CN113259843B

CN113259843B - Control method, device and system of controlled equipment, terminal equipment and UWB assembly

Info

Publication number: CN113259843B
Application number: CN202110636602.6A
Authority: CN
Inventors: 张烨
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2021-06-08
Filing date: 2021-06-08
Publication date: 2023-04-14
Anticipated expiration: 2041-06-08
Also published as: CN113259843A; WO2022257771A1

Abstract

The embodiment of the application provides a control method, a control device, a control system, terminal equipment and a UWB assembly of controlled equipment, and relates to the technical field of equipment control. The method comprises the following steps: establishing UWB communication with a UWB tag; performing ranging for multiple times to acquire multiple distances between the UWB tag and the UWB tag; determining a target distance satisfying a target condition from the plurality of distances; and determining the movement direction of the controlled equipment based on the target distance, and controlling the controlled equipment. According to the embodiment of the application, a plurality of distances between the UWB tag and the terminal equipment are determined through ranging for a plurality of times, and the movement direction of the controlled equipment is determined based on the distance meeting the target condition, so that the controlled equipment is controlled.

Description

Control method, device and system of controlled equipment, terminal equipment and UWB assembly

Technical Field

The embodiment of the application relates to the technical field of equipment control, in particular to a control method, a control device, a control system, terminal equipment and a UWB assembly of controlled equipment.

Background

With the continuous development of science and technology, various service robots gradually enter the lives of people, such as sweeping robots, and the anthropomorphic cleaning effect is achieved by repeatedly walking.

In the related art, the common positioning technologies of the sweeping robot include a WiFi (Wireless Fidelity ) technology, an infrared technology, an ultrasonic positioning technology, a UWB technology, a bluetooth positioning technology, and the like. The UWB (Ultra wide band) technology locates each positioning tag based on a positioning base station and positioning tags arranged indoors, and is a positioning technology with high positioning accuracy and low power consumption.

Disclosure of Invention

The embodiment of the application provides a control method, a control device, a control system, terminal equipment and a UWB assembly of controlled equipment. The technical scheme is as follows:

in one aspect, an embodiment of the present application provides a control method for a controlled device, where the method is applied to a terminal device, and a target position of the controlled device is provided with a UWB tag, and the method includes:

establishing UWB communication with the UWB tag;

performing a plurality of ranging measurements to obtain a plurality of distances to the UWB tag;

determining a target distance satisfying a target condition from the plurality of distances;

and determining the movement direction of the controlled equipment based on the target distance, and controlling the controlled equipment.

On the other hand, the embodiment of the present application provides a control apparatus for a controlled device, the apparatus is applied to a terminal device, a target position of the controlled device is provided with a UWB tag, and the apparatus includes:

a communication establishing module for establishing UWB communication with the UWB tag;

the distance acquisition module is used for carrying out multiple distance measurement to acquire multiple distances between the UWB tag and the UWB tag;

a distance determination module for determining a target distance satisfying a target condition from the plurality of distances;

and the direction determining module is used for determining the movement direction of the controlled equipment based on the target distance and controlling the controlled equipment.

In another aspect, an embodiment of the present application provides a control system for a controlled device, where the system includes: the terminal device, the UWB tag and the controlled device, wherein the UWB tag is arranged at the target position of the controlled device;

the terminal equipment establishes UWB communication with the UWB tag;

the terminal equipment sends a ranging request to the UWB tag;

the UWB tag sends confirmation information to the terminal equipment after receiving the ranging request from the terminal equipment;

the terminal device determines a plurality of distances to the UWB tag based on a transmission time point of the ranging request and a reception time point of the acknowledgement information;

the terminal equipment determines a target distance meeting a target condition from the plurality of distances;

and the terminal equipment determines the movement direction of the controlled equipment based on the target distance and controls the controlled equipment.

On the other hand, an embodiment of the present application provides a terminal device, where the terminal device includes: a processor, memory, and UWB components;

the processor is electrically connected with the memory and the UWB component respectively;

the UWB component is used for communicating with a UWB tag and receiving a data frame from the UWB tag, the UWB tag is used for representing a controlled device, and the UWB tag is independent of the controlled device;

the memory stores at least one instruction for being loaded by the processor to perform the method of controlling a controlled device as described in the above aspect.

In another aspect, an embodiment of the present application provides a UWB component, including: a UWB antenna and interface circuit;

the UWB antenna is electrically connected with the interface circuit;

the UWB component is used for being connected with terminal equipment through the interface circuit and establishing UWB communication with the UWB tag; performing a plurality of ranging measurements to obtain a plurality of distances to the UWB tag.

In still another aspect, the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program is loaded and executed by a processor to implement the control method for a controlled device according to the above aspect.

The technical scheme provided by the embodiment of the application can bring the following beneficial effects:

the distance measuring method and the device have the advantages that the distances between the UWB tag and the terminal device are determined through multiple distance measuring, the moving direction of the controlled device is determined based on the distance meeting the target condition, and therefore the controlled device is controlled.

Drawings

FIG. 1 is a schematic illustration of an implementation environment provided by an embodiment of the present application;

fig. 2 is a flowchart of a control method of a controlled device according to an embodiment of the present application;

fig. 3 is a flowchart of a control method of a controlled device according to another embodiment of the present application;

FIG. 4 is a schematic diagram of the movement of a controlled device provided by an embodiment of the present application;

fig. 5 is a flowchart of a control method of a controlled device according to another embodiment of the present application;

FIG. 6 is a schematic diagram of a UWB tag of a controlled device provided by one embodiment of the present application;

fig. 7 is a flowchart of a control method of a controlled device according to another embodiment of the present application;

FIG. 8 is a schematic diagram of a UWB tag of a controlled device provided by another embodiment of the present application;

fig. 9 is a schematic diagram of a UWB tag of a controlled device provided by another embodiment of the present application;

fig. 10 is a flowchart of a control method of a controlled device according to another embodiment of the present application;

FIG. 11 is a schematic diagram of a UWB tag of a controlled device provided by another embodiment of the present application;

fig. 12 is a block diagram of a control apparatus of a controlled device according to an embodiment of the present application;

FIG. 13 is a schematic diagram of a control system of a controlled device provided in one embodiment of the present application;

fig. 14 is a block diagram illustrating a structure of a terminal device according to an exemplary embodiment of the present application;

fig. 15 is a block diagram illustrating a structure of a terminal system according to an exemplary embodiment of the present application;

fig. 16 is a block diagram of an UWB component provided in an exemplary embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, the following detailed description of the embodiments of the present application will be made with reference to the accompanying drawings.

Referring to fig. 1, a schematic diagram of an implementation environment provided by an embodiment of the present application is shown, where the implementation environment includes a terminal device 110, a controlled device 120, and a UWB tag 130.

The terminal device 110 is a device having a spatial location awareness capability, which means: terminal device 110 may perceive a spatial location relationship between it and other devices. The terminal device 110 may be a portable electronic device such as a smart phone, a tablet computer, an intelligent remote controller, and an intelligent watch. In the embodiment of the present application, the terminal device 110 refers to a device for controlling the controlled device 120.

The terminal device 110 may establish UWB communication with the UWB tag 130 through the UWB component. That is, the terminal device 110 may receive the data frame transmitted by the UWB tag 130 through the UWB component and determine the spatial positional relationship between the terminal device 110 and the UWB tag 130 based on the data frame transmitted by the UWB tag 130.

