CN116985103A

CN116985103A - Motion control method and device of mobile equipment and mobile equipment

Info

Publication number: CN116985103A
Application number: CN202210444047.1A
Authority: CN
Inventors: 周明亮
Original assignee: Beijing Xiaomi Robot Technology Co ltd
Current assignee: Beijing Xiaomi Robot Technology Co ltd
Priority date: 2022-04-25
Filing date: 2022-04-25
Publication date: 2023-11-03

Abstract

The disclosure relates to a motion control method and device of mobile equipment and the mobile equipment. The motion control method of the mobile device provided by the embodiment of the disclosure may include: acquiring a first control instruction and a current motion state of mobile equipment; the first control instruction is used for indicating the movement rate of the mobile equipment in each dimension; generating a second control instruction according to the first control instruction, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device and the motion constraint condition of the mobile device in different dimensions; and controlling the movement of the mobile equipment according to the second control instruction. Unsafe conditions such as rollover and the like of the mobile equipment can be effectively avoided.

Description

Motion control method and device of mobile equipment and mobile equipment

Technical Field

The disclosure relates to the technical field of electronics, and in particular relates to a motion control method and device of mobile equipment and the mobile equipment.

Background

With the wide application of artificial intelligence technology in civil and commercial fields, mobile devices based on the artificial intelligence technology play an increasingly important role in the fields of intelligent transportation, intelligent home and the like, and also face higher requirements.

Mobile devices typically have different dimensions of motion, for example, an intelligent robot, including dimensions such as X-axis forward motion, Y-axis translation, rotation about the Z-axis of the mobile device, and loss of control of a fall may occur during full-dimension motion.

Disclosure of Invention

The embodiment of the disclosure provides a motion control method and device of mobile equipment and the mobile equipment.

A first aspect of an embodiment of the present disclosure provides a motion control method of a mobile device, including:

acquiring a first control instruction and a current motion state of mobile equipment; the first control instruction is used for indicating the movement rate of the mobile equipment in each dimension;

generating a second control instruction according to the first control instruction, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device and the motion constraint condition of the mobile device in different dimensions;

and controlling the movement of the mobile equipment according to the second control instruction.

In some possible embodiments, generating the second control instruction according to the first control instruction, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraint condition of the mobile device in different dimensions includes:

According to the first control instruction, determining a target dimension of the response of the equipment to be moved and a first target rate of the target dimension;

determining a second target rate of at least one dimension according to priorities of the mobile equipment in different dimensions, current motion states of the mobile equipment, motion constraint conditions and the first target rate of the target dimension;

and generating a second control instruction according to the second target rate.

In some possible implementations, determining the second target rate for the at least one dimension based on the priority of the mobile device in the different dimensions, the current motion state of the mobile device, the motion constraint, and the first target rate for the target dimension includes:

and if the target dimension is the dimension with the highest priority in each dimension, determining a second target rate of the target dimension according to the first target rate of the target dimension and the speed limit of the motion constraint condition on the target dimension.

Determining a reference rate for a first dimension; when the first dimension is not the target dimension, the reference rate of the first dimension is the current rate of the first dimension; or when the first dimension is the target dimension, the reference rate of the first dimension is the second target rate of the first dimension;

determining a target rate range of a second dimension according to the motion constraint condition and the reference rate of the first dimension; wherein the second dimension has a lower priority than the first dimension;

and if the second dimension is the target dimension, taking the speed with the smallest speed difference between the target speed range and the first target speed as the second target speed of the second dimension according to the first target speed and the target speed range of the second dimension.

if the second dimension is not the target dimension, determining whether the current rate of the second dimension accords with the target rate range of the second dimension;

and if the current rate of the second dimension does not accord with the target rate range of the second dimension, taking the rate with the minimum rate difference between the target rate range and the current rate as the second target rate of the second dimension.

In some possible embodiments, determining the target rate range for the second dimension based on the motion constraint and the reference rate for the first dimension comprises:

determining a scale factor for a second dimension according to the reference rate of the first dimension;

taking the product of the maximum initial rate of the second dimension defined by the motion constraint condition and the scale factor as a target maximum rate;

taking the product of the minimum initial rate of the second dimension defined by the motion constraint condition and the scale factor as a target minimum rate;

and determining a target rate range according to the target maximum rate and the target minimum rate.

In some possible implementations, determining a scale factor for the second dimension from the reference rate for the first dimension includes:

obtaining a second factor of the nth first dimension according to the reference rate of the nth first dimension and the first factor of the nth first dimension; wherein N is a positive integer less than or equal to N; wherein N is the total number of the first dimension with higher priority than the second dimension; the priority of the nth first dimension is one level higher than the priority of the (n-1) th first dimension;

and obtaining the scale factor aiming at the second dimension according to the product of the second factors of the N first dimensions.

In some possible embodiments, deriving the second factor for the nth first dimension from the first factor for the nth first dimension and the reference rate for the nth first dimension includes:

determining a product of the reference rate of the nth first dimension and a first correction coefficient of the nth first dimension;

determining a sum of the resulting product and a second correction factor for the nth first dimension;

the product of the determined sum and the first factor of the nth first dimension is taken as the second factor of the nth first dimension.

