA)
  • Telephone Function (AREA)

Abstract

The present disclosure relates to a following control method, a following device and a user terminal, the method is applied to a mobile device, and includes: receiving an ultrasonic signal of a designated frequency band transmitted by a user terminal through a receiver; receiving a first indication message which is sent by a user terminal and used for representing that an ultrasonic signal is sent through a first signal receiving and sending module, and starting timing when the first indication message is received; determining the transmission time of the ultrasonic signal received by each receiver according to the timing information; determining distance information and angle information between the following device and the user terminal according to the transmission time; and controlling the movement of the following device according to the distance information and the angle information so that the distance and the angle between the following device and the user terminal are respectively kept in a preset distance range and a preset angle range. Therefore, the following of the following device can be realized through the user terminal, the configuration of a specific following positioning label is omitted, the use cost can be reduced, and the convenience of use of a user is improved.

Description

Following control method, following device and user terminal
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a following control method, a following device, and a user terminal.
Background
At present, conventional following products in the market are all provided with following positioning tags, such as remote controllers, bracelets and other products.
In the use process, people are required to get to the designated area, and after the use is finished, the people are required to return to the designated area, so that the user feels inconvenient. Meanwhile, the use process is inconvenient, a user is required to wear the positioning tag to a certain position of the human body, for example, the remote controller needs to be placed at the rear part of the human body or held on the hand, and the bracelet needs to be worn on the hand.
Disclosure of Invention
The purpose of the disclosure is to provide a following control method, a following device and a user terminal, so as to realize more convenient following positioning.
In order to achieve the above object, a first aspect of the present disclosure provides a following control method applied to a following apparatus having a first signal transceiving module and a plurality of earpieces, the method including:
receiving an ultrasonic signal of a designated frequency band transmitted by a user terminal through the receiver;
receiving a first indication message which is sent by the user terminal and used for representing that the ultrasonic signal is sent through the first signal transceiving module, and starting timing when the first indication message is received;
determining the transmission time of the ultrasonic signal received by each earphone according to the timing information;
determining distance information and angle information between the following device and the user terminal according to the transfer time;
and controlling the movement of the following device according to the distance information and the angle information so as to respectively keep the distance and the angle between the following device and the user terminal within a preset distance range and a preset angle range.
Optionally, the determining, according to the transfer time, distance information and angle information between the following device and the user terminal specifically includes:
determining distance information between each earphone and the user terminal according to the transmission time, and determining distance information between the following device and the user terminal according to the distance information between each earphone and the user terminal;
according to the distance information between each earphone and the user terminal and the distance information between the earphones, determining the angle information between each earphone and the user terminal, and according to the angle information between each earphone and the user terminal, determining the angle information between the following device and the user terminal.
Optionally, before the step of receiving, by the earpiece, the ultrasonic signal of the designated frequency band transmitted by the user terminal, the method further includes:
and sending a second indication message to the user terminal through the first signal transceiver module, wherein the second indication message is used for indicating the user terminal to transmit the ultrasonic signal of the specified frequency band.
Optionally, before the step of receiving, by the earpiece, the ultrasonic signal of the designated frequency band transmitted by the user terminal, the method further includes:
receiving a control instruction which is sent by the user terminal and used for indicating switching to a following mode through the first signal transceiving module, and responding to the control instruction to switch to the following mode;
after the following mode is successfully switched, sending a third indication message to the user terminal through the first signal transceiving module, wherein the third indication message is used for indicating that the following device is switched to the following mode, and a driving mechanism for driving the following device to move is in an unlocked state when the following device is in the following mode.
Optionally, the following device is a vehicle.
A second aspect of the present disclosure provides a following control method, applied to a user terminal, where the user terminal has a second signal transceiving module and a speaker; the method comprises the following steps:
transmitting an ultrasonic signal of a specified frequency band to a following device through the loudspeaker;
sending, by the second signal transceiving module, a first indication message to the follower device for indicating that the ultrasonic signal has been sent, so as to enable the follower device to:
starting timing when the first indication message is received;
determining the transmission time of the ultrasonic signal received by each earphone arranged on the following device according to the timing information;
determining distance information and angle information between the following device and the user terminal according to the transfer time;
and controlling the movement of the following device according to the distance information and the angle information so as to respectively keep the distance and the angle between the following device and the user terminal within a preset distance range and a preset angle range.
Optionally, before the step of transmitting the ultrasonic signal of the designated frequency band to the follower device through the speaker, the method further includes:
and receiving a second indication message sent by the following device through the second signal transceiver module, wherein the second indication message is used for indicating the user terminal to transmit the ultrasonic signal of the specified frequency band.
Optionally, before the step of transmitting the ultrasonic signal of the designated frequency band to the follower device through the speaker, the method further includes:
sending a control instruction for instructing switching to a following mode to the following device through the second signal transceiving module so as to enable the following device to switch to the following mode in response to the control instruction, wherein a driving mechanism for driving the following device to move is in an unlocked state when the following device is in the following mode;
receiving, by the second signal transceiving module, a third indication message sent by the following device, where the third indication message is used to indicate that the following device has switched to the following mode.