The UWB components described above may also be of a separable design from the terminal device 110, or the UWB components may be independent of the terminal device 110. That is, the terminal device 110 has a function of establishing UWB communication with the UWB tag 130 when the UWB component is mounted or worn; when terminal device 110 is not carrying or is not installed with UWB components, terminal device 110 may not be able to establish UWB communication with UWB tags. Under this application scenario, the UWB component may be packaged as a terminal accessory, for example, the UWB component may be a mobile phone shell, a mobile phone protective case, a mobile phone pendant, and the like.

It is to be understood that the UWB component may also be disposed inside the terminal device 110, that is, the UWB component is disposed inside the terminal device 110, so that the terminal device 110 can establish UWB communication with the UWB tag 130 through the UWB component.

The controlled device 120 is an electronic device capable of establishing a data communication connection function with the terminal device 110, and may be an intelligent sound box, an intelligent refrigerator, an intelligent air conditioner, an intelligent lamp, a floor cleaning robot, or the like. The data communication connection is as follows: the controlled device 120 and the terminal device 110 may perform information interaction through a data communication connection, where the data communication connection may be a WiFi connection, a bluetooth connection, an infrared connection, and the like, which is not limited in this embodiment of the application.

The target position of the controlled device 120 is provided with a UWB tag 130, and in possible implementations, the controlled device may rotate with the target position offset from the axis of rotation of the controlled device. The target position may be determined based on the number of tags included in the UWB tag, for example, assuming that the UWB tag includes one UWB tag, the target position may be a positive direction when the controlled device advances; for another example, when the UWB tag includes at least two UWB tags, the target location includes 3 locations, and each location is provided with one UWB tag, which is not limited in the embodiment of the present application.

Illustratively, the UWB tag 130 may be used to characterize the controlled device 120, that is, the UWB tag 130 is independent of the controlled device 120. By independent it is meant that the UWB tag 130 is a separate device from the controlled device 120, capable of being sold separately as a product, not integrated within the controlled device 120 as part of the controlled device 120, nor is a component module of the controlled device 120. After the UWB tag 130 and the controlled device 120 are bound, the UWB tag 130 and the controlled device 120 do not have a data communication connection relationship, and only have a mapping relationship, where the mapping relationship refers to the controlled device 120 whose representation can be determined by the UWB tag 130. UWB tags generally differ from controlled device to controlled device.

In the embodiment of the present application, the UWB tag 130 sends a data frame to the terminal device 110, and the terminal device 110 determines, according to the received data frame, a distance between the controlled device 120 characterized by the UWB tag and the terminal device 110, and controls the controlled device 120.

An application scenario of the present application is described by taking the controlled device 120 as a sweeping robot and the terminal device 110 as a mobile phone as an example. The target position of the sweeping robot is provided with a UWB tag. The user directly controls the sweeping robot at home, for example, the user sits in front of a coffee table to drink coffee, and then carelessly sprinkles the coffee on the ground, at the moment, the user can send an instruction to the sweeping robot through a mobile phone, so that the sweeping robot can track the area where the user is located to sweep. The mobile phone can determine the movement direction of the sweeping robot based on the UWB tag, the sweeping robot is controlled, and the sweeping robot can directly track the user to the area where the user is located to sweep.

The present application will now be described by way of several examples.

Referring to fig. 2, a flowchart of a control method of a controlled device according to an embodiment of the present application is shown, where the method may be applied to a terminal device as shown in fig. 1, and a target position of the controlled device is provided with a UWB tag, where the method may include the following steps.

Step 201, UWB communication is established with a UWB tag.

In the embodiment of the application, the UWB tag may broadcast a data frame, and the terminal device may receive the data frame broadcast by the UWB tag. That is, UWB communication is established between the terminal device and the UWB tag, or UWB communication is established between the UWB tag and the terminal device.

The UWB tag is a tag having a function of transmitting and/or receiving a signal. The UWB tag can be fixed on a controlled device for use, the structural design of the UWB tag is suitable for various installation and fixing forms, for example, the UWB tag can be fixed through screws, can also be fixed in a binding mode through a binding belt, can be made into a magnetic card type, can also be fixed in a pasting mode, and the like, and the UWB tag is not limited in the embodiment of the application.

UWB tags are placed at target locations of the controlled devices and can be used to characterize the controlled devices. Each UWB tag has a unique ID (Identification), and the controlled device and the UWB tag can be associated with each other by the unique ID. Illustratively, the UWB tag is independent of the controlled device, which means that the UWB tag is independent of the apparatus of the controlled device, and can be sold as a product alone, rather than being integrated as part of the controlled device within the controlled device, and not being a component module of the controlled device. And after the UWB tag and the controlled device are bound, the UWB tag and the controlled device may not have a data communication connection relationship but only have a mapping relationship, where the mapping relationship refers to the controlled device whose representation can be determined by the UWB tag. Illustratively, the UWB tag may be placed in proximity to the controlled device. In a possible implementation manner, the UWB tag may have an independent power supply, for example, a button battery is disposed inside the UWB tag, and is used for providing a power supply for the UWB tag when the UWB tag is in a working state; in a possible implementation manner, the UWB tag is provided with a USB interface, and the UWB tag is charged through the USB interface to maintain the cruising ability of the UWB tag, wherein in a charging scenario, the UWB tag and the controlled device may be connected by using a UWB line, correspondingly, the UWB tag and the controlled device establish a charging connection relationship, and the controlled device supplies power only to the UWB tag, and the UWB tag and the controlled device have no data communication connection relationship. The data communication connection means that the controlled device and the terminal device may perform information interaction through the data communication connection, and the data communication connection may be a WiFi connection, a bluetooth connection, an infrared connection, and the like, which is not limited in this embodiment of the present application. Of course, in a charging scenario, other devices may also be used to charge the UWB tag, for example, a mobile power supply, a fixed power supply, and the like, which is not limited in this application.

In a possible implementation manner, there may be only one UWB tag, or there may be a plurality of UWB tags, for example, there may be two UWB tags or even more UWB tags, and this is not limited in this application embodiment. Illustratively, the UWB tag is only included in one UWB tag, and the UWB tag is mounted on the top of the controlled device right in front of the controlled device, and the UWB tag is arranged at the edge of the top of the sweeper robot. In a possible implementation, the target position comprises a directly forward edge position of a top area of the controlled device. The direction right in front of the top area matches the direction in which the controlled device advances, that is, the direction right in front of the top area coincides with the direction in which the controlled device advances, or the deviation of the direction right in front of the top area from the direction in which the controlled device advances is within a preset range. Illustratively, the UWB tag may be disposed near a ranging sensor in a top area of the controlled device, and since the ranging sensor is generally convex and the ranging sensor is generally positioned right in front of the controlled device, the UWB tag may be disposed at the top of the convex area since the UWB tag is small. In a possible implementation, when there are two UWB tags in the UWB tag, one of the UWB tags is disposed right in front of the top area of the controlled device, and the other UWB tag is disposed at a position opposite to the UWB tag at a distance of the diameter of the controlled device. Of course, in other possible implementations, the position of the UWB tag may also have other setting manners, which may be set according to practical situations, and this is not limited in this application embodiment.

