Mobile control method, device, wheeled mobile device, medium and program product

Abstract

The application discloses a mobile control method and device, a wheeled mobile device, a medium and a program product, and belongs to the technical field of computers. The method comprises the following steps: acquiring environment information of an environment in which a wheeled mobile device is located; determining a rotation influence parameter corresponding to the environment based on the environment information, wherein the rotation influence parameter is used for representing a parameter that influences the rotation of a hub of the wheeled mobile device; determining a first hub control parameter of the wheeled mobile device based on the rotation influence parameter; and controlling the wheeled mobile device to move in the environment based on the first hub control parameter. The method acquires the environment information of the environment in which the wheeled mobile device is located, determines the influence parameter of the hub rotation of the environment based on the environment information, and determines the hub control parameter of the wheeled mobile device based on the rotation influence parameter, so that the obtained hub control parameter is more accurate, and the wheeled mobile device can be more accurately controlled to move.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a mobile control method, device, wheeled mobile device, medium, and program product. Background Technology

[0002] With the development of computer technology, wheeled mobile devices are being used more and more widely, and users' requirements for the accuracy of these devices are also increasing. However, most current wheeled mobile devices use fuzzy control, which involves calculating a first control parameter for the device under ideal conditions, then adding a preset value to this first parameter to obtain a second control parameter, and finally controlling the device's movement based on this second parameter. This fuzzy control method is insufficient to meet users' accuracy requirements for wheeled mobile devices; therefore, there is an urgent need for a more accurate method for controlling the movement of wheeled mobile devices. Summary of the Invention

[0003] This application provides a motion control method, device, wheeled mobile device, medium, and program product, which can more accurately control the movement of wheeled mobile devices. The technical solution is as follows:

[0004] On the one hand, a motion control method is provided, the method comprising:

[0005] Obtain environmental information about the environment in which the wheeled mobile device is located;

[0006] Based on the environmental information, rotational influence parameters corresponding to the environment are determined. These rotational influence parameters represent parameters that affect the rotation of the wheel hub of the wheeled mobile device.

[0007] Based on the rotational influence parameters, the first hub control parameters of the wheeled mobile device are determined;

[0008] Based on the first hub control parameters, the wheeled mobile device is controlled to move in the environment.

[0009] On the other hand, a motion control device is provided, the device comprising:

[0010] The acquisition module is used to acquire environmental information about the environment in which the wheeled mobile device is located.

[0011] The first determining module is used to determine the rotational influence parameters corresponding to the environment based on the environmental information. The rotational influence parameters are used to represent the parameters that affect the rotation of the wheel hub of the wheeled mobile device.

[0012] The second determining module is used to determine the first hub control parameters of the wheeled mobile device based on the rotation influence parameters;

[0013] A control module is used to control the wheeled mobile device to move in the environment based on the first hub control parameters.

[0014] On the other hand, a wheeled mobile device is provided, which includes a processor and a memory, wherein the memory stores at least one piece of program code, which is loaded and executed by the processor to implement the mobile control method described above.

[0015] On the other hand, a computer-readable storage medium is provided, wherein at least one piece of program code is stored in the computer-readable storage medium, the at least one piece of program code being loaded and executed by a processor to implement the above-described motion control method.

[0016] On the other hand, a computer program product is provided, which stores at least one piece of program code, which is loaded and executed by a processor to implement the aforementioned motion control method.

[0017] The beneficial effects of the technical solutions provided in this application are:

[0018] This application provides a mobility control method that takes into account that wheeled mobile devices move by rotating wheel hubs. Different environments have different effects on the rotation of the wheel hubs. Therefore, the method obtains environmental information of the environment in which the wheeled mobile device is located, determines the influence parameters of the environment on the rotation of the wheel hub based on the environmental information, and determines the wheel hub control parameters of the wheeled mobile device based on the rotation influence parameters. This makes the obtained wheel hub control parameters more accurate, thereby enabling more accurate control of the movement of the wheeled mobile device.

[0019] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this disclosure. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the implementation environment of a motion control method provided in an embodiment of this application;

[0021] Figure 2 This is a flowchart of a motion control method provided in an embodiment of this application;

[0022] Figure 3 This is a flowchart of a motion control method provided in an embodiment of this application;

[0023] Figure 4 This is a flowchart of a motion control method provided in an embodiment of this application;

[0024] Figure 5 This is a flowchart of a motion control method provided in an embodiment of this application;

[0025] Figure 6 This is a flowchart of a motion control method provided in an embodiment of this application;

[0026] Figure 7 This is a schematic diagram of the structure of a mobile control device provided in an embodiment of this application;

[0027] Figure 8 This is a schematic diagram of another mobile control device provided in an embodiment of this application;

[0028] Figure 9 This is a structural block diagram of a wheeled mobile device provided in an embodiment of this application. Detailed Implementation

[0029] To make the technical solution and advantages of this application clearer, the embodiments of this application will be described in further detail below.