Optionally, the method further comprises:
scanning a graphic identification code arranged on the following device to acquire a following control program;
and when the following control program is started, controlling the second signal transceiver module to be in an open state so as to allow the second signal transceiver module to transmit signals.
A third aspect of the present disclosure provides a follower device, comprising:
the system comprises a plurality of receivers, a plurality of wireless communication units and a plurality of wireless communication units, wherein the receivers are used for receiving ultrasonic signals of a specified frequency band transmitted by a user terminal;
the first signal receiving and sending module is used for receiving a first indication message which is sent by the user terminal and used for representing that the ultrasonic signal is sent;
a controller to:
starting timing when the first indication message is received, and determining the transmission time of the ultrasonic wave signal received by each earphone according to timing information;
determining distance information and angle information between the following device and the user terminal according to the transfer time;
and controlling the movement of the following device according to the distance information and the angle information so as to respectively keep the distance and the angle between the following device and the user terminal within a preset distance range and a preset angle range.
Optionally, the controller is to:
determining distance information between each earphone and the user terminal according to the transmission time, and determining distance information between the following device and the user terminal according to the distance information between each earphone and the user terminal;
according to the distance information between each earphone and the user terminal and the distance information between the earphones, determining the angle information between each earphone and the user terminal, and according to the angle information between each earphone and the user terminal, determining the angle information between the following device and the user terminal.
Optionally, the first signal transceiving module is further configured to:
and sending a second indication message to the user terminal, wherein the second indication message is used for indicating the user terminal to transmit the ultrasonic wave signal of the appointed frequency band.
Optionally, the first signal transceiving module is further configured to:
receiving a control instruction which is sent by the user terminal and used for indicating switching to a following mode, and responding to the control instruction to switch to the following mode;
after successfully switching to the following mode, sending a third indication message to the user terminal, wherein the third indication message is used for indicating that the following device is switched to the following mode, and a driving mechanism for driving the following device to move is in an unlocked state when the following device is in the following mode.
A fourth aspect of the present disclosure provides a user terminal, including:
the loudspeaker is used for transmitting ultrasonic signals of a specified frequency band to the following device;
a second signal transceiving module, configured to send a first indication message to the following device, so as to enable the following device to:
starting timing when the first indication message is received;
determining the transmission time of the ultrasonic signal received by each earphone arranged on the following device according to the timing information;
determining distance information and angle information between the following device and the user terminal according to the transfer time;
and controlling the movement of the following device according to the distance information and the angle information so as to respectively keep the distance and the angle between the following device and the user terminal within a preset distance range and a preset angle range.
Optionally, the second signal transceiver module is further configured to:
and receiving a second indication message sent by the following device, wherein the second indication message is used for indicating the user terminal to transmit the ultrasonic signal of the appointed frequency band.
Optionally, the second signal transceiver module is further configured to:
sending a control instruction for instructing switching to a following mode to the following device so as to enable the following device to switch to the following mode in response to the control instruction, wherein a driving mechanism for driving the following device to move is in an unlocking state when the following device is in the following mode;
receiving a third indication message sent by the following device, wherein the third indication message is used for indicating that the following device is switched to the following mode.
Optionally, the user terminal further includes:
the scanning unit is used for scanning the graphic identification code arranged on the following device to acquire a following control program;
and the control unit is used for controlling the second signal transceiver module to be in an open state when the following control program is started so as to allow the second signal transceiver module to carry out signal transmission.
Through the technical scheme, the following of the following device can be realized through the user terminal, the following positioning labels such as a specific remote controller and a specific bracelet are omitted, the use cost can be reduced, and the convenience of use of a user is improved.
Specifically, the user terminal transmits an ultrasonic signal of a specified frequency band to the following device through the loudspeaker, the user terminal transmits first indication information used for representing the fact that the ultrasonic signal is transmitted to the following device through the second signal transceiver module, the first signal transceiver module of the following device starts timing after receiving the first indication information, and the following device determines the transmission time of each earphone receiving the ultrasonic signal according to the timing information after receiving the ultrasonic signal of the specified frequency band transmitted by the user terminal through the earphone.