In a possible implementation, the terminal device establishes UWB communication with the UWB tag through a UWB component, which is independent from the terminal device, or the UWB component is provided inside the terminal device. The UWB module refers to a module having a function of transmitting and/or receiving a signal, and may also be referred to as a UWB base station.

In step 202, a plurality of ranging measurements are performed to obtain a plurality of distances to the UWB tag.

In a possible implementation, there is only one antenna inside one UWB tag, and the number of UWB tags and the number of antennas may be the same, that is, there are many antennas for every UWB tag. Terminal equipment internal integration has the UWB subassembly, and terminal equipment can regard as the basic station to use, and inside can have many antennas integrated, also is that the UWB subassembly can have many antennas integrated, and the range finding can be accomplished in terminal equipment department. The UWB tag can emit pulse signals according to a certain frequency, and constantly measures the distance with the UWB component of the terminal equipment, so that the distance between the UWB tag and the UWB component is determined through a certain accurate algorithm.

In a possible implementation manner, the terminal device sends a ranging instruction to the controlled device, and the controlled device starts to rotate in response to the ranging instruction. The terminal device may perform ranging multiple times during rotation of the controlled device to acquire multiple distances to the UWB tag. Since the UWB tag is provided at the target position of the controlled device, when the controlled device rotates, the distance between the UWB tag and the terminal device changes with the rotation of the controlled device.

Illustratively, when the UWB tag includes one UWB tag, the terminal device performs ranging with the UWB tag a plurality of times to acquire a plurality of distances to the UWB tag.

Illustratively, when the UWB tag includes a plurality of UWB tags (at least two UWB tags), the terminal device performs ranging with the plurality of UWB tags a plurality of times to acquire distances to the plurality of UWB tags, respectively. It should be noted that, because the UWB tag includes a plurality of UWB tags, the terminal device can obtain the number of distances that is consistent with the number of UWB tags in the process of performing ranging once, and the distances obtained by ranging once correspond to each other, that is, when the controlled device is located at a certain position, the terminal device simultaneously and respectively obtains the distances between the terminal device and the plurality of UWB tags, and the distance between each UWB tag and the terminal device has other distances (the distances between the terminal device and other UWB tags) corresponding thereto, thereby forming a corresponding relationship.

Step 203, a target distance satisfying a target condition is determined from the plurality of distances.

The target condition refers to a condition that corresponds to the movement of the controlled device. The target condition needs to be set according to the number of UWB tags.

In a possible implementation, the target distance refers to the smallest distance from the terminal device among all the distances.

For an explanation on how to determine the target distance, reference may be made to the following embodiments, which are not explained here.

And step 204, determining the movement direction of the controlled equipment based on the target distance, and controlling the controlled equipment.

In a possible implementation, the terminal device controls the controlled device through a WiFi connection or a bluetooth connection.

In a possible implementation manner, if the connection manner between the controlled device and the terminal device is WiFi connection, a WiFi data communication connection is established with the controlled device through the routing device according to the device identifier of the controlled device, where both the controlled device and the terminal device are accessed to the routing device.

Illustratively, the controlled device and the terminal device are connected with the same WiFi, that is, the controlled device and the terminal device both participate in the network through the same routing device, and correspondingly, when the terminal device needs to establish a data communication connection with the controlled device, the WiFi data communication connection can be established with the controlled device through the routing device according to the device identifier of the controlled device.

For a specific way of establishing a data communication connection, the terminal device may send a connection establishment instruction to the routing device, for example. The connection establishment instruction comprises an equipment identifier corresponding to the controlled equipment, correspondingly, after the routing equipment receives the connection establishment instruction, the routing equipment sends the connection establishment instruction to the controlled equipment according to the equipment identifier of the controlled equipment carried in the connection establishment instruction, and the controlled equipment receives the connection establishment instruction and establishes WiFi data communication connection with the terminal equipment.

In a possible implementation manner, if the connection manner between the controlled device and the terminal device is bluetooth connection, bluetooth data communication connection is established with the controlled device through the bluetooth component according to the device identifier of the controlled device.

Illustratively, the terminal device may establish a bluetooth data communication connection with the controlled device. That is to say, if the connection mode between the controlled device and the terminal device is bluetooth connection, the terminal device may establish bluetooth data communication connection with the controlled device through the bluetooth component according to the device identifier corresponding to the controlled device.

In a possible implementation manner, after determining the movement direction of the controlled device based on the target distance, the terminal device sends a forward instruction to the controlled device, where the forward instruction is an instruction for requesting the controlled device to move forward in the movement direction.

The technical scheme provided by the application has the characteristics of low cost and flexible application: because the UWB function just begins to integrate on terminal equipment, terminal equipment is last to have the UWB subassembly can directly replace the UWB remote controller, and the UWB label only need be pasted at the top to controlled equipment simultaneously, need not to carry out any repacking to inside.

The technical scheme provided by the application also has the characteristics of distance measurement and no angle measurement, and simple algorithm: the terminal equipment can continuously obtain the distance between the UWB tag on the controlled equipment and the terminal equipment, and the next action of the controlled equipment can be completely judged according to the distance.

The technical scheme that this application provided still has the characteristics of practicing thrift UWB label space: the UWB tag only needs one antenna, and can be made to be more compact and attached to the top of the controlled equipment.

To sum up, in the technical scheme provided by the embodiment of the present application, a plurality of distances between the UWB tag and the terminal device are determined by performing ranging for a plurality of times, and the movement direction of the controlled device is determined based on the distance satisfying the target condition, so as to control the controlled device.

Referring to fig. 3, a flowchart of a control method of a controlled device according to another embodiment of the present application is shown, where the method may be applied to a terminal device as shown in fig. 1, and a target position of the controlled device is provided with a UWB tag, and the method may include the following steps.

Step 301, UWB communication is established with a UWB tag.

For the description of step 301, reference may be made to the above embodiments, which are not described in detail herein.

In step 302, a plurality of distances to the UWB tag are determined during rotation of the controlled device.

In a possible implementation manner, the terminal device sends a ranging instruction to the controlled device, the controlled device starts to rotate in response to the ranging instruction, and a plurality of distances between the UWB tag and the terminal device are determined during the rotation of the controlled device.

In a possible implementation manner, before the terminal device determines a plurality of distances to the UWB tag during the rotation of the controlled device, the terminal device may further perform the following steps: in response to receiving a target operation aiming at the terminal equipment, sending a rotation instruction to the controlled equipment, wherein the rotation instruction refers to an instruction for requesting the controlled equipment to rotate, and the target operation comprises any one of the following items: shaking operation, voice operation and gesture operation.

In a possible implementation, the rotation instruction refers to an instruction for requesting the controlled device to rotate in place. The in-place refers to a position where the controlled device is located when receiving the rotation instruction, and the in-place may also be referred to as an initial position.

In a possible implementation manner, a data communication connection needs to be established between the terminal device and the controlled device, so that the terminal device can send a rotation instruction to the controlled device. Illustratively, the terminal device may establish a data communication connection with the controlled device through a WiFi connection, a bluetooth connection, or the like.