[0030] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0031] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the images involved in this application were obtained with full authorization.

[0032] The mobile control method provided in this application can be applied to mobile control scenarios of multiple wheeled mobile devices. This application does not limit this, but only uses the following two scenarios as examples for illustrative purposes.

[0033] For example, it can be applied to scenarios involving movement on flat ground.

[0034] Wheeled mobile devices can perform a variety of tasks. Taking the delivery of goods as an example, when a wheeled mobile device delivers goods from one location to another, it may pass through a variety of different environments. If the motion control method provided in this application embodiment is used, it is possible to determine whether the wheeled mobile device is working on a cement road, a road, a gravel road, or a ground material, and to control the rotation of the wheel hub based on the rotation influence parameters matched with the current ground material, thereby improving the accuracy of wheel hub control.

[0035] For example, it can be applied to scenarios involving movement uphill or downhill.

[0036] When a wheeled mobile device is moving, it may encounter uphill or downhill scenarios. If the movement control method provided in this application is used, it can not only determine whether the wheeled mobile device is going uphill or downhill, but also determine the slope and control the wheel hub rotation based on the slope, thereby improving the accuracy of wheel hub control.

[0037] In some embodiments, the motion control method provided in this application is executed by a wheeled mobile device. This wheeled mobile device can be a wheeled delivery robot, a wheeled food delivery robot, a vacuum cleaner, or other intelligent device that moves by rotating wheels; this application does not limit the type of wheeled mobile device.

[0038] In some embodiments, the mobility control method provided in this application is executed by a processor, which may be part of the wheeled mobile device or part outside the wheeled mobile device. This application does not limit whether the processor is part of the wheeled mobile device.

[0039] This application uses a wheeled mobile device including a processor as an example for illustrative purposes. Figure 1 This is a schematic diagram of the implementation environment of a motion control method provided in an embodiment of this application. See also... Figure 1 The implementation environment includes a hub 101 and a processor 102. The hub 101 is electrically connected to the processor 102.

[0040] The processor 102 can acquire environmental information of the environment in which the wheeled mobile device is located, determine the rotation influence parameters corresponding to the environment based on the environmental information, determine the hub control parameters of the hub 101 based on the rotation influence parameters, and control the hub 101 to rotate based on the hub control parameters so that the wheeled mobile device can move.

[0041] In some embodiments, the implementation environment further includes a camera device 103, which is electrically connected to the processor 102. The processor 102 can control the camera device 103 to capture images of the environment in which the wheeled mobile device is located. The camera device 103 sends the captured images to the processor 102, which determines the rotational influence parameters corresponding to the current environment based on the images.

[0042] In some embodiments, the implementation environment further includes a motor 104 electrically connected to the processor 102 and also electrically connected to the wheel hub 101. The motor 104 is used to control the rotation of the wheel hub 101. After the processor 102 determines the wheel hub control parameters, it sends the wheel hub control parameters to the motor 104, which then controls the rotation of the wheel hub 101 based on the wheel hub control parameters, thereby enabling the wheeled mobile device to move.

[0043] In some embodiments, the motor 104 is a geared motor, a direct-drive motor, or a suspension motor. This application does not limit the type of the motor 104.

[0044] Figure 2 This is a flowchart of a motion control method provided in an embodiment of this application. See also... Figure 2 The method includes:

[0045] Step 201: Obtain environmental information about the environment in which the wheeled mobile device is located.

[0046] The environmental information described herein refers to information describing the environment in which the wheeled mobile device is located. This application embodiment can employ any means to acquire environmental information. Optionally, this application embodiment uses a radar device to acquire the environmental information of the wheeled mobile device's environment, and this environmental information is point cloud data. Optionally, this application embodiment uses a sensor to acquire the environmental information of the wheeled mobile device's environment, and this environmental information is sensor data. Optionally, this application embodiment uses a camera device to acquire the environmental information of the wheeled mobile device's environment, and this environmental information is an image of the environment. It should be noted that this application embodiment only uses radar devices, sensors, and camera devices as examples to illustrate the methods of acquiring environmental information, and does not limit the methods of acquiring environmental information.