Therefore, the following device can determine the distance information and the angle information of the following device and the user terminal according to the transfer time, and can control the following device to move according to the determined distance information and the determined angle information, so that the distance and the angle between the following device and the user terminal are respectively kept in a preset distance range and a preset angle range. Therefore, the following of the following device is realized by using the user terminal, and the use convenience is improved; meanwhile, specific remote controllers, bracelets and the like are omitted along with the positioning labels, and product providers of the following devices do not need to provide the positioning labels, so that the risk of losing and not returning the positioning labels does not exist. It should be noted that, by transmitting the ultrasonic wave of the designated frequency band to the following device through the user terminal, on one hand, the interference of the acoustic wave of other frequency bands can be avoided, and the reliability is improved; on the other hand, since the human cannot sense the ultrasonic wave, the interference to the user can be reduced.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a schematic illustration of an implementation environment shown in an exemplary embodiment of the present disclosure;
FIG. 2 is a flow chart illustrating a follow control method according to an exemplary embodiment of the present disclosure;
FIG. 3 is a flow chart illustrating a follow control method according to another exemplary embodiment of the present disclosure;
fig. 4 is a signaling interaction diagram between a user terminal and a follower device for implementing a follower control method according to still another exemplary embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a follow-up control method according to another exemplary embodiment of the present disclosure;
FIG. 6 is a block diagram illustrating a follower device according to an exemplary embodiment of the present disclosure;
fig. 7 is a block diagram illustrating a structure of a user terminal according to an exemplary embodiment of the present disclosure;
fig. 8 is a block diagram illustrating a structure of a user terminal according to another exemplary embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a schematic diagram of an implementation environment shown in an exemplary embodiment of the present disclosure. As shown in FIG. 1, the enforcement environment may include a user terminal 10 and a follower device 20 in communication with the user terminal 10.
The user terminal 10 may be a terminal device owned by the user itself, which may be, for example, a mobile phone of the user, a smart wearable device (such as a smart watch, a smart bracelet, a smart ring, etc.), a tablet computer, a personal digital assistant, and so on. Thus, the following control of the following device 20 can be realized without providing a special following positioning tag for a user, and the following device is convenient and fast, is not easy to lose and reduces the cost.
The following device 20 may be a movable apparatus to be subjected to following control so that it can follow the user terminal 10, which may be, for example, a vehicle, an intelligent trunk, an intelligent cargo box, or the like. A first signal transceiving module and a plurality of earpieces may be provided in the follower device 20, and accordingly, a second signal transceiving module and a speaker may be provided in the user terminal 10. The user terminal 10 can emit an ultrasonic signal through the loudspeaker, and accordingly the follower device 20 can receive the ultrasonic signal through the earpiece. Furthermore, a communication connection may be established between the second signal transceiving module on the user terminal 10 and the first signal transceiving module on the follower device 20 to allow signal transmission between the user terminal 10 and the follower device 20. For example, Bluetooth, 2G (English: 2nd-Generation with less telephone), 3G (English: 3rd-Generation with less telephone technology, Chinese: third-Generation mobile communication technology), 4G (English: 4th-Generation with less telephone technology, Chinese: fourth-Generation mobile communication technology), 5G (English: 5th-Generation with less telephone technology, Chinese: fifth-Generation mobile communication technology), NB-IOT (Narrow Band of English, Chinese: Narrow Band of Chinese), eMTTC (LTE enhanced machine type communication), LTE (Long Term Evolution of common telephone technology, Chinese: Advanced LTE-A (Long Term Evolution of Long Term Evolution-Advanced LTE) may be adopted between the user terminal 10 and the follower device 20 Near Field Communication (NFC), V2X (vehicle to X, chinese), WiFi, and so on. In practical applications, the user terminal 10 is usually located near the following device 20, and considering the timeliness, convenience and power consumption, it is preferable that the user terminal 10 and the following device 20 can communicate with each other through bluetooth. Therefore, the first signal transceiver module and the second signal transceiver module are both Bluetooth communication modules.
The following control method applied to the above-described implementation environment will be described below with reference to fig. 2 to 4.
Fig. 2 is a flowchart illustrating a follow control method according to an exemplary embodiment of the present disclosure. The method may be applied to a follower device, such as the follower device 20 shown in FIG. 1. The method can comprise the following steps:
and step S11, receiving the ultrasonic wave signal of the appointed frequency band transmitted by the user terminal through the receiver.
The specified frequency band may be preset or may be set by the follower device. Through setting up appointed frequency channel, can avoid the interference of sound wave signal beyond the appointed frequency channel, improved the reliability. Meanwhile, because the ultrasonic wave cannot be sensed by the user, the interference to the user can be reduced. Illustratively, the specified frequency band may be in the range of 17-26 kHz.
Step S12, receiving a first indication message sent by the user terminal for indicating that the ultrasonic signal has been sent through the first signal transceiver module, and starting timing when the first indication message is received.
The following device receives a first indication message sent by the user terminal through the first signal transceiving module so as to determine the transmitting time of the ultrasonic signal through the first indication message.
Illustratively, the user terminal may simultaneously transmit the ultrasonic wave signal and the first indication message, and since the user terminal is located near the following apparatus when the following control is performed, the time of receiving the first indication message may be equivalent to the transmission time of the ultrasonic wave signal.
Illustratively, the user terminal is located near the follower device, which may be within 2 meters of the follower device, to facilitate the user's view of the surrounding environment.