In a possible implementation manner, a user may shake (i.e., shake-shake) the terminal device to trigger the terminal device to send a rotation instruction to the controlled device, that is, in response to receiving a shake operation for the terminal device, the terminal device sends a rotation instruction to the controlled device; in a possible implementation manner, a user may send a rotation instruction to the controlled device through the voice-triggered terminal device, for example, the user may send a voice-triggered terminal device, such as "start the controlled device", "rotate the controlled device", "controlled device", or the like, to the terminal device to send the rotation instruction to the controlled device, that is, in response to receiving a voice operation associated with the controlled device, the terminal device sends the rotation instruction to the controlled device; in a possible implementation manner, an application program corresponding to the controlled device is installed in the terminal device, and a user can trigger the terminal device to send a rotation instruction to the controlled device through a user interface of the application program, that is, in response to receiving a touch operation triggered at the user interface of the application program corresponding to the controlled device, the terminal device sends the rotation instruction to the controlled device. For example, the touch operation triggered by the user interface may include a touch operation triggered by a control of the user interface, and taking the controlled device as a sweeping robot, the control of the user interface includes any one of the following: the control system comprises a 'sweeping' control, a 'starting sweeping robot' control, an 'intelligent sweeping' control and the like, wherein the names of the controls can be different according to the setting of an application program.

In a possible implementation, the terminal device may determine the plurality of distances to the UWB tag by:

step 302a, sending a ranging request to the UWB tag, where the ranging request is used to request to determine a distance between the terminal device and the UWB tag.

Step 302b, receiving an acknowledgement from the UWB tag, where the acknowledgement indicates that the UWB tag has received the ranging request from the terminal device.

After receiving the ranging request, the UWB tag sends acknowledgement information to the UWB component.

Step 302c, determining a plurality of distances to the UWB tag based on a transmission time point of the ranging request and a reception time point of the acknowledgement information.

The UWB positioning principle is TDOA (Time Difference of Arrival), and the distance between the UWB tag and the UWB component is calculated by measuring the Time Difference between the transmission of the messages between the UWB tag and the UWB component.

For example, the terminal device may determine the ranging distance based on a time difference between a time point of transmitting the ranging request and a time point of receiving the acknowledgement information. Assuming that the time difference is T and the speed of light is c, the distance between the UWB component and the UWB tag is c x T/2.

It should be noted that, the above description is only given by taking an example of how to determine the distance between one UWB tag and the terminal device, and when there are a plurality of UWB tags, the ranging procedure between each UWB tag and the terminal device is the same as or similar to the above description.

Step 303, a target distance satisfying a target condition is determined from the plurality of distances.

And step 304, determining the movement direction of the controlled equipment based on the target distance, and controlling the controlled equipment.

In a possible implementation manner, after the terminal device determines the movement direction of the controlled device based on the target distance, the following steps may be further performed:

firstly, determining the change distance between the controlled device and the controlled device in the moving process.

The variable distance refers to the distance between the controlled equipment and the terminal equipment in the moving process.

In a possible implementation, the terminal device determines the varying distance to the controlled device during the movement by means of the UWB component. The manner how the terminal device determines the varying distance to the UWB tag of the controlled device may refer to the above embodiments, which are not described herein again.

In a possible implementation manner, the terminal device determines the change distance with the controlled device in the motion process in real time.

In a possible implementation manner, the terminal device determines the variation distance between the terminal device and the controlled device in the movement process at preset time intervals. The preset time may be every 1 minute or every 2 minutes, and the terminal device may determine the preset time according to a previously determined distance between the UWB tag and the UWB component, where the preset time may be set to be longer if the distance is longer, and the preset time may be set to be shorter if the distance is shorter, and the embodiment of the present application is not limited thereto.

And secondly, responding to the fact that the change distance is smaller than the preset distance, and sending a working instruction to the controlled equipment.

In the embodiment of the application, the work instruction is used for requesting the controlled device to execute an instruction of the job, for example, when the controlled device is a sweeping robot, the work instruction may be a sweeping instruction, and the sweeping instruction is used for requesting the sweeping robot to sweep in an area corresponding to the preset distance. The area corresponding to the preset distance may include an area from the preset distance to the location of the terminal device. The robot of sweeping the floor mainly need sweep the region of terminal equipment position, after the robot of sweeping the floor has swept the region that the default distance corresponds, can also all sweep indoor once, also can recharge and charge, and this application embodiment does not do the restriction to this.

The terminal equipment continuously measures distance through the UWB assembly, and the distance of the sweeping robot when walking is continuously reduced. When the distance between the UWB component of the terminal equipment and the UWB tag is smaller than the preset distance, for example, 0.3 m, the terminal equipment can directly control and command the sweeping robot to sweep in the area. In the process of advancing of the sweeping robot, the distance between the UWB component and the UWB tag is also changed continuously. When the UWB tag includes a plurality of UWB tags, the terminal device may select any one of the UWB tags to determine the varying distance.

And thirdly, responding to the changing distance in the continuously increasing state, sending a stopping instruction to the controlled equipment, and starting from the step of determining the changing distance with the controlled equipment in the moving process again.

In the embodiment of the present application, the stop instruction refers to an instruction for requesting the controlled device to stop advancing.

The controlled device may be out of balance due to errors in determining the rotation angle or obstacles in the process of moving forward. When the controlled device deviates, the changing distance between the terminal device 410 and the controlled device 420 becomes larger, as shown in fig. 4. When the situation occurs, the terminal device may command the controlled device to stop immediately, rotate in place for 360 degrees again for re-ranging, and then advance in the direction corresponding to the new target distance.

In the illustrative embodiment, the number of UWB tags is one. As shown in fig. 5, which shows a flowchart of a control method of a controlled device provided in another embodiment of the present application, the method may be applied to the terminal device shown in fig. 1, a target position of the controlled device is provided with a UWB tag, and the method may include the following steps.

Step 501, UWB communication is established with a UWB tag.

For the description of step 501, reference may be made to the above embodiments, which are not repeated herein.

Step 502, during rotation of the controlled device, a plurality of distances to the UWB tag are determined.

Step 503, determining a target distance satisfying the target condition from the plurality of distances.

In a possible implementation, in the case where the controlled device rotates once, the smallest distance from among the plurality of distances is determined as the target distance.

The minimum ranging distance represents that the UWB tag is closest to the terminal. As shown in fig. 6, a schematic diagram of a UWB tag of a controlled device provided by an embodiment of the present application is shown. The controlled device 610 is provided with a UWB tag 611. The terminal device 620 sends a rotation instruction to the controlled device 610, the terminal device 620 constantly determines the distance during one rotation of the controlled device 610, and when the controlled device 610 rotates to the orientation shown in the right part of fig. 6, the distance between the UWB component and the UWB tag 611 is minimum.

In a possible implementation, during the rotation of the controlled device, in response to the distance from the UWB tag becoming smaller and larger, a valley value among the plurality of distances is determined as a target distance, the valley value being a minimum value of the distances during the ranging.

When the distance between the UWB tag and the terminal equipment tends to become smaller and larger in the rotation process of the controlled equipment, the terminal equipment takes the valley value as the target distance.

And step 504, determining the direction corresponding to the target distance.

In a possible implementation, step 504 includes several sub-steps as follows:

1. and determining a rotation angle corresponding to the target distance, wherein the rotation angle refers to the self rotation angle of the controlled equipment in the rotation process.

The rotation angle may refer to an angle of the UWB tag of the controlled device compared to an original orientation during rotation.

In a possible implementation manner, an angle sensor is arranged inside the controlled device, for example, a gyroscope sensor is arranged inside the controlled device, and the angle of rotation of the controlled device itself in the process of rotation can be determined.