In some possible embodiments, the at least one dimension includes a first dimension of movement in a first direction in a first plane, a second dimension of movement in a second direction in the first plane, a yaw dimension rotated about a third direction as a central axis, and a rotation dimension rotated about a second direction as a central axis; the priority of at least one dimension is that the priority of the first moving dimension is higher than the second moving dimension; the second movement dimension has a higher priority than the yaw dimension and the yaw dimension has a higher priority than the rotation dimension;

the third direction is perpendicular to the first plane.

A second aspect of an embodiment of the present disclosure provides a motion control apparatus of a mobile device, including:

The acquisition module is used for acquiring the first control instruction and the current motion state of the mobile equipment; the first control instruction is used for indicating the movement rate of the mobile equipment in each dimension;

the generation module is used for generating a second control instruction according to the first control instruction, the motion response priority of the mobile equipment in different dimensions, the current motion state of the mobile equipment and the motion constraint condition of the mobile equipment in different dimensions;

and the control module is used for controlling the movement of the mobile equipment according to the second control instruction.

In some possible embodiments, the generating module is specifically configured to, when generating the second control instruction according to the first control instruction, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraint condition of the mobile device in different dimensions:

In some possible embodiments, the generating module is specifically configured to, when determining the second target rate of the at least one dimension according to the priorities of the mobile device in different dimensions, the current motion state of the mobile device, the motion constraint condition, and the first target rate of the target dimension:

In some possible embodiments, the generating module is specifically configured to, when determining the target rate range of the second dimension according to the motion constraint condition and the reference rate of the first dimension:

In some possible embodiments, the generating module is specifically configured to, when determining the scale factor for the second dimension from the reference rate of the first dimension:

obtaining a second factor of the n-1 first dimension according to the reference rate of the n first dimension and the first factor of the n first dimension; wherein N is a positive integer less than or equal to N; wherein N is the total number of the first dimension with higher priority than the second dimension; the priority of the nth first dimension is one level higher than the priority of the (n-1) th first dimension;

In some possible embodiments, the generating module is specifically configured to, when obtaining the second factor of the n-1 th first dimension according to the reference rate of the n-th first dimension and the first factor of the n-th first dimension:

the product of the determined sum and the first factor of the nth first dimension is taken as the second factor of the (n-1) th first dimension.

the third direction is perpendicular to the first plane.

A third aspect of an embodiment of the present disclosure provides a mobile device, including:

a memory for storing processor-executable instructions;

a processor connected to the memory;

wherein the processor is configured to perform a method of motion control of a mobile device as provided in any of the foregoing first aspects.

A fourth aspect of the disclosed embodiments provides a non-transitory computer-readable storage medium, which when executed by a processor of a computer, enables the computer to perform the method for controlling movement of a mobile device provided by any of the foregoing aspects.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:

and generating a second control instruction which accords with the safety rate range under the current motion state by the first control instruction, the motion response priority of the mobile equipment in different dimensions, the current motion state of the mobile equipment and the motion constraint condition of the mobile equipment in different dimensions, and controlling the mobile equipment to move according to the second control instruction, so that unsafe situations such as rollover and the like of the mobile equipment can be effectively avoided.

In addition, if the first control instruction only includes a part of the target dimensions of the mobile device, whether the current rate of the dimension lower than the priority of the target dimensions can be continuously maintained or not under the condition that the target dimensions are met as much as possible is also considered, and the movement of the mobile device can be effectively regulated under the condition that the first control instruction is met as much as possible, so that rollover is avoided.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a schematic illustration of high speed movement of a mobile device in one example;

fig. 2 is a flow chart of a motion control method of a mobile device according to an embodiment of the present application;

fig. 3 is a flowchart of a motion control method of a mobile device according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a scheme for determining a second target rate in one example of the application;

FIG. 5 is a schematic diagram of a scheme for determining a second target rate in one example of the application;

FIG. 6 is a schematic diagram of a motion dimension of a mobile device in one example;

fig. 7 is a schematic structural diagram of a motion control device of a mobile device according to an embodiment of the present application;

fig. 8 is a schematic diagram of a mobile device in one example.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus consistent with some aspects of the disclosure as detailed in the accompanying claims.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and "comprising," when used in this specification, specify the presence of stated features, information, data, steps, operations, elements, and/or components, but do not preclude the presence or addition of other features, information, data, steps, operations, elements, components, and/or groups thereof, all of which may be included in the present specification. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein indicates at least one of the items defined by the term, e.g. "a and/or B" indicates implementation as "a", or as "a and B".

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.

Mobile devices typically include a plurality of different dimensions of motion. Taking an intelligent robot as an example, fig. 1 is a schematic diagram of high-speed motion of a quadruped robot, and the robot is easy to fall down and run away in the full-dimension operation process. As a person drives at high speed, the forward dimension weight is highest, the steering dimension is reduced, and if the steering wheel is slammed at high speed, tail flick and rollover easily occur.

In the related technology, the control is performed by performing zero space vector projection in a task space, a control instruction calculates the foot end force of the quadruped robot through model prediction control, and the joint position, the speed and the joint feedforward moment command of the quadruped robot are calculated through whole body control according to a control task; and then optimizing more reasonable joint position, speed and joint feedforward moment command by using convex optimization theory through the dynamics of the whole body, and controlling the moment command in different motion dimensions.

In some possible embodiments, the present application provides a motion control method of a mobile device, which may be applied to a control device, where the control device may be disposed in the mobile device, as shown in fig. 2, and may include:

Step S201, a first control instruction and a current motion state of the mobile device are acquired.