[0047] The following embodiments of this application use the acquisition of environmental information through a camera device as an example for illustrative purposes.

[0048] Optionally, environmental information about the environment in which the wheeled mobile device is located can be obtained, including: using a camera device to capture images of the environment in which the wheeled mobile device is located, and obtaining target images.

[0049] In some embodiments, the wheeled mobile device includes a camera device; that is, the present application embodiment adds a camera device to the wheeled mobile device. Since the camera device is installed in the wheeled mobile device, the object of the camera device is the surrounding environment of the wheeled mobile device. By calling the camera device to take pictures, an image of the environment in which the wheeled mobile device is located can be obtained.

[0050] In some embodiments, the camera device is not installed in the wheeled mobile device. Optionally, the camera device is a monitoring device for the working area of ​​the wheeled mobile device. The process of calling the camera device to capture images of the environment where the wheeled mobile device is located to obtain a target image includes: calling the camera device to capture an image to obtain a first image; identifying the first image to determine the position of the wheeled mobile device in the first image; capturing images of the environment where the wheeled mobile device is located based on the position of the wheeled mobile device to obtain a target image; if the wheeled mobile device is not identified in the first image, controlling the camera device to rotate and continue capturing images from other angles to obtain a second image, until the wheeled mobile device is identified in the obtained images.

[0051] Step 202: Based on the environmental information, determine the rotational influence parameters corresponding to the environment. These rotational influence parameters are used to represent the parameters that affect the rotation of the wheel hub of the wheeled mobile device.

[0052] By analyzing the environmental information, relevant information about the environment can be obtained, and the corresponding rotational influence parameters can be determined. There is at least one factor in this environment that affects the hub rotation of the wheeled mobile device; the rotational influence parameters are parameters representing these factors.

[0053] For example, these factors include the ground material; rotational influence parameters could be ground roughness, ground friction parameters, ground damping parameters, etc. Or, these factors could be topography; rotational influence parameters could be topographic slope, etc.

[0054] Step 203: Based on the rotational influence parameter, determine the first hub control parameter of the wheeled mobile device.

[0055] The hub control parameters are parameters used to control the hub. Optionally, the hub control parameters include the hub torque; alternatively, the hub control parameters include the hub speed. This application does not limit the hub control parameters.

[0056] Step 204: Based on the first hub control parameters, control the wheeled mobile device to move in the environment.

[0057] The method of controlling the movement of the wheeled mobile device in the environment based on the first hub control parameter includes: controlling the hub of the wheeled mobile device to rotate based on the first hub control parameter, so as to make the wheeled mobile device move in the environment.

[0058] This application provides a mobility control method that takes into account that wheeled mobile devices move by rotating wheel hubs. Different environments have different effects on the rotation of the wheel hubs. Therefore, the method obtains environmental information of the environment in which the wheeled mobile device is located, determines the influence parameters of the environment on the rotation of the wheel hub based on the environmental information, and determines the wheel hub control parameters of the wheeled mobile device based on the rotation influence parameters. This makes the obtained wheel hub control parameters more accurate, thereby enabling more accurate control of the movement of the wheeled mobile device.

[0059] It should be noted that, taking the torque as an example for the hub control parameter, in related technologies, the determined torque may be too large or too small. Using such a torque to control the hub rotation will cause sliding friction between the hub and the ground, resulting in sliding noise. The motion control method provided in this application, however, can improve the accuracy of the determined torque, reduce the sliding friction between the hub and the ground, thereby reducing sliding noise and achieving noise reduction during the movement of wheeled mobile devices.

[0060] It should be noted that the embodiments of this application provide various methods for determining the rotational influence parameters of the environment based on the target image. The embodiments of this application utilize... Figure 3 , Figure 5 and Figure 6 The embodiments shown illustrate these various methods by way of example.

[0061] Figure 3 This is a flowchart of a motion control method provided in an embodiment of this application, executed by a wheeled mobile device. See also... Figure 3 The method includes:

[0062] Step 301: The wheeled mobile device acquires environmental information about its surroundings.

[0063] Step 301 is similar to step 201, and will not be described in detail here.

[0064] Step 302: The wheeled mobile device identifies the material of the ground in the environment based on the environmental information.

[0065] The material of the ground is used to indicate what kind of ground it is. For example, the material of the ground is used to indicate that the ground is a cement ground, a pebble ground, a tile ground, a wooden floor, etc. This application embodiment does not limit the material of the ground.