In a possible implementation manner, the terminal device receives at least one rotation angle from the controlled device in the process of rotating one circle through WiFi or Bluetooth.

In a possible implementation manner, the controlled device sends the rotation angle to the terminal device every time the controlled device rotates by a certain angle, for example, every time the controlled device rotates by 5 degrees, the terminal device sends the rotation angle, and at this time, the terminal device receives the rotation angles including 0 degree, 5 degrees, 10 degrees to 360 degrees. In a possible implementation manner, the number of the rotation angles may be determined according to the rotation angular velocity of the controlled device itself, for example, the rotation angular velocity is relatively large, and the number of the rotation angles determined by the terminal device may be a little smaller, that is, the interval between the rotation angle and the rotation angle may be a little larger, for example, the angle interval may be 10 degrees, and at least one rotation angle may include 0 degree, 10 degrees, 20 degrees … … 360 degrees; for another example, if the rotation angular velocity is relatively small, the number of the rotation angles determined by the terminal device may be a little larger, that is, the interval between the rotation angles may be a little smaller, for example, the angular interval may be 5 degrees, and at least one rotation angle may include 0 degree, 5 degrees, 10 degrees … … 360 degrees.

Since the UWB tag is fixed to the controlled device, when the controlled device rotates, the distance between the UWB tag and the UWB module changes according to the rotation angle, and the rotation angle corresponds to the respective distance.

In a possible implementation, the terminal device receives the rotation angle from the controlled device and stores the rotation angle and the distance corresponding to the rotation angle internally.

In a possible implementation manner, the terminal device receives the rotation angle from the controlled device, and since the rotation angular velocity of the controlled device is constant, the terminal device may measure the distance between the UWB component and the UWB tag every preset time period, and store the distance corresponding to the rotation angle.

In a possible implementation manner, since the rotation angular velocity of the controlled device is constant, the terminal device may determine the rotation angle of the controlled device and the distance corresponding to the rotation angle every preset time period, for example, the rotation angle = rotation angular velocity × rotation time. At the moment, the multi-antenna UWB component of the terminal equipment can be directly multiplexed, and the controlled equipment only needs to be attached with a UWB label at the top area without modifying the inside. The distance calculation and tracking algorithm is completed at the terminal equipment side without using the calculation force of the controlled equipment. The controlled equipment can realize the automatic working function only by providing a simple interface to enable a user to control simple functions of the controlled equipment such as in-situ rotation, linear walking and the like.

2. And determining the rotating angle corresponding to the target distance as the target rotating angle.

In a possible implementation manner, the terminal device stores a corresponding relationship between the rotation angle and the distance, and after the terminal device determines the target distance, the terminal device may determine the target rotation angle according to the corresponding relationship.

In the embodiment of the present application, the distance refers to a distance between the UWB component and the UWB tag. Illustratively, when the UWB tag includes only one UWB tag, the ranging distance corresponding to the rotation angle includes one distance.

Illustratively, each time the terminal device determines a rotation angle, it needs to determine a ranging distance corresponding to the rotation angle based on the UWB component and the UWB tag. Illustratively, the terminal device may determine the distance based on a time difference between when the UWB component and the UWB tag transmit and receive information.

The terminal device stores a corresponding relation between the rotation angle and the distance, and when the terminal device determines the target distance, the terminal device can determine the rotation angle corresponding to the target distance from the corresponding relation and determine the rotation angle as the target rotation angle.

3. And determining the direction corresponding to the target rotation angle as the direction corresponding to the target distance.

The direction corresponding to the target rotation angle is a direction facing the terminal device and forming the target rotation angle with the original position of the UWB tag.

The controlled device sends the rotation angle to the terminal device, so that the processing overhead of the terminal device can be reduced. After the terminal device determines the target distance, the controlled device is controlled to move forward towards the direction corresponding to the rotation angle corresponding to the target distance, and the probability that the controlled device moves forward towards the direction far away from the terminal device can be reduced.

In a possible implementation, step 504 includes several sub-steps as follows:

1. and determining a target direction corresponding to a target position from the target corresponding relation, wherein the target corresponding relation comprises the corresponding relation between the position and the direction of at least one UWB tag, and the target position refers to the position of the UWB tag at the target distance.

2. And determining the target direction as the direction corresponding to the target distance.

The terminal device stores the corresponding relation between the position of at least one UWB tag and the advancing direction, after the terminal device determines the target distance, the terminal device can determine the position of the UWB tag and the terminal device when the UWB tag and the terminal device are located at the target distance, and the terminal device can determine the moving direction of the controlled device based on the corresponding relation.

And 505, sending a control instruction to the controlled device, wherein the control instruction is used for indicating that the direction corresponding to the target distance is determined as the movement direction of the controlled device.

In an exemplary embodiment, the UWB tags include a first UWB tag and a second UWB tag. As shown in fig. 7, which shows a flowchart of a control method of a controlled device provided in another embodiment of the present application, the method may be applied to a terminal device shown in fig. 1, a target position of the controlled device is provided with a UWB tag, and the method may include the following steps.

Step 701, UWB communication is established with a UWB tag.

In step 702, during the rotation of the controlled device, a first distance and a second distance corresponding to the first UWB tag and the second UWB tag are determined simultaneously.

In a possible implementation, either one of the first UWB tag and the second UWB tag may be disposed right in front of a top area of the controlled device, and the other UWB tag may be disposed at a position opposite to the UWB tag at a distance of a diameter of the controlled device.

Since the UWB tag includes the first UWB tag and the second UWB tag, the terminal device needs to determine the distance between the terminal device and the first UWB tag and the distance between the terminal device and the second UWB tag through the UWB component, and the manner in which the UWB component determines the distance between the terminal device and the first UWB tag and the manner in which the UWB component determines the distance between the terminal device and the second UWB tag are similar to or identical to those described in the above embodiments, and therefore, the description thereof is omitted.

In a ranging process, the terminal device may simultaneously obtain a first distance from the first UWB tag and a second distance from the second UWB tag, where the first distance corresponds to the second distance. That is, while each first distance is acquired in one ranging process, a uniquely determined second distance is also acquired.

Step 703, determining a target first distance and a target second distance whose difference satisfies a target condition from the corresponding first distance and second distance.

And step 704, determining the movement direction of the controlled equipment based on the target distance, and controlling the controlled equipment.

In a possible implementation manner, a target first distance and a target second distance with the largest difference are determined from the corresponding first distance and second distance, and a control instruction is sent to the controlled device, where the control instruction is used to instruct that a direction in which a UWB tag corresponding to a smaller distance of the target first distance and the target second distance is located is determined as a moving direction of the controlled device.

When the UWB tags include a first UWB tag and a second UWB tag, the terminal device determines that the distance difference is the maximum value during rotation of the controlled device, and the position of the UWB tag near the terminal device side is the moving direction.

In a possible implementation, the first UWB tag or the second UWB tag is arranged in the direction of advance of the controlled device.

The first distance and the second distance with the largest difference indicate that the UWB tag of the controlled device is closest to the terminal device at the moment, and the UWB tag faces the terminal. As shown in fig. 8, it shows a schematic diagram of a UWB tag of a controlled device provided in another embodiment of the present application. A controlled device 810 is provided with a first UWB tag 811 and a second UWB tag 812. When the first UWB tag 811 and the second UWB tag 812 are in the orientation as shown in fig. 8, it indicates that the terminal device 820 is closest to the UWB tag.