The mobile device may be a device that moves based on instructions, and may instruct the time, direction, speed, etc. of the movement of the device by the instructions.

Specifically, the mobile device may be a rolling mode, a sliding mode, or a flying mode, and the moving mode of the mobile device may not be limited. For example, the mobile device may include a bipedal robot, a quadruped robot, an unmanned aerial vehicle, an unmanned vehicle, and the like.

The first control instruction may be various instructions for controlling the movement of the mobile device, for example, the first control instruction may be an instruction for controlling the movement speed of the mobile device, or an instruction simply indicating the movement speed of the mobile device in each dimension. Different dimensions may include different directions of movement and different modes of movement.

For example, different dimensions may include different directions of movement, and may also include different modes of movement such as translation, rotation, or yaw.

Specifically, the first control instruction may be input into the motion control device by the user through the input device, for example, through a remote controller.

The current motion state of the mobile device may include current rates of different dimensions of the mobile device.

Specifically, the current motion state of the mobile device can be monitored through a motion sensing device, a positioning device and the like.

Step S202, a second control instruction is generated according to the first control instruction, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device and the motion constraint condition of the mobile device in different dimensions.

The motion response priorities of the mobile device in different dimensions may be preset, and the higher the motion response priority of a dimension is, the second target rate for the dimension is preferentially determined, and the second target rates of the dimensions are sequentially determined according to the order of the priorities from high to low, so as to generate a second control instruction. For example, the first control instruction includes: the target rate of the first dimension is 5m/s, the target rate of the second dimension is 4m/s, the first dimension is higher than the second dimension, the target rate of the first dimension is preferentially met, and under the condition that the target rate of the first dimension is met, whether the target rate of the second dimension is feasible or not is judged.

The motion constraint conditions of different dimensions may include an initial safety range of different dimensions when the mobile device is in a stationary state, where the initial safety range may be a maximum initial rate and a minimum initial rate that are preconfigured in a control device that controls the mobile device to perform motion.

Specifically, if the mobile device is in a motion state, the safety ranges corresponding to different dimensions in the motion state may change, and at this time, a target rate range needs to be determined according to the current motion state and the motion constraint condition of the device, that is, the safety rate range in the current motion state, and then a second control instruction is determined according to the first control instruction and the target rate range, so that the mobile device moves according to the second control instruction.

That is, the second control command can meet the first control command as far as possible, and the mobile device can be ensured to safely move, and the situation such as rollover can not occur due to overlarge movement speed.

For example, the motion constraint of the mobile device in a stationary state is a maximum first dimension of 10m/s; the second dimension is at most 10m/s; when the current speed of the mobile device in the first dimension is 8m/s, the first control instruction is that the target speed of the second dimension is 8m/s, and the priority of the first dimension is higher than that of the second dimension, if the target speed of the first dimension needs to be considered to be kept 8m/s, whether the target speed of the second dimension can reach 8m/s or not generates a second control instruction, for example, the second control instruction is that the first dimension is 8m/s, and the second dimension is 4m/s.

Step S203, according to the second control instruction, the movement of the mobile device is controlled.

Wherein the second control command includes a second target rate of at least one dimension, and the mobile device moves in accordance with the second control command.

It should be noted that the dimensions included in the second control instruction are not necessarily the same as those included in the first control instruction, for example, the current rate of the first dimension is 4m/s in the current state, the current rate of the second dimension is 8m/s, the mobile device adjusts the rate of the first dimension to 8m/s according to the first control instruction, and if the second dimension still maintains 8m/s to be unsafe, the generated second control instruction is that the second target rate of the first dimension is 8m/s, and the second target rate of the second dimension is 4m/s.

In the above embodiment, the second control instruction which accords with the safe speed range in the current motion state is generated through the first control instruction, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device and the motion constraint condition of the mobile device in different dimensions, and then the mobile device is controlled to move according to the second control instruction, so that unsafe situations such as rollover and the like of the mobile device can be effectively avoided.

The specific generation process of the second control instruction will be described below in connection with the specific embodiment.

In some possible embodiments, as shown in fig. 3, step S202 of generating the second control instruction according to the first control instruction, the priority of the motion response of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraint condition of the mobile device in different dimensions may include:

step S210, determining a target dimension to be responded by the mobile equipment and a first target rate of the target dimension according to a first control instruction;

step S220, determining a second target rate of at least one dimension according to priorities of the mobile equipment in different dimensions, current motion states of the mobile equipment, motion constraint conditions and first target rates of target dimensions;

step S230, generating a second control instruction according to the second target rate.

The target dimension may include a dimension in which the first control instruction indicates that the rate of motion needs to be adjusted, the first target rate being a rate of the target dimension indicated in the first control instruction.

Wherein the second target rate is a final rate of control of movement of the mobile device.

Specifically, a target rate range is determined according to a current motion state of the device and a first control instruction, namely a safe rate range in the current motion state, and then a second target rate is determined according to the first control instruction and the target rate range, so that the mobile device moves according to the second target rate.

In some possible embodiments, step S220 of determining the second target rate for the at least one dimension according to the priorities of the mobile device in the different dimensions, the current motion state of the mobile device, the motion constraint, and the first target rate for the target dimension may include:

and if the target dimension is the dimension with the highest priority, determining a second target rate of the target dimension according to the first target rate of the target dimension and the speed limit of the motion constraint condition on the target dimension.