[0066] In some embodiments, the wheeled mobile device determines the material of the ground in the environment using a material recognition model. Optionally, the wheeled mobile device identifies the material of the ground in the environment based on the environmental information, including: the wheeled mobile device processes the environmental information using the material recognition model to obtain the material of the ground in the environment, the material recognition model being used to identify the material of the ground. This material recognition model is trained using environmental information of ground with different materials and is capable of distinguishing between grounds of different materials.

[0067] Different surface roughnesses have varying effects on wheel hub rotation. For example, higher surface roughness results in greater friction during wheel hub rotation, thus having a greater impact on wheel hub rotation. To accurately obtain the rotational influence parameters corresponding to the surface in the environment, in some embodiments, the material recognition model identifies the surface material based on its roughness. The wheeled mobile device identifies the surface material in the environment based on this environmental information, including: extracting features from the environmental information using the material recognition model to obtain roughness features, which represent the surface roughness in the environment; and identifying the material based on these roughness features using the material recognition model to obtain the material.

[0068] In other words, the ground material in this embodiment is based on roughness. Therefore, when determining the rotation influence parameters based on the ground material, the roughness of the ground is actually taken into account, and the determined rotation influence parameters are more accurate.

[0069] In some embodiments, the environmental information includes a target image of the environment. Based on this environmental information, the wheeled mobile device identifies the material on the ground, including: the wheeled mobile device identifies the material on the ground based on the target image of the environment. Optionally, the wheeled mobile device identifies the material on the ground based on the target image of the environment, including: the wheeled mobile device processes the target image using a material recognition model to obtain the material of the ground in the environment. This material recognition model is used to identify the material of the ground. This material recognition model is trained using images of ground with different materials and is capable of distinguishing between different ground materials.

[0070] Optionally, the wheeled mobile device processes the target image using a material recognition model to obtain the material of the ground in the environment, including: the wheeled mobile device extracts features from the target image using the material recognition model to obtain roughness features, which are used to represent the roughness of the ground in the environment; and the material recognition model performs material recognition based on the roughness features to obtain the material of the ground in the environment.

[0071] It should be noted that the embodiments in this application only use the identification of ground material by ground roughness as an example to illustrate "a wheeled mobile device identifying the ground material in the environment based on a target image". In another embodiment, different ground materials have obvious differences in shape, so the ground material can also be distinguished based on the visual features of the ground. In some embodiments, the wheeled mobile device identifies the ground material in the environment based on the target image, including: extracting features from the target image using a material recognition model to obtain the visual features of the ground; and identifying the material based on the visual features using the material recognition model to obtain the material.

[0072] It should be noted that the material recognition model is not limited in this application embodiment. The material recognition model can distinguish different materials based on any combination of one or more differences in different materials. The method by which the material recognition model identifies the material of the ground is not limited in this application embodiment.

[0073] Step 303: The wheeled mobile device acquires the rotational influence parameters that match the material, and obtains the first rotational influence parameters corresponding to the environment.

[0074] The first rotational influence parameter includes at least one of the friction parameters and damping parameters of the ground in the environment.

[0075] In some embodiments, the wheeled mobile device obtains rotational influence parameters matching the material to obtain the first rotational influence parameters corresponding to the environment, including: the wheeled mobile device obtains the rotational influence parameters corresponding to the material from the correspondence between the material and the rotational influence parameters based on the material, and obtains the first rotational influence parameters corresponding to the environment.

[0076] Optionally, the correspondence between material and rotational influence parameters is obtained by technicians through experiments. Optionally, the correspondence between material and rotational influence parameters is obtained from other books; this application embodiment does not limit the method of obtaining this correspondence.

[0077] It should be noted that the embodiments in this application are only illustrative examples of obtaining the first rotational influence parameter based on the ground material. In another embodiment, the first rotational influence parameter can also be obtained based on the ground roughness. Optionally, the wheeled mobile device identifies the ground roughness in the environment based on environmental information, obtains the rotational influence matching the roughness, and obtains the first rotational influence parameter corresponding to the environment.

[0078] In some embodiments, the environmental information includes a target image of the environment. The wheeled mobile device identifies the roughness of the ground in the environment based on the environmental information, including: the wheeled mobile device identifies the roughness of the ground in the environment based on the target image.

[0079] Optionally, the wheeled mobile device identifies the roughness of the ground in the environment based on the target image, including: extracting features from the target image using a roughness recognition model to obtain roughness features; and identifying the ground roughness based on the roughness features using the roughness recognition model. Alternatively, the wheeled mobile device identifies the roughness of the ground in the environment based on the target image, including: extracting features from the target image using a roughness recognition model to obtain visual features; and identifying the ground roughness based on the visual features using the roughness recognition model.