Illustratively, two UWB tags are installed on the controlled device, and the two UWB tags are simultaneously used for ranging with the terminal device. For example, when the diameter of the sweeping robot is 40cm, and when the terminal device determines that the distance difference between the two UWB tags (i.e., the absolute value of the difference between the first distance and the second distance) is 40cm, it indicates that the sweeping robot is facing the terminal device.

In a possible implementation manner, determining a target first distance and a target second distance with the minimum difference from the corresponding first distance and second distance, and determining a first position when the distance between the first UWB tag and the terminal device is the target first distance and a second position when the distance between the second UWB tag and the terminal device is the target second distance; determining the direction of a perpendicular bisector of a connecting line of the first position and the second position pointing to the terminal equipment as a target direction; and sending a control instruction to the controlled equipment, wherein the control instruction is used for indicating that the target direction is determined as the movement direction of the controlled equipment.

The first UWB tag and the second UWB tag may be symmetrically disposed on the controlled apparatus with a rotation axis of the controlled apparatus as a symmetrical point.

Illustratively, two UWB tags are installed on the controlled device, and the two UWB tags are simultaneously used for ranging with the terminal device. When the distance difference between the two UWB tags is 0, it indicates that the terminal device is located on the perpendicular bisector of the two UWB tags, as shown in fig. 9, a first UWB tag 911 and a second UWB tag 912 are provided on the controlled device 910, the distance difference between the first UWB tag 911 and the second UWB tag 912 is 0, and the direction in which the perpendicular bisector, determined by the positions of the first UWB tag 911 and the second UWB tag 912 when the distance difference is 0, points at the terminal device 920 is determined as the target direction.

In an exemplary embodiment, the UWB tag includes at least two UWB tags. As shown in fig. 10, which shows a flowchart of a control method of a controlled device provided in another embodiment of the present application, the method may be applied to a terminal device shown in fig. 1, a target position of the controlled device is provided with a UWB tag, and the method may include the following steps.

Step 1001 establishes UWB communication with a UWB tag.

In step 1002, distances to at least two UWB tags are respectively determined.

The at least two UWB tags may comprise two or more UWB tags. When the UWB tag includes two or more UWB tags, the terminal device needs to acquire the distance number corresponding to the number of UWB tags at the same time in one ranging process.

At least two UWB tags may be optionally provided on the controlled device.

Step 1003, determining the minimum distance from the plurality of distances as the target distance.

The minimum distance means that the UWB tag is closest to the terminal device. When the UWB tag includes a plurality of (two or more) UWB tags, the terminal device may not need to determine the distances to the at least two UWB tags, respectively, during the rotation of the controlled device, but may directly determine the distances to the at least two UWB tags, respectively, and the operation is simple.

In a possible implementation, when a plurality of UWB tags are included, the terminal device may only measure the distance once, and select the minimum distance as the target distance.

And 1004, sending a control instruction to the controlled device, wherein the control instruction is used for indicating that the direction in which the UWB tag corresponding to the target distance is located is determined as the movement direction of the controlled device.

Illustratively, three UWB tags are installed on the controlled device, and the three UWB tags simultaneously perform ranging with the terminal device. As shown in fig. 11, the controlled device 1110 is provided with a first UWB tag 1111, a second UWB tag 1112, and a third UWB tag 1113, and the terminal device 1120 determines that the distances from the first UWB tag 1111, the second UWB tag 1112, and the third UWB tag 1113 are: distance 1, distance 2, and distance 3, with distance 3 being the smallest. Therefore, the terminal device determines the direction in which the third UWB tag 1113 is located as the moving direction of the controlled device 1110.

It should be noted that, the above embodiment is only described by taking an example that the terminal device is fixed before the controlled device starts to operate.

The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.

Referring to fig. 12, a block diagram of a control apparatus of a controlled device provided with a UWB tag at a target position according to an embodiment of the present application is shown, where the apparatus has a function of implementing the above method example, and the function may be implemented by hardware or by hardware executing corresponding software. The apparatus 1200 may include:

a communication establishing module 1210 for establishing UWB communication with the UWB tag;

a distance obtaining module 1220, configured to perform multiple ranging operations to obtain multiple distances to the UWB tag;

a distance determining module 1230, configured to determine a target distance satisfying a target condition from the plurality of distances;

and a direction determining module 1240, configured to determine a moving direction of the controlled device based on the target distance, and control the controlled device.

In an exemplary embodiment, the distance obtaining module 1220 is configured to:

determining a plurality of distances to the UWB tag during rotation of the controlled device.

In an exemplary embodiment, the number of UWB tags is one;

the distance determining module 1230 is configured to:

determining a minimum distance from the plurality of distances as a target distance in a case where the controlled device rotates one revolution.

In an exemplary embodiment, the number of UWB tags is one;

the distance determining module 1230 is configured to:

and in the process of rotating the controlled device, determining a valley value in a plurality of distances as a target distance in response to the distance between the controlled device and the UWB tag becoming smaller and larger.

In the exemplary embodiment, direction determination module 1240 includes:

a direction determining unit (not shown in the figure) for determining a direction corresponding to the target distance;

and an instruction sending unit (not shown in the figure) configured to send a control instruction to the controlled device, where the control instruction is used to instruct that a direction corresponding to the target distance is determined as a movement direction of the controlled device.

In an exemplary embodiment, the direction determining unit is configured to:

determining a rotation angle corresponding to the target distance, wherein the rotation angle refers to an angle of rotation of the controlled equipment in the rotation process;

determining the rotation angle corresponding to the target distance as a target rotation angle;

and determining the direction corresponding to the target rotation angle as the direction corresponding to the target distance.

In an exemplary embodiment, the direction determining unit is configured to:

determining a target direction corresponding to a target position from a target corresponding relation, wherein the target corresponding relation comprises a corresponding relation between the position and the direction of at least one UWB tag, and the target position refers to the position of the UWB tag at the target distance;

and determining the target direction as the direction corresponding to the target distance.

In an exemplary embodiment, the UWB tags include a first UWB tag and a second UWB tag;

the distance obtaining module 1220 is configured to:

during the rotation of the controlled device, simultaneously determining a first distance and a second distance corresponding to the first UWB tag and the second UWB tag, respectively;

a distance determination module 1230 to:

and determining a target first distance and a target second distance of which the difference value meets a target condition from the corresponding first distance and second distance.

In the illustrative embodiment, distance determining module 1230 is configured to:

and determining a first target distance and a second target distance with the largest difference from the corresponding first distance and second distance.

In the illustrative embodiment, direction determination module 1240 is configured to:

and sending a control instruction to the controlled device, wherein the control instruction is used for indicating that the direction in which the UWB tag corresponding to the smaller distance of the target first distance and the target second distance is located is determined as the movement direction of the controlled device.

In the illustrative embodiment, the distance determination module 1230 is configured to:

and determining a target first distance and a target second distance with the minimum difference from the corresponding first distance and second distance.

In the illustrative embodiment, the direction determination module 1240 is configured to:

determining a first position when the distance between a first UWB tag and the terminal equipment is the first target distance and a second position when the distance between a second UWB tag and the terminal equipment is the second target distance;

determining a direction in which a perpendicular bisector of a connecting line of the first position and the second position points to the terminal device as a target direction;

sending a control instruction to the controlled device, wherein the control instruction is used for indicating that the target direction is determined as the movement direction of the controlled device.