Alternatively, when the field of use of the following device is relatively open, the distance between the user terminal and the following device may be the farthest distance that the following device can follow the user terminal.
Alternatively, when the following device is used with a lot of ground people, the distance between the user terminal and the following device may be further reduced, which may be 1 meter, for example.
It should be noted that the above preferred embodiments are only used for illustrating the principle of the present disclosure, and are not intended to limit the scope of the present disclosure. Without departing from the principles of the present disclosure, one skilled in the art can adjust the distance between the user terminal and the follower device so that the present disclosure can be applied to more specific application scenarios.
Illustratively, the earpieces may be two, and the two earpieces are located on a side of the following device facing the user terminal.
Alternatively, when there are more than two earpieces, the earpieces may be disposed around the following means.
Step S13, determining the transmission time of the ultrasonic wave signal received by each handset based on the timing information.
Specifically, when the ultrasonic signal is received for the first time, the following device may obtain the time interval from the time when the timing is started to the time when the ultrasonic signal is received by the earpiece according to the timing information, where the intermediate time interval is the transmission time when the ultrasonic signal is received by the earpiece.
For example, the user terminal may periodically transmit the ultrasonic signal, and in this scenario, when the ultrasonic signal is received for the first time, the user terminal may determine the transmission time of the ultrasonic signal through the timing information; when the following device receives a non-primary ultrasonic signal transmitted by the user terminal, the following device can determine the sending time of the ultrasonic signal according to the wave number of the ultrasonic signal, the transmission period of the ultrasonic signal by the user terminal and the timing starting time, and determine the transmission time of the ultrasonic signal according to the receiving time and the sending time of the received ultrasonic signal, so as to judge the distance between the current earphone and the user terminal.
And step S14, determining the distance information and the angle information of the following device and the user terminal according to the transfer time.
According to the transmission time, the distance information between the receiver and the user terminal can be determined, the angle information between the receiver and the user terminal can be determined according to the distance information between the receiver and the user terminal, and then the distance information and the angle information between the following device and the user terminal can be obtained.
And step S15, controlling the movement of the following device according to the distance information and the angle information of the following device and the user terminal, so that the distance and the angle between the following device and the user terminal are respectively kept in a preset distance range and a preset angle range.
Through the distance information and the angle information of the following device and the user terminal, the following device can be accurately controlled to move, so that the distance and the angle between the following device and the user terminal are respectively kept in a preset distance range and a preset angle range, and the following of the following device to the user terminal is realized.
So, can realize following the following of device through user terminal, save and dispose specific remote controller, bracelet etc. and follow the location label, can reduce use cost, improve the convenience that the user used.
Fig. 3 is a flowchart illustrating a follow control method according to another exemplary embodiment of the present disclosure. The method may be applied to a user terminal, such as the user terminal 10 shown in fig. 1. The method can comprise the following steps:
step S21, transmitting ultrasonic signals of the appointed frequency band to the following device through a loudspeaker;
step S22, sending a first indication message for indicating that the ultrasonic signal has been sent to the follower device through the second signal transceiver module, so as to enable the follower device to:
starting timing when a first indication message is received; determining the transmission time of the ultrasonic signal received by each receiver arranged on the following device according to the timing information; determining distance information and angle information between the following device and the user terminal according to the transmission time; and controlling the movement of the following device according to the distance information and the angle information so that the distance and the angle between the following device and the user terminal are respectively kept in a preset distance range and a preset angle range.
So, can realize following the following of device through user terminal, save and dispose specific remote controller, bracelet etc. and follow the location label, and then can reduce use cost, improve the convenience that the user used.
Specifically, the user terminal transmits an ultrasonic signal of a specified frequency band to the following device through the loudspeaker, the user terminal transmits first indication information used for representing the fact that the ultrasonic signal is transmitted to the following device through the second signal transceiver module, the first signal transceiver module of the following device starts timing after receiving the first indication information, and the following device determines the transmission time of each earphone receiving the ultrasonic signal according to the timing information after receiving the ultrasonic signal of the specified frequency band transmitted by the user terminal through the earphone.
Therefore, the following device can determine the distance information and the angle information of the following device and the user terminal according to the transfer time, and can control the following device to move according to the determined distance information and the determined angle information, so that the distance and the angle between the following device and the user terminal are respectively kept in a preset distance range and a preset angle range. Therefore, the following of the following device is realized by using the user terminal, and the use convenience is improved; meanwhile, specific remote controllers, bracelets and the like are omitted along with the positioning labels, and product providers of the following devices do not need to provide the positioning labels, so that the risk of losing and not returning the positioning labels does not exist. It should be noted that, by transmitting the ultrasonic wave of the designated frequency band to the following device through the user terminal, on one hand, the interference of the acoustic wave of other frequency bands can be avoided, and the reliability is improved; on the other hand, since the human cannot sense the ultrasonic wave, the interference to the user can be reduced.