[0080] The roughness recognition model can be trained based on images of multiple terrain surfaces and the roughness annotations for those surfaces.

[0081] Optionally, the wheeled mobile device obtains rotational influence parameters that match the roughness to obtain the first rotational influence parameters corresponding to the environment, including: the wheeled mobile device obtains the rotational influence parameters corresponding to the roughness from the correspondence between roughness and rotational influence parameters based on the roughness, and obtains the first rotational influence parameters corresponding to the environment.

[0082] Optionally, the wheeled mobile device acquires rotational influence parameters that match the roughness to obtain the first rotational influence parameter corresponding to the environment, including: the wheeled mobile device processes the roughness based on the first relationship data to obtain the rotational influence parameter corresponding to the roughness, and uses the rotational influence parameter as the first rotational influence parameter corresponding to the environment.

[0083] The first relational data is used to represent the relationship between roughness and rotational influence parameters. The relationship between roughness and rotational influence parameters can be linear, exponential, etc., and this embodiment does not limit this.

[0084] Step 304: The wheeled mobile device determines the first hub control parameters of the wheeled mobile device based on the first rotational influence parameters.

[0085] In some embodiments, the wheeled mobile device determines first hub control parameters based on a first rotational influence parameter, including: the wheeled mobile device constructs a dynamic model of the wheeled mobile device based on the first rotational influence parameter, the dynamic parameters of the wheeled mobile device, and the kinematic parameters of the wheeled mobile device; and determines the first hub control parameters based on the dynamic model.

[0086] The kinematic parameters describe the geometric relationships between the positions of various components in the wheeled mobile device, while the dynamic parameters describe the mechanical relationships between the positions and torques of each component. Optionally, the kinematic parameters include the motion trajectories of each component in the coordinate system of the wheeled mobile device. Optionally, the dynamic parameters include at least one of the following: velocity, acceleration, force, or torque at each moment during the motion of each component in the coordinate system of the wheeled mobile device.

[0087] The dynamic model includes the relationship data of the first rotational influence parameter, dynamic parameters, kinematic parameters, and hub control parameters. The dynamic model can be obtained by solving the dynamic equilibrium equations of the wheeled mobile device using the first rotational influence parameter, dynamic parameters, and kinematic parameters.

[0088] In some embodiments, the hub control parameters include at least one of the hub angle, angular velocity, or torque.

[0089] It should be noted that the method for constructing a dynamic model and determining the first hub control parameters based on the dynamic model provided in this application embodiment can achieve precise control of the wheeled mobile device. In another embodiment, a fuzzy control method is provided, which is more accurate than the pattern control method in related technologies. In some embodiments, the wheeled mobile device determines the first hub control parameters based on a first rotational influence parameter, including: adjusting the second hub control parameters of the wheeled mobile device based on the first rotational influence parameter to obtain the first hub control parameters. The second hub control parameters can be hub control parameters determined without considering environmental influences, and this application embodiment does not limit the process for determining the second hub control parameters.

[0090] Optionally, the wheeled mobile device adjusts its second wheel hub control parameters based on the first rotational influence parameter to obtain the first wheel hub control parameters, including: the wheeled mobile device determining a third wheel hub control parameter based on the first rotational influence parameter, and superimposing the third wheel hub control parameter onto the second wheel hub control parameter to obtain the first wheel hub control parameters.

[0091] The method for determining the third wheel hub control parameter based on the first rotational influence parameter includes: the wheel mobile device determining the wheel hub control parameter corresponding to the first rotational influence parameter from the correspondence between the rotational influence parameter and the wheel hub control parameter, thereby obtaining the third wheel hub control parameter. Alternatively, the method for determining the third wheel hub control parameter based on the first rotational influence parameter includes: the wheel mobile device processing the first rotational influence parameter based on second relational data to obtain the third wheel hub control parameter, where the second relational data represents the relationship between the rotational influence parameter and the wheel hub control parameter.

[0092] Optionally, the wheeled mobile device adjusts its second wheel hub control parameters based on the first rotational influence parameter to obtain the first wheel hub control parameter. This includes: the wheeled mobile device processing the first rotational influence parameter and the second wheel hub control parameter based on third relational data to obtain the first wheel hub control parameter. The third relational data is used to represent the relationship between the rotational influence parameter, the first wheel hub control parameter, and the second wheel hub control parameter.