If the target dimension is the dimension with the highest priority, the limitation of the first target rate of other dimensions to the target dimension is not needed to be considered, and the second target rate of the target dimension is determined directly according to the first target rate and the speed limitation of the motion constraint condition to the target dimension

Specifically, determining the second target rate for the target dimension based on the first target rate and the speed limit of the motion constraint on the target dimension may include:

if the first target rate is greater than the maximum initial rate defined by the motion constraint condition of the priority, determining the maximum initial rate defined by the motion constraint condition of the highest dimension of the priority as the second target rate;

As shown in fig. 4, the motion constraint condition in fig. 4 includes a maximum initial rate and a minimum initial rate, and if the first target rate is greater than the maximum initial rate, the maximum initial rate is determined as the second target rate.

And if the first target rate is smaller than the maximum speed defined by the motion constraint condition of the highest dimension of the priority, determining the first target rate as the second target rate.

As shown in fig. 5, the motion constraint condition in fig. 5 includes a maximum initial rate and a minimum initial rate, and if the first target rate is smaller than the maximum initial rate and larger than the minimum initial rate, the second target rate is determined as the second target rate.

That is, if the first target rate meets the speed limit of the motion constraint condition on the target dimension, the first target rate is taken as the second target rate; and if the first target rate does not meet the speed limit of the motion constraint condition on the target dimension, selecting a value closest to the first target rate from the speed limit of the motion constraint condition on the target dimension as the second target rate.

For example, the target dimension is the highest priority dimension, the first target rate is 8m/s, the motion constraint for the target dimension is 10m/s for the maximum initial rate, and the second target rate is 8m/s.

If the target dimension is not the dimension with the highest priority, determining a second target rate of at least one dimension according to the priorities of the mobile equipment in different dimensions, the current motion state of the mobile equipment, the motion constraint condition and the first target rate of the target dimension. Determining the second target rate at this time may include:

a. a reference rate for a first dimension is determined.

When the first dimension is not the target dimension, the reference rate of the first dimension is the current rate of the first dimension; alternatively, when the first dimension is the target dimension, the reference rate of the first dimension is the second target rate of the first dimension.

That is, when the first dimension is not indicated in the first control instruction, a second target rate of the first dimension may be determined according to the current rate of the first dimension; when the first dimension is indicated in the first control instruction, a second target rate of the first dimension is calculated, and then a target rate range of the second dimension is determined according to the second target rate of the first dimension.

b. And determining a target rate range of the second dimension according to the motion constraint condition and the reference rate of the first dimension.

Wherein the second dimension has a lower priority than the first dimension.

It should be noted that if the second dimension is the target dimension, the target rate range of the second dimension needs to be determined; if the second dimension is not the target dimension, it is indicated that the first dimension having higher priority than the second dimension is the target dimension, and when the current state of the first dimension changes and the second target rate of the first dimension is preferentially satisfied, whether the current rate of the second dimension can ensure safety needs to be considered, so that the target rate range of the second dimension needs to be determined, that is, whether the second dimension is the target dimension or not needs to be determined.

In some possible embodiments, determining the target rate range for the second dimension based on the motion constraint and the reference rate for the first dimension may include:

The scale factor of the second dimension can be used for adjusting the motion constraint condition of the second dimension, so that the target speed range obtained after adjustment can be ensured to safely move of the mobile equipment.

The process of calculating the scale factor for the second dimension is described in further detail below.

c. And if the second dimension is the target dimension, taking the speed with the smallest speed difference between the target speed range and the first target speed as the second target speed of the second dimension according to the first target speed and the target speed range of the second dimension.

Specifically, if the second dimension is the target dimension, the second target rate needs to meet the first target rate as much as possible, and the safety is guaranteed, and then the rate closest to the first target rate in the target rate range can be used as the second target rate.

d. If the second dimension is not the target dimension, determining whether the current rate of the second dimension accords with the target rate range of the second dimension; and if the current rate of the second dimension does not accord with the target rate range of the second dimension, taking the rate with the minimum rate difference between the target rate range and the current rate as the second target rate of the second dimension.

Specifically, if the second dimension is not the target dimension, that is, the first control instruction is not specific to the second dimension, it needs to consider whether the current rate of the second dimension accords with the target rate range of the second dimension; if the current rate of the second dimension meets the target rate range of the second dimension, the current rate of the second dimension can be continuously maintained; if the current rate in the second dimension does not conform to the target rate range in the second dimension, the current rate needs to be adjusted, so that the adjusted second target rate is as close to the current rate as possible while ensuring safety, and the rate closest to the current rate in the target rate range is used as the second target rate.

In the above embodiment, if the first control instruction includes only a part of the target dimensions of the mobile device, it is also considered whether the current rate of the dimension lower than the priority of the target dimensions can be continuously maintained if the target dimensions are satisfied as much as possible, and the motion of the mobile device can be effectively adjusted if the first control instruction is satisfied as much as possible, so that rollover is avoided.

The specific process of determining a scale factor for a second dimension with respect to a reference rate for a first dimension will be further described below in connection with specific embodiments.

In the implementation process, the reference rate of each dimension can be calculated sequentially according to the order of the priority from high to low, and then the first factor of the dimension with the priority lower by one level is calculated according to the reference rate of each dimension and the corresponding first factor.