It is worth mentioning that, although it is shown in fig. 3 that the step S22 is performed after the step S21, the present disclosure is not limited thereto, and the step S22 may be performed simultaneously with the step S21.
Fig. 4 is a signaling interaction diagram between a user terminal and a follower device for implementing a follower control method according to still another exemplary embodiment of the present disclosure. Referring to fig. 4, the following control method of the present disclosure may include:
in step S31, the user terminal scans the graphic identification code provided on the follower device to obtain the follower control program, and when the follower control program is started, the second signal transceiver module can be controlled to be in the open state.
For example, the graphic identification code may be a two-dimensional code, and when the user terminal scans the graphic identification code, a download link of the follow-up control program may be acquired so as to download and install the follow-up control program. Alternatively, when the user terminal scans the graphic identification code, an address of the follow-up control program (for example, the follow-up control program is in the form of an applet) may be acquired so that the follow-up control program is acquired by opening the address.
After the user terminal starts the following control program, the second signal transceiver module can be controlled to be in an open state. The method specifically comprises the following steps:
when the second signal transceiver module is in a closed state at present, controlling the second signal transceiver module to be opened;
and when the second signal transceiver module is in the opening state currently, controlling the second signal transceiver module to be kept opened.
The following device can automatically turn on the first signal transceiver module after being powered on.
Exemplarily, when the first signal transceiver module and the second signal transceiver module are bluetooth communication modules, the method may further include:
after the first signal transceiver module and the second signal transceiver module are started, the user terminal and the following device establish Bluetooth pairing connection. The specific process of how to perform bluetooth pairing connection is well known to those skilled in the art, and the disclosure is not repeated herein.
In step S32, after the user terminal establishes a communication connection with the follower device, the user terminal sends a control instruction for instructing to switch to the follower mode to the follower device through the second signal transceiver module.
And step S33, the following device receives the control instruction sent by the user terminal through the first signal transceiving module and switches to the following mode in response to the control instruction.
Therefore, the following device can carry out state switching according to the control instruction of the user terminal, and can set a dormant state when the following control is not needed so as to save energy.
And step S34, after the following device is successfully switched to the following mode, the following device sends a third indication message to the user terminal through the first signal transceiver module, wherein the third indication message is used for indicating that the following device is switched to the following mode, and in the case that the following device is in the following mode, a driving mechanism for driving the following device to move is in an unlocked state.
When the following device is not switched to the following mode, the driving mechanism of the following device is in a locking state, the situation of accidents caused by the accidental movement of the following device can be prevented, and the safety is improved. When the following device is switched to the following mode, the driving mechanism of the following device is unlocked to allow the following device to control the driving mechanism to operate, so that the following device is driven to move.
For example, the drive mechanism may be a drive wheel disposed at the bottom of the follower device.
And step S35, the following device sends second indication information to the user terminal through the first signal transceiver module, wherein the second indication information is used for indicating the user terminal to transmit the ultrasonic signal of the specified frequency band.
Step S36, the user terminal transmits ultrasonic signals of the appointed frequency band to the following device through a loudspeaker; and the user terminal sends a first indication message for representing that the ultrasonic signal is sent to the following device through the second signal transceiving module.
In step S37, the following device receives a first indication message sent by the user terminal through the first signal transceiver module, and starts timing when the first indication message is received.
And step S38, the following device receives the ultrasonic wave signal of the appointed frequency band transmitted by the user terminal through the receiver.
In step S39, the follower determines the transmission time of the ultrasonic signal received by each earpiece according to the timing information.
Step S40, determining distance information between each earphone and the user terminal according to the transmission time, and determining distance information between the follower and the user terminal according to the distance information between each earphone and the user terminal.
For each earphone, the distance information between the earphone and the user terminal can be determined according to the transmission time of the ultrasonic signal received by the earphone and the propagation speed of the ultrasonic wave. According to the distance between each earphone and the user terminal, the distance between the following device and the user terminal can be determined. For example, the distance between the user terminal and the follower device may be averaged to obtain an average value of the distances between the respective earphones and the user terminal. Of course, the present disclosure is not limited to this, and the maximum value, the minimum value, or the median of the distances between each earphone and the user terminal may also be taken as the distance between the user terminal and the following device. Alternatively, the distance information between the center of the following device and the user terminal may be calculated as the distance between the following device and the user terminal according to the distance between each earphone and the user terminal and the distance between each earphone and the center of the following device.
Step S41, determining angle information between each earphone and the user terminal according to the distance information between each earphone and the user terminal and the distance information between the earphones, and determining angle information between the follower and the user terminal according to the angle information between each earphone and the user terminal.
For any two receivers, a measurement triangle with known trilateral side length can be constructed through the distance between the two receivers and the user terminal and the distance between the two receivers, the angles of three angles of the measurement triangle are determined through an inverse trigonometric function, then the angle information of each receiver and the user terminal can be determined, and the angle information of the following device and the user terminal can be determined according to the angle information of each receiver and the user terminal.
