Method, mobile device and computer storage medium for processing information

• US 10,222,807 B2
• Filed: 10/08/2016
• Issued: 03/05/2019
• Est. Priority Date: 03/31/2016
• Status: Active Grant

• Current Assignee: Ninebot(Beijing)Tech. Co.,Ltd
• Original Assignee: Ninebot(Beijing)Tech. Co.,Ltd
• Inventors: Dong, Shiqian, Wang, Ye, Pu, Li
• Primary Examiner(s): Anwari, Maceeh
• Application Number:
  US15/325,195
• Publication Number:
  US 20180095479A1
• Time in Patent Office: 878 Days
• Field of Search: 701 25
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/02 Control of position or course in two dimensions
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: H04W 4/02 Services making use of location information
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 64/006 with additional information processing, e.g. for direction or speed determination

Abstract

The disclosure discloses a method for processing information, comprising: collecting, at a preset frequency, location information of a target object tracked by a mobile device; extracting the piece of location information meeting a first condition from the collected pieces of location information, and saving the extracted piece of location information in a queue of target waypoints, wherein each piece of location information in the queue of target waypoints is configured to describe a target waypoint, and the pieces of location information of the target waypoints of the queue of target waypoints are arranged in the chronological order for collecting the pieces of location information; generating a corresponding control instruction according to the piece of location information of the target waypoint saved in the queue of target waypoints, wherein the control instruction is configured to control the mobile device to move towards the respective target waypoints described in the queue of target waypoints in order. The disclosure also discloses a mobile device and computer storage medium for implementing the method for processing information.

Claims

1. A method for processing information, applied to a mobile device, comprising:

collecting, at a preset frequency, pieces of location information of a target object tracked by the mobile device, comprising;

transmitting, by the mobile device, through an Ultra Wideband (UWB) unit of the mobile device, a signal to the target object at the preset frequency;

receiving, by the mobile device, a reflected signal from a UWB beacon of the target object;

calculating, by the mobile device, a relative distance between the mobile device and the target object based on a time of flight (TOF) according to a transmission time of the signal and a reception time of the reflected signal; and

calculating, by the mobile device, a relative angle between the mobile device and the target object based on an angle of arrival (AOA) according to a transmission angle of the signal and an arrival angle of the signal reaching the target object;

extracting a piece of location information meeting a first condition from the collected pieces of location information, and saving the extracted piece of location information in a queue of target waypoints, wherein each piece of location information in the queue of target waypoints is configured to describe a target waypoint, and the pieces of location information of the target waypoints saved in the queue of target waypoints are arranged in the chronological order for collecting the pieces of location information; and

generating a corresponding control instruction according to the pieces of location information of the target waypoints saved in the queue of target waypoints, wherein the control instruction is configured to control the mobile device to move towards the respective target waypoints described in the queue of target waypoints in order.

2. The method for processing information according to claim 1, wherein the extracting a piece of location information meeting a first condition from the collected pieces of location information and saving the extracted piece of location information in a queue of target waypoints comprises:

when a piece of location information of the target object is collected, judging whether the queue of target waypoints is null;

if the queue of target waypoints is null, saving the collected piece of location information in the queue of target waypoints;

if the queue of target waypoints is not null, judging, according to the collected piece of location information and the latest location information saved in the queue of target waypoints, whether the first condition is met;

when it is judged that the first condition is met, saving the collected piece of location information in the queue of target waypoints, and when it is judged that the first condition is not met, not saving the collected piece of location information in the queue of target waypoints.

3. The method for processing information according to claim 2, wherein the judging, according to the collected piece of location information and the latest location information saved in the queue of target waypoints, whether the first condition is met comprises:

judging, according to the collected piece of location information and the latest location information saved in the queue of target waypoints, whether a distance between a target waypoint corresponding to the collected piece of location information and a target waypoint corresponding to the latest location information saved in the queue of target waypoints reaches a preset first distance threshold;

wherein if the distance reaches the preset first distance threshold, it is judged that the first condition is met;

if the distance fails to reach the preset first distance threshold, it is judged that the first condition is not met.

4. The method for processing information according to claim 3, wherein the step that the pieces of location information of the target waypoints of the queue of target waypoints are arranged in the chronological order for collecting the pieces of location information comprises:

according to the chronological order for collecting the pieces of location information, arranging the collected oldest location information at an end of the queue of target waypoints and arranging the collected latest location information at a head of the queue of target waypoints, the pieces of location information being arranged from the end of the queue to the head of the queue in chronological order for collecting the pieces of the location information;

and after generating the control instruction, the method further comprises;

controlling, according to the control instruction, the mobile device to move towards the target waypoints corresponding to the respective pieces of location information from the end to the head of the queue of target waypoints in turn; and

once the mobile device reaches the target waypoint corresponding to the piece of location information at the end of the queue, deleting the piece of location information at the end of the queue from the queue of target waypoints.