For example, there are four dimensions, dimension 1, dimension 2, dimension 3, and dimension 4, from high to low, where the priority of dimension 1 is greater than the priority of dimension 2 and greater than the priority of dimension 3 and greater than the priority of dimension 4, then the reference rate of dimension 1 is first determined; determining a second factor of the dimension 1 according to the reference rate of the dimension 1 and a first factor preset by the dimension 1, wherein the second factor of the dimension 1 is a scale factor of the dimension 2; determining a reference rate of the dimension 2, and determining a second factor of the dimension 2 according to the reference rate of the dimension 2 and a first factor preset by the dimension 2; taking the product of the second factor of the dimension 1 and the second factor of the dimension 2 as a scale factor of the dimension 3; determining a reference rate of the dimension 3, determining a second factor of the dimension 3 according to the reference rate of the dimension 3 and a first factor preset by the dimension 3, and taking the product of the second factors of the dimension 1, the dimension 2 and the dimension 3 as a scale factor of the dimension 4.

In some possible embodiments, obtaining the second factor of the nth first dimension from the reference rate of the nth first dimension and the first factor of the nth first dimension may include:

the third direction is perpendicular to the first plane.

As shown in fig. 6, taking the intelligent robot as an example, fig. 6 is a schematic diagram of a motion dimension of the intelligent robot, including horizontal X-axis forward, horizontal Y-axis lateral movement, rotation around the Z-axis of the intelligent robot, and pitching rotation around the Y-axis.

In some possible embodiments, step S203 may include controlling the movement of the mobile device according to the second control instruction:

generating at least two third control instructions based on the second control instructions and the acceleration supported by the mobile device in each dimension;

and controlling the movement of the mobile equipment in sequence based on at least two third control instructions.

Specifically, a plurality of sub-target speeds may be generated according to the current state of the mobile device and the second target speed indicated by the second control instruction, and a third control instruction may be generated according to the plurality of sub-target speeds, and then the movement of the mobile device may be sequentially controlled.

For example, if the second control command is that the second target speed of the X axis is 10m/s and the current speed of the X axis of the mobile device is 2m/s, the speed may be sequentially increased to generate a plurality of sub-target speeds of 4m/s, 6m/s, 8m/s and 10m/s, and a corresponding plurality of third control commands are generated according to the plurality of sub-target speeds.

Specifically, when the current state of the mobile device reaches the sub-target speed, correspondingly executing the next sub-target speed; or sequentially sending sub-target rates larger than the current rate to the mobile equipment according to the current state of the mobile equipment to control the mobile equipment to move; the sub-target speeds can be sequentially sent to the mobile device at set interval time, and the process can control the speed of the mobile device to be increased according to the preset interval time and control the acceleration of the mobile device.

The time interval may be: and determining according to the acceleration supported by the mobile device in the corresponding dimension and the difference between the adjacent two sub-target speeds. The accelerations supported by the mobile device in different dimensions may be the same or different.

The acceleration includes: acceleration of increased speed and/or acceleration of decreased speed.

In some embodiments, the mobile device package: the device comprises a main control module, a driving control module and a driving module.

The driving module is used for providing driving force for movement of the mobile equipment; and the driving control module is connected with the driving module and used for controlling the driving force output of the driving module.

The main control module is connected with the drive control module and used for controlling the work of the drive module.

In some embodiments, the master control module includes, but is not limited to, a central processing unit, a microprocessor, or an embedded controller.

The driving control module may include: a driver chip and/or a driver control circuit, etc.

In one embodiment, the master control module generates a second control instruction and sends the second control instruction to the drive control module; the driving control module splits the second control instruction into a plurality of third control instructions according to the acceleration supported by the mobile equipment in each dimension, determines the execution time of each third control instruction, and controls the operation of the driving module according to each third control instruction at the determined execution time.

In another embodiment, after the main control module generates the second control instruction, the second control instruction is split into a plurality of third control instructions according to the acceleration supported by the mobile device in each dimension, the execution time of each third control instruction is determined, and then the third control instruction is sent to the driving control module at the determined execution time to trigger the driving control module to control the driving module to work. In order to more clearly illustrate the motion control method of the mobile device of the present application, the motion control method of the mobile device of the present application will be further described with reference to examples.

In one example, a motion control method of a mobile device may include:

the motion dimensions of the mobile device include X-axis movement, Y-axis movement, yaw dimension (yaw) rotating about its Z-axis, and pitch rotation dimension (pitch) pitching about the Y-axis; the X-axis movement has a higher priority than the Y-axis movement, and the yaw dimension has a higher priority than the rotation dimension.

Acquiring a first control instruction comprising a first target velocity v indicating an X axis of the mobile device _{x cmd} Indicating a first target velocity v of the X-axis of the mobile device _{y cmd} A first target rate v indicative of yaw of the mobile device _{yaw cmd} And a first target rate v indicative of yaw of the mobile device _{pitch cmd} ；

Acquiring a current state of the mobile device, including a current velocity v of an X-axis of the mobile device _{x 0} Indicating the current velocity v of the X-axis of the mobile device _{y 0} Current rate v indicative of yaw of mobile device _{yaw 0} And a current rate v indicative of yaw of the mobile device _{pitch 0} ；

According to a first target velocity v of the X-axis _{x cmd} And the current velocity v of the X-axis _{x 0} And the motion constraint conditions limit the speed of the X-axis, determining a second target speed v of the X-axis _{x des} The following formula can be specifically referred to:

v _{x min} ≤v _{x des} ≤v _{x max} (1)

wherein v is _{x min} A minimum initial rate of X-axis dimension defined for motion constraints; v _{x max} Maximum initial rate of X-axis dimension defined for motion constraints.