Fig. 5 is a schematic diagram of a follow-up control method according to another exemplary embodiment of the present disclosure. Referring to fig. 5, the earpieces 21 may be provided in two and provided at a side of the following device 20 facing the user terminal 10.
The distances between the two earpieces 21 and the center of the following device 20 are D1 and D2, respectively, and the distance between the two earpieces 21 is D0, and in combination with the foregoing, the distances D1 and D2 between the two earpieces 21 and the user terminal can be determined according to the transmission time of the ultrasonic wave signal. The cosine of the angle α can now be calculated according to the following formula:
Figure BDA0003001940600000151
the angle value of α can then be obtained by solving α using an inverse trigonometric function.
Meanwhile, the angle β is an inherent angle value between the earpiece 21 and the center of the follower device, and at this time, the distance information D between the center of the follower device and the user terminal can be determined according to the sum of the angles α and β, D1, and D1, and according to the cosine theorem.
By the sum of the angles α and β, D1, D1 and D, the angle γ can be solved, and the angle x of the earpiece 21 relative to the center of the follower device is fixed, so that the angle y of the connection line between the center of the follower device and the user terminal relative to the center of the follower device can be determined according to the angle γ and the angle x, and the angle y can be used as the angle information of the follower device and the user terminal.
And step S42, controlling the movement of the following device according to the distance information and the angle information of the following device and the user terminal, so that the distance and the angle between the following device and the user terminal are respectively kept in a preset distance range and a preset angle range.
Specifically, when the distance between the following device and the user terminal is within a preset distance range, the following device can be controlled to keep the current movement speed; when the distance between the following device and the user terminal is smaller than the lower limit value of the preset distance range, the following device can be controlled to increase the speed; when the distance between the following device and the user terminal is larger than the upper limit value of the preset distance range, the following device can be controlled to reduce the speed.
When the angle between the following device and the user terminal is within a preset angle range, the following device can be controlled to keep the current orientation; when the angle between the following device and the user terminal exceeds the preset angle range, the following device can be controlled to change the direction, so that the angle between the following device and the user terminal is within the preset angle range.
Illustratively, the user terminal can be a mobile phone, and the following device can be a vehicle, so that automatic following of the vehicle can be realized through the mobile phone, and a driver does not need to get on the vehicle when controlling the vehicle at a short distance.
Fig. 6 is a block diagram illustrating a structure of the follower device 20 according to an exemplary embodiment of the present disclosure. Referring to fig. 6, the following device 20 may include:
a plurality of earphones 401 for receiving the ultrasonic signal of the designated frequency band transmitted by the user terminal; a first signal transceiver module 403, configured to receive a first indication message sent by a user terminal and used for indicating that an ultrasonic signal has been sent; a controller 402 for: starting timing when the first indication message is received, and determining the transmission time of the ultrasonic signal received by each receiver 401 according to the timing information; determining distance information and angle information of the following device 20 and the user terminal according to the transfer time; and controlling the movement of the following device 20 according to the distance information and the angle information, so that the distance and the angle between the following device 20 and the user terminal are respectively kept in a preset distance range and a preset angle range.
Through the technical scheme, the following of the following device can be realized through the user terminal, the following positioning labels such as a specific remote controller and a specific bracelet are omitted, the use cost can be reduced, and the convenience of use of a user is improved.
Specifically, the user terminal transmits an ultrasonic signal of a specified frequency band to the following device through the loudspeaker, the user terminal transmits first indication information used for representing the fact that the ultrasonic signal is transmitted to the following device through the second signal transceiver module, the first signal transceiver module of the following device starts timing after receiving the first indication information, and the following device determines the transmission time of each earphone receiving the ultrasonic signal according to the timing information after receiving the ultrasonic signal of the specified frequency band transmitted by the user terminal through the earphone.
Therefore, the following device can determine the distance information and the angle information of the following device and the user terminal according to the transfer time, and can control the following device to move according to the determined distance information and the determined angle information, so that the distance and the angle between the following device and the user terminal are respectively kept in a preset distance range and a preset angle range. Therefore, the following of the following device is realized by using the user terminal, and the use convenience is improved; meanwhile, specific remote controllers, bracelets and the like are omitted along with the positioning labels, and product providers of the following devices do not need to provide the positioning labels, so that the risk of losing and not returning the positioning labels does not exist. It should be noted that, by transmitting the ultrasonic wave of the designated frequency band to the following device through the user terminal, on one hand, the interference of the acoustic wave of other frequency bands can be avoided, and the reliability is improved; on the other hand, since the human cannot sense the ultrasonic wave, the interference to the user can be reduced.
Illustratively, the controller 402 may be configured to: determining the distance information between each earphone 401 and the user terminal according to the transmission time, and determining the distance information between the following device 20 and the user terminal according to the distance information between each earphone 401 and the user terminal; according to the distance information between each earphone 401 and the user terminal and the distance information between the earphones 401, the angle information between each earphone 401 and the user terminal is determined, and according to the angle information between each earphone 401 and the user terminal, the angle information between the following device 20 and the user terminal is determined.