5. The method for processing information according to claim 2, wherein the step that the pieces of location information of the target waypoints of the queue of target waypoints are arranged in the chronological order for collecting the pieces of location information comprises:

according to the chronological order for collecting the pieces of location information, arranging the collected oldest location information at an end of the queue of target waypoints and arranging the collected latest location information at a head of the queue of target waypoints, the pieces of location information being arranged from the end of the queue to the head of the queue in chronological order for collecting the pieces of the location information;

and after generating the control instruction, the method further comprises;

controlling, according to the control instruction, the mobile device to move towards the target waypoints corresponding to the respective pieces of location information from the end to the head of the queue of target waypoints in turn; and

once the mobile device reaches the target waypoint corresponding to the piece of location information at the end of the queue, deleting the piece of location information at the end of the queue from the queue of target waypoints.

6. The method for processing information according to claim 1, wherein the step that the pieces of location information of the target waypoints of the queue of target waypoints are arranged in the chronological order for collecting the pieces of location information comprises:

according to the chronological order for collecting the pieces of location information, arranging the collected oldest location information at an end of the queue of target waypoints and arranging the collected latest location information at a head of the queue of target waypoints, the pieces of location information being arranged from the end of the queue to the head of the queue in chronological order for collecting the pieces of the location information;

and after generating the control instruction, the method further comprises;

controlling, according to the control instruction, the mobile device to move towards the target waypoints corresponding to the respective pieces of location information from the end to the head of the queue of target waypoints in turn; and

once the mobile device reaches the target waypoint corresponding to the piece of location information at the end of the queue, deleting the piece of location information at the end of the queue from the queue of target waypoints.

7. The method for processing information according to claim 6, wherein the extracted piece of location information of the target waypoint saved in the queue of target waypoints comprises:

a relative location vector between each target waypoint and the mobile device;

the generating a corresponding control instruction according to the piece of location information of the target waypoint saved in the queue of target waypoints comprises;

according to a relative location vector {w₀, w₁, w₂, . . . w_n} between the mobile device and each target waypoint saved in the queue of target waypoints, generating a control instruction enabling the mobile device to move towards the respective target waypoints from the end to the head of the queue of target waypoints in turn;

in the control process, acquiring a movement distance vector Δ

X and a rotation angle vector Δ

θ

of the mobile device according to a preset sampling period;

in each sampling period, transforming the relative location vector {w₀, w₁, w₂, . . . w_n} according to the acquired movement distance vector Δ

X and rotation angle vector Δ

θ

based on a formula {(w_i−

Δ

X)T(Δ

θ

)} to acquire a transformed relative location vector, where i=0, 1, 2, . . . n, T(Δ

θ

) represents a rotation transformation matrix;

correspondingly, the control instruction is generated based on the latest relative location vector.

8. A mobile device, comprising:

a location information collection unit which is configured to collect, at a preset frequency, pieces of location information of a target object tracked by the mobile device, comprising;

transmitting, by the mobile device, through an Ultra Wideband (UWB) unit of the mobile device, a signal to the target object at the preset frequency;

receiving, by the mobile device, a reflected signal from a UWB beacon of the target object;

calculating, by the mobile device, a relative distance between the mobile device and the target object based on a time of flight (TOF) according to a transmission time of the signal and a reception time of the reflected signal; and

calculating, by the mobile device, a relative angle between the mobile device and the target object based on an angle of arrival (AOA) according to a transmission angle of the signal and an arrival angle of the signal reaching the target object;

a management unit for a queue of target waypoints, which is configured to extract a piece of location information meeting a first condition from the collected pieces of location information, and save the extracted piece of location information in the queue of target waypoints, wherein each piece of location information in the queue of target waypoints is configured to describe a target waypoint, and the pieces of location information of the target waypoints saved in the queue of target waypoints are arranged in the chronological order for collecting the pieces of location information; and

a mobile control unit which is configured to generate a corresponding control instruction according to the pieces of location information of the target waypoints saved in the queue of target waypoints, wherein the control instruction is configured to control the mobile device to move towards the respective target waypoints described in the queue of target waypoints in order.

9. The mobile device according to claim 8, wherein the management unit for the queue of target waypoints is further configured to:

when a piece of location information of the target object is collected by the location information collection unit, judge whether the queue of target waypoints is null;

if the queue of target waypoints is null, save the collected piece of location information in the queue of target waypoints;

if the queue of target waypoints is not null, judge, according to the collected piece of location information and the latest location information saved in the queue of target waypoints, whether the first condition is met;

when it is judged that the first condition is met, save the collected piece of location information in the queue of target waypoints, and when it is judged that the first condition is not met, not save the collected piece of location information in the queue of target waypoints.

10. The mobile device according to claim 9, wherein the management unit for the queue of target waypoints is further configured to:

judge, according to the collected piece of location information and the latest location information saved in the queue of target waypoints, whether a distance between a target waypoint corresponding to the collected piece of location information and a target waypoint corresponding to the latest location information saved in the queue of target waypoints reaches a preset first distance threshold;

wherein if the distance reaches the preset first distance threshold, it is judged that the first condition is met;

if the distance fails to reach the preset first distance threshold, it is judged that the first condition is not met.