In an exemplary embodiment, the apparatus further comprises:

an instruction sending module (not shown in the figures) configured to send, in response to receiving a target operation for the terminal device, a rotation instruction to the controlled device, where the rotation instruction is an instruction for requesting the controlled device to rotate, and the target operation includes any one of: shaking operation, voice operation and gesture operation.

In an exemplary embodiment, the UWB tag includes at least two UWB tags;

the distance obtaining module 1220 is configured to:

determining distances to the at least two UWB tags respectively;

the determining a target distance from the plurality of distances that satisfies a target condition comprises:

determining a minimum distance from the plurality of distances as the target distance.

In an exemplary embodiment, the direction determination module 1240 is configured to:

and sending a control instruction to the controlled equipment, wherein the control instruction is used for indicating that the direction in which the UWB tag corresponding to the target distance is located is determined as the movement direction of the controlled equipment.

sending a ranging request to the UWB tag, wherein the ranging request is used for requesting to determine the distance between the terminal equipment and the UBW tag;

receiving acknowledgement information from the UWB tag, wherein the acknowledgement information is used for indicating that the UWB tag has received a ranging request from the terminal equipment;

determining a plurality of distances to the UWB tag based on a transmission time point of the ranging request and a reception time point of the acknowledgement information.

In the illustrative embodiment, the communication establishment module 1210 is configured to:

establish UWB communication through the UWB subassembly with the UWB tag, the UWB subassembly is independent of terminal equipment, perhaps, the UWB subassembly sets up inside the terminal equipment.

In an exemplary embodiment, the apparatus further comprises:

and a connection establishing module (not shown in the figure) configured to establish, if the controlled device is connected to the terminal device in a WiFi connection manner, a WiFi data communication connection with the controlled device through a routing device according to the device identifier of the controlled device, where the controlled device and the terminal device are both accessed to the routing device.

In an exemplary embodiment, the apparatus further comprises:

and a connection establishing module (not shown in the figure) configured to establish a bluetooth data communication connection with the controlled device through a bluetooth component according to the device identifier of the controlled device if the connection between the controlled device and the terminal device is a bluetooth connection.

It should be noted that, when the apparatus provided in the foregoing embodiment implements the functions thereof, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the apparatus may be divided into different functional modules to implement all or part of the functions described above. In addition, the apparatus and method embodiments provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments for details, which are not described herein again.

The following are embodiments of the system of the present application. For details not disclosed in the embodiments of the system of the present application, reference is made to embodiments of the method of the present application.

Referring to fig. 13, a schematic diagram of a control system of a controlled device according to an embodiment of the present application is shown. The system 1300 includes: a terminal device 1310, a UWB tag 1320 and a controlled device 1330, a target location of said controlled device 1330 being provided with said UWB tag 1320.

The terminal device 1310 establishes UWB communication with the UWB tag;

the terminal device 1310 sends a ranging request to the UWB tag;

the UWB tag 1320, after receiving a ranging request from the terminal device, transmits acknowledgement information to the terminal device;

the terminal device 1310 determining a plurality of distances to the UWB tag based on a transmission time point of the ranging request and a reception time point of the acknowledgement information;

the terminal device 1310, determining a target distance satisfying a target condition from the plurality of distances;

the terminal device 1310 determines the movement direction of the controlled device based on the target distance, and controls the controlled device 1330.

To sum up, in the technical scheme provided by the embodiment of the application, a plurality of distances between the UWB tag and the terminal device are determined by measuring the distance for a plurality of times, and the moving direction of the controlled device is determined based on the distance meeting the target condition, so that the controlled device is controlled.

In a possible application scenario, the UWB module may be packaged as an internal antenna module of the terminal, and the UWB module is electrically connected to the terminal device through an internal circuit board, so that the corresponding terminal device may receive a data frame broadcasted by the UWB module.

Referring to fig. 14, a block diagram of a terminal device according to an exemplary embodiment of the present application is shown. The terminal device in the present application may comprise one or more of the following components: a processor 1410, a memory 1420, and a UWB component 1430, wherein processor 1410 is electrically coupled to memory 1420 and UWB component 1430, respectively.

Processor 1410 may include one or more processing cores. The processor 1410 connects various parts within the overall terminal device using various interfaces and lines, performs various functions of the terminal device and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 1420, and calling data stored in the memory 1420. Alternatively, the processor 1410 may be implemented in at least one hardware form of Digital Signal Processing (DSP), field-Programmable Gate Array (FPGA), programmable Logic Array (PLA). The processor 1410 may integrate one or a combination of a CPU, a Graphics Processing Unit (GPU), a modem, and the like. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing contents required to be displayed by the touch display screen; the modem is used to handle wireless communications. It is to be understood that the modem may not be integrated into the processor 1410, but may be implemented by a communication chip.

The Memory 1420 may include a Random Access Memory (RAM) and a Read-Only Memory (ROM). Optionally, the memory 1420 includes a non-transitory computer-readable storage medium. The memory 1420 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 1420 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-described method embodiments, and the like, and the operating system may be an Android (Android) system (including an Android system depth development-based system), an IOS system developed by apple inc (including an IOS system depth development-based system), or other systems. The data storage area can also store data (such as a phone book, audio and video data, chat record data) created by the terminal device in use and the like.

UWB component 1430 is configured to receive data frames broadcast by external UWB components, so that the terminal device can process the data frames through the processor, thereby achieving the purpose of determining the spatial location of the controlled device according to the data frames.

In the embodiment of the present application, the memory 1420 stores therein at least one instruction for the processor 1410 to execute the control method of the controlled device as shown in the above embodiment.

Optionally, the terminal device may further include a touch display screen, which may be a capacitive touch display screen, for receiving a touch operation of a user on or near the touch display screen by using any suitable object, such as a finger, a touch pen, and the like, and displaying a user interface of each application program. The touch display screen is generally provided on a front panel of the terminal device. The touch display screen may be designed as a full-screen, a curved screen, or a profiled screen. The touch display screen can also be designed as a combination of a full-screen and a curved-surface screen, and a combination of a special-shaped screen and a curved-surface screen, which is not limited in this application.

In addition, those skilled in the art will appreciate that the terminal device illustrated in the above figures is not meant to be limiting, and that the terminal may include more or less components than those shown, or some components may be combined, or a different arrangement of components. For example, the terminal device further includes a radio frequency circuit, a shooting component, a sensor (excluding a temperature sensor), an audio circuit, a Wireless Fidelity (WiFi) component, a power supply, a bluetooth component, and other components, which are not described herein again.

In a possible application scenario, the UWB component may be packaged as a terminal accessory, the terminal accessory is independent from the terminal device, and when the terminal device is equipped with the terminal accessory, the terminal device and the terminal accessory are electrically connected through an interface circuit, so that the terminal device may have a spatial location sensing capability; when the terminal device is not equipped with the terminal accessory, the terminal device does not have a spatial position sensing capability.

Referring to fig. 15, a block diagram of a terminal system 1500 according to an exemplary embodiment of the present application is shown. The terminal system 1500 in the present application may include one or more of the following devices: terminal device 1510 and terminal accessory 1520.