Exemplarily, the first signal transceiver module 403 may further be configured to: and sending a second indication message to the user terminal, wherein the second indication message is used for indicating the user terminal to transmit the ultrasonic wave signal of the appointed frequency band.
Exemplarily, the first signal transceiver module 403 may further be configured to: receiving a control instruction which is sent by a user terminal and used for indicating switching to a following mode, and responding to the control instruction to switch to the following mode; after successful switching to the following mode, a third indication message is sent to the user terminal, the third indication message being used to indicate that the following device 20 has switched to the following mode, wherein, in case the following device 20 is in the following mode, a driving mechanism for driving the following device 20 to move is in an unlocked state.
Fig. 7 is a block diagram illustrating the structure of the user terminal 10 according to an exemplary embodiment of the present disclosure. Referring to fig. 7, the user terminal 10 may include: a speaker 501 for emitting an ultrasonic signal of a designated frequency band to the follower device; a second signal transceiver module 502, configured to send a first indication message to the following device, so as to enable the following device to: starting timing when a first indication message is received; determining the transmission time of the ultrasonic signal received by each receiver arranged on the following device according to the timing information; determining distance information and angle information of the following device and the user terminal 10 according to the transfer time; and controlling the movement of the following device according to the distance information and the angle information so that the distance and the angle between the following device and the user terminal 10 are respectively kept in a preset distance range and a preset angle range.
Through the technical scheme, the following of the following device can be realized through the user terminal, the following positioning labels such as a specific remote controller and a specific bracelet are omitted, the use cost can be reduced, and the convenience of use of a user is improved.
Specifically, the user terminal transmits an ultrasonic signal of a specified frequency band to the following device through the loudspeaker, the user terminal transmits first indication information used for representing the fact that the ultrasonic signal is transmitted to the following device through the second signal transceiver module, the first signal transceiver module of the following device starts timing after receiving the first indication information, and the following device determines the transmission time of each earphone receiving the ultrasonic signal according to the timing information after receiving the ultrasonic signal of the specified frequency band transmitted by the user terminal through the earphone.
Therefore, the following device can determine the distance information and the angle information of the following device and the user terminal according to the transfer time, and can control the following device to move according to the determined distance information and the determined angle information, so that the distance and the angle between the following device and the user terminal are respectively kept in a preset distance range and a preset angle range. Therefore, the following of the following device is realized by using the user terminal, and the use convenience is improved; meanwhile, specific remote controllers, bracelets and the like are omitted along with the positioning labels, and product providers of the following devices do not need to provide the positioning labels, so that the risk of losing and not returning the positioning labels does not exist. It should be noted that, by transmitting the ultrasonic wave of the designated frequency band to the following device through the user terminal, on one hand, the interference of the acoustic wave of other frequency bands can be avoided, and the reliability is improved; on the other hand, since the human cannot sense the ultrasonic wave, the interference to the user can be reduced.
Exemplarily, the second signal transceiver module 502 may further be configured to: and receiving a second indication message sent by the following device, wherein the second indication message is used for indicating the user terminal 10 to transmit the ultrasonic wave signal of the specified frequency band.
Exemplarily, the second signal transceiver module 502 may further be configured to: sending a control instruction for instructing switching to a following mode to the following device so as to enable the following device to be switched to the following mode in response to the control instruction, wherein a driving mechanism for driving the following device to move is in an unlocking state when the following device is in the following mode; and receiving a third indication message sent by the following device, wherein the third indication message is used for indicating that the following device is switched to the following mode.
Fig. 8 is a block diagram illustrating a structure of the user terminal 10 according to another exemplary embodiment of the present disclosure. Referring to fig. 8, the user terminal 10 may further include: a scanning unit 504 for scanning the graphic identification code provided on the follower device to acquire a follower control program; the control unit 503 is configured to control the second signal transceiver module 502 to be in an open state when the following control program is started, so as to allow the second signal transceiver module 502 to perform signal transmission.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (11)

1. A following control method applied to a following apparatus having a first signal transceiving module and a plurality of earphones, the method comprising:
receiving an ultrasonic signal of a designated frequency band transmitted by a user terminal through the receiver;
receiving a first indication message which is sent by the user terminal and used for representing that the ultrasonic signal is sent through the first signal transceiving module, and starting timing when the first indication message is received;
determining the transmission time of the ultrasonic signal received by each earphone according to the timing information;
determining distance information and angle information between the following device and the user terminal according to the transfer time;
and controlling the movement of the following device according to the distance information and the angle information so as to respectively keep the distance and the angle between the following device and the user terminal within a preset distance range and a preset angle range.