Reference velocity v of X-axis _x A second target velocity v of X axis _{x des} The scale factor of the Y-axis is determined according to the reference rate of the X-axis, and the following formula can be referred to:

v _{y scale} ＝-α ₁ ×abs(v _x )+1 (2)

wherein v is _{y scale} Is the scale factor of the Y axis; -alpha ₁ A first correction factor for the Y-axis; abs is absoluteValues.

The target rate range of the Y axis is determined according to the scale factor of the Y axis, the second target rate of the Y axis is determined according to the target rate range of the Y axis and the first target rate of the Y axis, and the following formula can be referred to:

v _{y min} ×v _{y scale} ≤v _{y des} ≤v _{y max} ×v _{y scale} (3)

wherein v is _{y min} A minimum initial rate of Y-axis dimension defined for motion constraints; v _{y max} A maximum initial rate of Y-axis dimension defined for the motion constraint; v _{y des} A second target rate for the Y-axis dimension;

reference velocity v of Y-axis _y Second target velocity v, which is the Y axis _{y des} According to the reference velocity v of the X-axis _x And reference velocity v of Y axis _y Determining scale factor v of yaw dimension yaw _{yaw scale} The following formula can be referenced:

v _{yaw scale} ＝(-β ₁ ×abs(v _x )+1)(-α ₂ ×abs(v _y )+1) (4)

wherein v is _{y scale} Scale factor yaw for yaw; -beta ₁ And-alpha ₂ First correction coefficients of yaw; abs is absolute.

Determining a target rate range of the yaw dimension yaw according to the scale factor of the yaw dimension yaw, and determining a second target rate of the yaw dimension yaw according to the target rate range of the yaw dimension yaw and the first target rate of the yaw dimension yaw, wherein the following formula can be referred to:

v _{yaw min} ×v _{yaw scale} ≤v _{yaw des} ≤v _{yaw max} ×v _{yaw scale} (5)

wherein v is _{yaw min} A minimum initial rate of yaw dimension defined for the motion constraint; v _{yaw max} A maximum initial rate of yaw dimension defined for the motion constraint; v _{yaw des} A second target rate for the yaw dimension;

reference rate v of yaw dimension yaw _yaw I.e. second order yaw dimension yawTarget rate v _{yaw des} The scale factor of the rotation dimension pitch is determined from the reference rate of the X-axis, the reference rate of the Y-axis and the reference rate of the yaw dimension yaw, and can be referred to by the following formula:

V _{pitch scale} ＝(-γ ₁ ×abs(v _x )+1)(-β ₂ ×abs(v _y )+1)(-γ ₂ ×abs(v _yaw )+1) (6)

Wherein v is _{y pitch} Scale factors for pitch rotation; -gamma ₁ 、-β ₂ -gamma ₂ The first correction coefficients are the pitch rotations; abs is absolute.

Determining a target rate range of the rotation dimension pitch according to the scale factor of the rotation dimension pitch, and determining a second target rate of the rotation dimension pitch according to the target rate range of the rotation dimension pitch and the first target rate of the rotation dimension pitch, wherein the following formula can be referred to:

v _{pitch min} ×v _{pitch scale} ≤v _{pitch des} ≤v _{pitch max} ×v _{pitch scale} (7)

wherein v is _pitch _min A minimum initial rate of rotation dimension pitch defined for the motion constraint; v _{pitch max} A maximum initial rate of rotation dimension pitch defined for the motion constraint; v _{pitch des} Is a second target rate for the rotation dimension pitch.

According to the motion control method of the mobile device, the second control instruction which accords with the safety rate range under the current motion state is generated through the first control instruction, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device and the motion constraint condition of the mobile device in different dimensions, and then the motion of the mobile device is controlled according to the second control instruction, so that unsafe situations such as rollover of the mobile device can be effectively avoided.

In some possible embodiments, there is provided a motion control apparatus 70 of a mobile device, comprising:

an obtaining module 701, configured to obtain a first control instruction and a current motion state of the mobile device; the first control instruction is used for indicating the movement rate of the mobile equipment in each dimension;

a generating module 702, configured to generate a second control instruction according to the first control instruction, the motion response priorities of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraint conditions of the mobile device in different dimensions;

and the control module 703 is used for controlling the movement of the mobile device according to the second control instruction.

In some possible embodiments, the generating module 702 is specifically configured to, when generating the second control instruction according to the first control instruction, the motion response priority of the mobile device in the different dimensions, the current motion state of the mobile device, and the motion constraint condition of the mobile device in the different dimensions:

In some possible implementations, the generating module 702 is specifically configured to, when determining the second target rate of the at least one dimension according to the priorities of the mobile devices in different dimensions, the current motion states of the mobile devices, the motion constraints, and the first target rate of the target dimension:

In some possible embodiments, the generating module 702 is specifically configured to, when determining the target rate range of the second dimension according to the motion constraint condition and the reference rate of the first dimension:

In some possible implementations, the generation module 702 is specifically configured to, when determining the scale factor for the second dimension from the reference rate for the first dimension:

In some possible embodiments, the generating module 702 is specifically configured to, when obtaining the second factor of the nth first dimension according to the reference rate of the nth first dimension and the first factor of the nth first dimension:

In some possible implementations, the at least one dimension includes a movement dimension in the first plane, a yaw dimension in the first plane, and a rotation dimension; the priority of at least one dimension is that the horizontal movement dimension is higher than the yaw dimension and the yaw dimension is higher than the rotation dimension;

the axis of rotation of the rotational dimension is perpendicular to the first plane.