11. The mobile device according to claim 10, wherein the management unit for the queue of target waypoints is further configured to:

according to the chronological order for collecting the pieces of location information, arrange the collected oldest location information at an end of the queue of target waypoints and arrange the collected latest location information at a head of the queue of target waypoints, the pieces of location information being arranged from the end of the queue to the head of the queue in chronological order for collecting the pieces of the location information;

the mobile control unit is further configured to;

after generating the control instruction, control, according to the control instruction, the mobile device to move towards the target waypoints corresponding to the respective pieces of location information from the end to the head of the queue of target waypoints in turn; and

once the mobile device reaches the target waypoint corresponding to the piece of location information at the end of the queue, notify the management unit for the queue of target waypoints to delete the location information at the end of the queue from the queue of target waypoints.

12. The mobile device according to claim 9, wherein the management unit for the queue of target waypoints is further configured to:

according to the chronological order for collecting the pieces of location information, arrange the collected oldest location information at an end of the queue of target waypoints and arrange the collected latest location information at a head of the queue of target waypoints, the pieces of location information being arranged from the end of the queue to the head of the queue in chronological order for collecting the pieces of the location information;

the mobile control unit is further configured to;

after generating the control instruction, control, according to the control instruction, the mobile device to move towards the target waypoints corresponding to the respective pieces of location information from the end to the head of the queue of target waypoints in turn; and

once the mobile device reaches the target waypoint corresponding to the piece of location information at the end of the queue, notify the management unit for the queue of target waypoints to delete the location information at the end of the queue from the queue of target waypoints.

13. The mobile device according to claim 8, wherein the management unit for the queue of target waypoints is further configured to:

according to the chronological order for collecting the pieces of location information, arrange the collected oldest location information at an end of the queue of target waypoints and arrange the collected latest location information at a head of the queue of target waypoints, the pieces of location information being arranged from the end of the queue to the head of the queue in chronological order for collecting the pieces of the location information;

the mobile control unit is further configured to;

after generating the control instruction, control, according to the control instruction, the mobile device to move towards the target waypoints corresponding to the respective pieces of location information from the end to the head of the queue of target waypoints in turn; and

once the mobile device reaches the target waypoint corresponding to the piece of location information at the end of the queue, notify the management unit for the queue of target waypoints to delete the location information at the end of the queue from the queue of target waypoints.

14. The mobile device according to claim 13, wherein the extracted piece of location information of the target waypoint saved in the queue of target waypoints comprises:

a relative location vector between each target waypoint and the mobile device;

the mobile control unit is further configured to;

according to a relative location vector {w₀, w₁, w₂, . . . w_n} between the mobile device and each target waypoint saved in the queue of target waypoints, generate a control instruction enabling the mobile device to move towards the respective target waypoints from the end to the head of the queue of target waypoints in turn;

in the control process, acquire a movement distance vector Δ

X and a rotation angle vector Δ

θ

of the mobile device according to a preset sampling period;

in each sampling period, transform the relative location vector {w₀, w₁, w₂, . . . w_n} according to the acquired movement distance vector Δ

X and rotation angle vector Δ

θ

based on a formula {(w_i−

Δ

X)T(Δ

θ

)} to acquire a transformed relative location vector, where i=0, 1, 2, . . . n, T(Δ

θ

) represents a rotation transformation matrix;

correspondingly, the control instruction is generated based on the latest relative location vector.

15. A computer storage medium storing computer-executable instructions, the computer-executable instructions being used to control a processer to execute a method for processing information, the method comprising:

collecting, at a preset frequency, pieces of location information of a target object tracked by a mobile device, comprising;

transmitting, by the mobile device, through an Ultra Wideband (UWB) unit of the mobile device, a signal to the target object at the preset frequency;

receiving, by the mobile device, a reflected signal from a UWB beacon of the target object;

calculating, by the mobile device, a relative distance between the mobile device and the target object based on a time of flight (TOF) according to a transmission time of the signal and a reception time of the reflected signal; and

calculating, by the mobile device, a relative angle between the mobile device and the target object based on an angle of arrival (AOA) according to a transmission angle of the signal and an arrival angle of the signal reaching the target object;

extracting a piece of location information meeting a first condition from the collected pieces of location information, and saving the extracted piece of location information in a queue of target waypoints, wherein each piece of location information in the queue of target waypoints is configured to describe a target waypoint, and the pieces of location information of the target waypoints saved in the queue of target waypoints are arranged in the chronological order for collecting the pieces of location information; and

generating a corresponding control instruction according to the pieces of location information of the target waypoints saved in the queue of target waypoints, wherein the control instruction is configured to control the mobile device to move towards the respective target waypoints described in the queue of target waypoints in order.