2. The method according to claim 1, wherein the determining distance information and angle information between the following device and the user terminal according to the transfer time specifically comprises:
determining distance information between each earphone and the user terminal according to the transmission time, and determining distance information between the following device and the user terminal according to the distance information between each earphone and the user terminal;
according to the distance information between each earphone and the user terminal and the distance information between the earphones, determining the angle information between each earphone and the user terminal, and according to the angle information between each earphone and the user terminal, determining the angle information between the following device and the user terminal.
3. The method of claim 1, wherein before the step of receiving the ultrasonic signal of the designated frequency band transmitted by the user terminal through the earphone, the method further comprises:
and sending a second indication message to the user terminal through the first signal transceiver module, wherein the second indication message is used for indicating the user terminal to transmit the ultrasonic signal of the specified frequency band.
4. The method of claim 1, wherein before the step of receiving the ultrasonic signal of the designated frequency band transmitted by the user terminal through the earphone, the method further comprises:
receiving a control instruction which is sent by the user terminal and used for indicating switching to a following mode through the first signal transceiving module, and responding to the control instruction to switch to the following mode;
after the following mode is successfully switched, sending a third indication message to the user terminal through the first signal transceiving module, wherein the third indication message is used for indicating that the following device is switched to the following mode, and a driving mechanism for driving the following device to move is in an unlocked state when the following device is in the following mode.
5. The method according to any one of claims 1-4, wherein the following device is a vehicle.
6. A following control method is applied to a user terminal, wherein the user terminal is provided with a second signal transceiving module and a loudspeaker; the method comprises the following steps:
transmitting an ultrasonic signal of a specified frequency band to a following device through the loudspeaker;
sending, by the second signal transceiving module, a first indication message to the follower device for indicating that the ultrasonic signal has been sent, so as to enable the follower device to:
starting timing when the first indication message is received;
determining the transmission time of the ultrasonic signal received by each earphone arranged on the following device according to the timing information;
determining distance information and angle information between the following device and the user terminal according to the transfer time;
and controlling the movement of the following device according to the distance information and the angle information so as to respectively keep the distance and the angle between the following device and the user terminal within a preset distance range and a preset angle range.
7. The method of claim 6, wherein prior to the step of transmitting the ultrasonic signal of the designated frequency band to the follower device through the speaker, the method further comprises:
and receiving a second indication message sent by the following device through the second signal transceiver module, wherein the second indication message is used for indicating the user terminal to transmit the ultrasonic signal of the specified frequency band.
8. The method of claim 6, wherein prior to the step of transmitting the ultrasonic signal of the designated frequency band to the follower device through the speaker, the method further comprises:
sending a control instruction for instructing switching to a following mode to the following device through the second signal transceiving module so as to enable the following device to switch to the following mode in response to the control instruction, wherein a driving mechanism for driving the following device to move is in an unlocked state when the following device is in the following mode;
receiving, by the second signal transceiving module, a third indication message sent by the following device, where the third indication message is used to indicate that the following device has switched to the following mode.
9. The method of claim 6, further comprising:
scanning a graphic identification code arranged on the following device to acquire a following control program;
and when the following control program is started, controlling the second signal transceiver module to be in an open state so as to allow the second signal transceiver module to transmit signals.
10. A follower device, comprising:
the system comprises a plurality of receivers, a plurality of wireless communication units and a plurality of wireless communication units, wherein the receivers are used for receiving ultrasonic signals of a specified frequency band transmitted by a user terminal;
the first signal receiving and sending module is used for receiving a first indication message which is sent by the user terminal and used for representing that the ultrasonic signal is sent;
a controller to:
starting timing when the first indication message is received, and determining the transmission time of the ultrasonic wave signal received by each earphone according to timing information;
determining distance information and angle information between the following device and the user terminal according to the transfer time;
and controlling the movement of the following device according to the distance information and the angle information so as to respectively keep the distance and the angle between the following device and the user terminal within a preset distance range and a preset angle range.
11. A user terminal, comprising:
the loudspeaker is used for transmitting ultrasonic signals of a specified frequency band to the following device;
a second signal transceiving module, configured to send a first indication message to the following device, so as to enable the following device to:
starting timing when the first indication message is received;
determining the transmission time of the ultrasonic signal received by each earphone arranged on the following device according to the timing information;
determining distance information and angle information between the following device and the user terminal according to the transfer time;
and controlling the movement of the following device according to the distance information and the angle information so as to respectively keep the distance and the angle between the following device and the user terminal within a preset distance range and a preset angle range.
CN202110349475.1A 2021-03-31 2021-03-31 Following control method, following device and user terminal Pending CN113096374A (en)

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CN110928306A (en) * 2019-12-06 2020-03-27 东莞市华复实业有限公司 Following control method and system and intelligent robot
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CN205547727U (en) * 2016-02-15 2016-09-07 广东工商职业学院 Automatic tracking suitcase based on bluetooth location
CN106405500A (en) * 2016-10-09 2017-02-15 北京光年无限科技有限公司 Intelligent robot following method and following system and emission device for following
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Application publication date: 20210709