According to the motion control device of the mobile equipment, the second control instruction which accords with the safety rate range under the current motion state is generated through the first control instruction, the motion response priority of the mobile equipment in different dimensions, the current motion state of the mobile equipment and the motion constraint condition of the mobile equipment in different dimensions, and then the motion of the mobile equipment is controlled according to the second control instruction, so that unsafe situations such as rollover and the like of the mobile equipment can be effectively avoided.

Fig. 8 is a block diagram of a mobile device 800, according to an example embodiment. For example, the mobile device 800 may be incorporated into a terminal device such as a mobile phone, a mobile computer, or a server.

Referring to fig. 8, a mobile device 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, a multimedia data component 810, an input/output (I/O) interface 812, a sensor component 814, and a communication component 816.

The processing component 802 generally controls overall operation of the mobile device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interactions between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the device 800. Examples of such data include instructions for any application or method operating on the mobile device 800, contact data, phonebook data, messages, pictures, video, and the like. The memory 804 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The power supply component 806 provides power to the various components of the mobile device 800. Power components 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for mobile device 800.

The multimedia component 808 includes a screen between the mobile device 800 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or sliding action, but also the duration and pressure associated with the touch or sliding operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. The front camera and/or the rear camera may receive external multimedia data when the device 800 is in an operational state, such as a photographing state or a video state. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

The multimedia data component 810 is configured to output and/or input multimedia data signals. For example, the multimedia data component 810 includes a Microphone (MIC) configured to receive external multimedia data signals when the mobile device 800 is in an operational state, such as a call state, a recording state, and a voice recognition state. The received multimedia data signals may be further stored in memory 804 or transmitted via communications component 816.

In some embodiments, the multimedia data component 810 further comprises a speaker for outputting multimedia data signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be a keyboard, click wheel, operating buttons, etc. These operating buttons may include, but are not limited to: homepage operation button, volume operation button, start operation button and lock operation button.

The sensor component 814 includes one or more sensors that provide status assessment of various aspects for the mobile device 800. For example, the sensor assembly 814 may detect an on/off state of the device 800, a relative positioning of the components, such as a display and keypad of the mobile device 800, the sensor assembly 814 may also detect a change in position of the mobile device 800 or a component of the mobile device 800, the presence or absence of a user's contact with the mobile device 800, an orientation or acceleration/deceleration of the mobile device 800, and a change in temperature of the mobile device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate communication between the mobile device 800 and other devices, either wired or wireless. The mobile device 800 may access a wireless network based on a communication standard, such as Wi-Fi,2G, or 3G, or a combination thereof. In one exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the apparatus 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for executing the methods described above.

In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 804 including instructions executable by processor 820 of apparatus 800 to perform the above-described information processing method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

The instructions, when executed by processor 820, may include:

It may be appreciated that generating the second control instruction according to the first control instruction, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraint condition of the mobile device in different dimensions includes:

It will be appreciated that determining the second target rate for the at least one dimension based on the priority of the mobile device in the different dimensions, the current motion state of the mobile device, the motion constraints, and the first target rate for the target dimension, includes:

It will be appreciated that determining the target rate range for the second dimension based on the motion constraint and the reference rate for the first dimension includes:

It is understood that determining a scale factor for a second dimension from a reference rate for the first dimension includes:

It will be appreciated that deriving the second factor for the nth first dimension from the reference rate for the nth first dimension and the first factor for the nth first dimension includes:

It is understood that the at least one dimension includes a first dimension of movement in a first direction in a first plane, a second dimension of movement in a second direction in the first plane, a yaw dimension rotated about a third direction as a central axis, and a rotation dimension rotated about a second direction as a central axis; the priority of at least one dimension is that the priority of the first moving dimension is higher than the second moving dimension; the second movement dimension has a higher priority than the yaw dimension and the yaw dimension has a higher priority than the rotation dimension;

the third direction is perpendicular to the first plane.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for controlling motion of a mobile device, comprising:

acquiring a first control instruction and a current motion state of the mobile equipment; the first control instruction is used for indicating the movement rate of the mobile equipment in each dimension;

generating a second control instruction according to the first control instruction, the motion response priority of the mobile equipment in different dimensions, the current motion state of the mobile equipment and the motion constraint condition of the mobile equipment in different dimensions;

2. The method for controlling motion of a mobile device according to claim 1, wherein generating the second control command according to the first control command, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraint condition of the mobile device in different dimensions comprises:

determining a target dimension to be responded by the mobile equipment and a first target rate of the target dimension according to the first control instruction;

determining a second target rate of at least one dimension according to priorities of the mobile equipment in different dimensions, current motion states of the mobile equipment, the motion constraint conditions and the first target rate of the target dimension;

And generating the second control instruction according to the second target rate.