The terminal device 1510 includes a memory and a processor, and the memory stores at least one instruction for execution by the processor to implement the control method of the controlled device according to the above-described embodiment.

The terminal accessory 1520 includes a UWB component for receiving data frames broadcast by an external UWB component and transmitting the data frames to the terminal device 1510 through the interface circuit so that the terminal device 1510 can perceive the spatial positional relationship of the object from the data frames.

Alternatively, the terminal accessory 1520 may be a protective case of the terminal device 1510, a terminal pendant, or the like that can be mounted or worn on the terminal 1510.

In an exemplary example, a terminal accessory is taken as an example of a terminal protection shell, the terminal accessory comprises a UWB component and an interface circuit, and the UWB component transmits data frames to a terminal device through the interface circuit; optionally, the terminal accessory further includes a Universal Serial Bus Hub (USB Hub), and when the terminal device is worn with the terminal accessory, the terminal accessory can communicate with the terminal through the USB Hub; optionally, the terminal accessory further comprises an infrared lamp, and the terminal device can control the controlled device through the infrared lamp.

Referring to fig. 16, a block diagram of an UWB assembly 1600 provided in an exemplary embodiment of the present application is shown.

The UWB component 1600 includes a UWB antenna 1601 and an interface circuit 1602. The UWB antenna 1601 is electrically connected to the interface circuit 1602.

The UWB component 1600 is used for connecting with a terminal device through an interface circuit 1602, and establishing UWB communication with the UWB tag; performing a plurality of ranging measurements to obtain a plurality of distances to the UWB tag.

In an exemplary embodiment, there is also provided a computer-readable storage medium having stored therein a computer program, which is loaded and executed by a processor of a computer apparatus to implement the steps in the control method embodiment of the controlled apparatus described above.

In an exemplary embodiment, there is also provided a computer program product for implementing the control method of the controlled device described above when the computer program product is executed.

The above description is only exemplary of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like that are made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A control method of a controlled device, characterized in that the method is applied to a terminal device, a target position of the controlled device is provided with a UWB tag including a first UWB tag and a second UWB tag, the method comprising:

establishing UWB communication with the first UWB tag and the second UWB tag, respectively;

in the rotating process of the controlled equipment, multiple distance measurement is carried out to obtain multiple groups of corresponding first distances and second distances; wherein the first distance and the second distance corresponding to each group are the distance between the first UWB tag and the second UWB tag determined by one-time ranging;

determining a target first distance and a target second distance of which the difference values meet target conditions from the multiple groups of corresponding first distances and second distances;

and determining the movement direction of the controlled equipment based on the target first distance and the target second distance, and controlling the controlled equipment.

2. The method of claim 1, wherein determining the target first distance and the target second distance having a difference satisfying a target condition from the plurality of sets of corresponding first distances and second distances comprises:

and determining a first target distance and a second target distance with the largest difference from the plurality of groups of corresponding first distances and second distances.

3. The method of claim 2, wherein determining the controlled device movement direction based on the target first distance and the target second distance, controlling the controlled device comprises:

4. The method of claim 1, wherein determining the target first distance and the target second distance having a difference satisfying a target condition from the plurality of sets of corresponding first distances and second distances comprises:

and determining a target first distance and a target second distance with the minimum difference from the multiple groups of corresponding first distances and second distances.

5. The method of claim 4, wherein determining the controlled device movement direction based on the target first distance and the target second distance controls the controlled device, comprising:

determining a first position when the distance between a first UWB tag and the terminal equipment is the first distance of the target, and a second position when the distance between a second UWB tag and the terminal equipment is the second distance of the target;

6. The method of claim 1, further comprising:

in response to receiving a target operation aiming at the terminal device, sending a rotation instruction to the controlled device, wherein the rotation instruction is an instruction for requesting the controlled device to rotate, and the target operation comprises any one of the following items: shaking operation, voice operation and gesture operation.

7. The method of claim 1, wherein performing ranging multiple times to obtain multiple sets of corresponding first and second distances during rotation of the controlled device comprises:

respectively sending a ranging request to the first UWB tag and the second UWB tag, wherein the ranging request is used for requesting to determine a first distance between the terminal device and the first UBW tag and determine a second distance between the terminal device and the second UWB tag;

receiving confirmation information from the first UWB tag and the second UWB tag, respectively, the confirmation information indicating that the first UWB tag and the second UWB tag have received a ranging request from the terminal device;

determining first and second distances corresponding to the plurality of groups between the first and second UWB tags based on a transmission time point of the ranging request and a reception time point of the acknowledgement information.

8. The method of claim 1, wherein establishing UWB communications with the first UWB tag and the second UWB tag, respectively, comprises:

through the UWB subassembly with first UWB label with UWB communication is established respectively to the second UWB label, the UWB subassembly is independent of terminal equipment, perhaps, the UWB subassembly sets up inside the terminal equipment.

9. The method of any one of claims 1 to 8, further comprising:

and if the connection mode of the controlled equipment and the terminal equipment is WiFi connection, establishing WiFi data communication connection with the controlled equipment through routing equipment according to the equipment identification of the controlled equipment, wherein the controlled equipment and the terminal equipment are both accessed to the routing equipment.

10. The method according to any one of claims 1 to 8, further comprising:

and if the connection mode of the controlled equipment and the terminal equipment is Bluetooth connection, establishing Bluetooth data communication connection with the controlled equipment through a Bluetooth assembly according to the equipment identification of the controlled equipment.

11. A control apparatus of a controlled device, wherein the apparatus is applied to a terminal device, a target position of the controlled device is provided with a UWB tag, the UWB tag includes a first UWB tag and a second UWB tag, the apparatus includes:

a communication establishing module for establishing UWB communication with the first UWB tag and the second UWB tag, respectively;

the distance acquisition module is used for carrying out multiple distance measurement to acquire multiple groups of corresponding first distances and second distances in the rotation process of the controlled equipment; wherein the first distance and the second distance corresponding to each group are the distance between the first UWB tag and the second UWB tag determined by one-time ranging;

the distance determining module is used for determining a first target distance and a second target distance of which the difference values meet target conditions from the multiple groups of corresponding first distances and second distances;

and the direction determining module is used for determining the movement direction of the controlled equipment based on the target first distance and the target second distance and controlling the controlled equipment.

12. A control system of a controlled device, the system comprising: the terminal equipment, the UWB tag and the controlled equipment are arranged at the target position of the controlled equipment, and the UWB tag comprises a first UWB tag and a second UWB tag;

the terminal device establishes UWB communication with the first UWB tag and the second UWB tag, respectively;

the terminal equipment measures distance for multiple times in the rotating process of the controlled equipment to obtain multiple groups of corresponding first distances and second distances; wherein the first distance and the second distance corresponding to each group are the distance between the first UWB tag and the second UWB tag determined by one-time ranging;

the terminal equipment determines a target first distance and a target second distance of which the difference values meet target conditions from the multiple groups of corresponding first distances and second distances;

and the terminal equipment determines the movement direction of the controlled equipment based on the target first distance and the target second distance, and controls the controlled equipment.

13. A terminal device, characterized in that the terminal device comprises: a processor, memory, and UWB components;

the memory stores at least one instruction for being loaded by the processor to perform a control method of a controlled device according to any one of claims 1 to 10.

14. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which is loaded and executed by a processor to implement the control method of the controlled apparatus according to any one of claims 1 to 10.