3. The method of claim 2, wherein determining the second target rate for the at least one dimension based on priorities of the mobile device in different dimensions, current motion states of the mobile device, the motion constraint, and the first target rate for the target dimension comprises:

4. A method of controlling motion of a mobile device according to claim 3, wherein determining the second target rate for the at least one dimension based on the priority of the mobile device in the different dimensions, the current motion state of the mobile device, the motion constraint, and the first target rate for the target dimension comprises:

determining a reference rate for a first dimension; wherein when the first dimension is not the target dimension, the reference rate of the first dimension is the current rate of the first dimension; or, when the first dimension is the target dimension, the reference rate of the first dimension is the second target rate of the first dimension;

and if the second dimension is the target dimension, taking the speed with the minimum speed difference between the first target speed and the first target speed in the target speed range as the second target speed of the second dimension according to the first target speed of the second dimension and the target speed range.

5. The method of claim 4, wherein determining the second target rate for the at least one dimension based on the priority of the mobile device in the different dimensions, the current motion state of the mobile device, the motion constraint, and the first target rate for the target dimension comprises:

if the second dimension is not the target dimension, determining whether the current rate of the second dimension accords with a target rate range of the second dimension;

6. The method of claim 4, wherein determining the target rate range for the second dimension based on the motion constraint and the reference rate for the first dimension comprises:

determining a scale factor for the second dimension from the reference rate for the first dimension;

taking the product of the maximum initial rate of the second dimension and the scale factor defined by the motion constraint condition as a target maximum rate;

taking the product of the minimum initial rate of the second dimension and the scale factor defined by the motion constraint condition as a target minimum rate;

and determining the target rate range according to the target maximum rate and the target minimum rate.

7. The method of motion control of a mobile device of claim 6, wherein determining a scale factor for the second dimension from the reference rate for the first dimension comprises:

obtaining a second factor of the nth first dimension according to the reference rate of the nth first dimension and the first factor of the nth first dimension; wherein N is a positive integer less than or equal to N; wherein N is the total number of the first dimensions having a higher priority than the second dimensions; the priority of the nth first dimension is higher than the priority of the (n-1) th first dimension by one level;

8. The method according to claim 7, wherein obtaining the second factor of the nth first dimension according to the reference rate of the nth first dimension and the first factor of the nth first dimension includes:

determining the product of the reference rate of the nth first dimension and the first correction coefficient of the nth first dimension;

determining a sum of the resulting product and a second correction factor for an nth of said first dimensions;

and taking the product of the determined sum and the first factor of the nth first dimension as the second factor of the nth first dimension.

9. The method for controlling motion of a mobile device according to any one of claims 1 to 8,

the at least one dimension includes a first dimension of movement in a first direction in a first plane, a second dimension of movement in a second direction in the first plane, a yaw dimension rotated about a third direction as a central axis, and a rotation dimension rotated about the second direction as a central axis; the priority of the at least one dimension is that the priority of a first moving dimension is higher than that of a second moving dimension; the second movement dimension has a higher priority than the yaw dimension and the yaw dimension has a higher priority than the rotation dimension;

The third direction is perpendicular to the first plane.

10. A motion control apparatus for a mobile device, comprising:

the acquisition module is used for acquiring a first control instruction and the current motion state of the mobile equipment; the first control instruction is used for indicating the movement rate of the mobile equipment in each dimension;

11. The motion control apparatus of a mobile device according to claim 10, wherein the generating module is configured to, when generating the second control instruction according to the first control instruction, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraint condition of the mobile device in different dimensions, specifically:

12. The motion control apparatus of a mobile device according to claim 11, wherein the generating module is configured to, when determining the second target rate of the at least one dimension according to priorities of the mobile device in different dimensions, current motion states of the mobile device, the motion constraint condition, and the first target rate of the target dimension, specifically:

13. The motion control apparatus of a mobile device according to claim 12, wherein the generating module is configured to, when determining the second target rate of the at least one dimension according to priorities of the mobile device in different dimensions, current motion states of the mobile device, the motion constraint condition, and the first target rate of the target dimension, specifically:

14. The motion control apparatus of a mobile device according to claim 13, wherein the generating module is configured to, when determining the second target rate of the at least one dimension according to priorities of the mobile device in different dimensions, current motion states of the mobile device, the motion constraint condition, and the first target rate of the target dimension, specifically:

15. The motion control apparatus of the mobile device according to claim 13, wherein the generating module is configured to, when determining the target rate range of the second dimension according to the motion constraint condition and the reference rate of the first dimension:

16. The motion control apparatus of a mobile device according to claim 15, wherein the generation module is configured to, when determining the scale factor for the second dimension from the reference rate for the first dimension:

17. The motion control apparatus of a mobile device according to claim 16, wherein the generating module is configured to, when obtaining the second factor of the nth first dimension according to the reference rate of the nth first dimension and the first factor of the nth first dimension:

taking the product of the determined sum and the first factor of the nth first dimension as the second factor of the (n-1) th first dimension.

18. The motion control apparatus of a mobile device according to any one of claims 1 to 17,

the third direction is perpendicular to the first plane.

19. A mobile device, comprising:

a memory for storing processor-executable instructions;

a processor connected to the memory;

wherein the processor is configured to perform the method as provided in any one of claims 1 to 9.

20. A non-transitory computer readable storage medium, which when executed by a processor of a computer, enables the computer to perform the method provided in any one of claims 1 to 9.