[0093] Step 305: The wheeled mobile device moves in the environment based on the first wheel hub control parameters.

[0094] In some embodiments, the wheeled mobile device includes a motor. Each hub of the wheeled mobile device is provided with a motor electrically connected to the hub, and the wheeled mobile device controls the rotation of the hubs via the hub motors. Optionally, the wheeled mobile device moves in the environment based on first hub control parameters, including: the wheeled mobile device instructing its motors to control the rotation of the hubs based on the first hub control parameters, thereby causing the wheeled mobile device to move in the environment.

[0095] For example, a wheeled mobile device sends a first hub control parameter to a motor, which controls the hub rotation based on the first hub control parameter.

[0096] In related technologies, wheeled mobile devices mostly use geared motors, but geared motors generate considerable noise during operation. To reduce the noise generated by wheeled mobile devices during movement, the motor in this embodiment can be a direct-drive motor or a magnetic levitation motor.

[0097] In some embodiments, when the wheeled mobile device receives a movement command, steps 301 to 305 are executed. In some embodiments, when the wheeled mobile device receives a movement command, steps 304 to 305 are executed. Figure 4 As shown, the wheeled mobile device acquires images captured by the camera device, estimates the ground material of the current environment based on the images, and outputs the friction coefficient and damping coefficient of the ground. When a movement command is received, a dynamic model of the wheeled mobile device is constructed based on the friction coefficient and damping coefficient, and the torque required to be output by the motor of each wheel hub is calculated.

[0098] This application provides a mobility control method that takes into account that wheeled mobile devices move by rotating wheel hubs. Different environments have different effects on the rotation of the wheel hubs. Therefore, the method obtains environmental information of the environment in which the wheeled mobile device is located, determines the influence parameters of the environment on the rotation of the wheel hub based on the environmental information, and determines the wheel hub control parameters of the wheeled mobile device based on the rotation influence parameters. This makes the obtained wheel hub control parameters more accurate, thereby enabling more accurate control of the movement of the wheeled mobile device.

[0099] If the wheel hub control parameters are inaccurate, sliding friction will occur between the wheel hub and the ground during the wheel hub rotation process, resulting in sliding noise and damage to the wheel hub. The motion control method provided in this application improves the accuracy of the wheel hub control parameters, thereby reducing sliding friction between the wheel hub and the ground, reducing sliding noise, achieving noise reduction during the movement of wheeled mobile devices, and extending the service life of the wheel hub.

[0100] Furthermore, in this embodiment, the geared motor is replaced with a direct-drive motor or a magnetic levitation motor. Since the noise generated by the direct-drive motor and the magnetic levitation motor during operation is much less than that generated by the geared motor, replacing the geared motor with a direct-drive motor or a magnetic levitation motor achieves noise reduction during the movement of the wheeled mobile device.

[0101] Furthermore, this application embodiment determines the rotational influence parameters corresponding to the current environment by identifying the material of the ground in the current environment, enabling the wheeled mobile device to achieve precise control on ground of various materials, and enabling the wheeled mobile device to adapt to a variety of different environments.

[0102] Figure 5 This is a flowchart of a motion control method provided in an embodiment of this application, executed by a wheeled mobile device. See also... Figure 5 The method includes:

[0103] 501. Wheeled mobile devices acquire environmental information about their surroundings.

[0104] Step 501 is similar to step 201, and will not be described in detail here.

[0105] 502. Based on this environmental information, wheeled mobile devices identify the terrain of the ground in the environment.

[0106] The terrain is used to represent the shape of the ground, which can be flat land, uphill, downhill, steps, etc. This application does not limit the type of terrain in its embodiments.

[0107] In some embodiments, the wheeled mobile device determines the terrain of the ground based on the depth of multiple locations on the ground. The wheeled mobile device identifies the terrain of the ground in the environment based on this environmental information, including: determining the depth of multiple locations on the ground based on the environmental information; and determining the terrain based on the differences in the depths of the multiple locations.

[0108] Here, multiple location points are multiple location points along the movement direction of the wheeled mobile device. Optionally, according to the movement direction of the wheeled mobile device, the movement path of the wheeled mobile device on the ground is determined, and a location point is taken at every target distance along the movement path to obtain multiple location points.

[0109] Optionally, the environmental information includes a target image obtained by using a camera device to capture the environment in which the wheeled mobile device is located. Based on the target image, the wheeled mobile device determines the depth of multiple points on the ground, and determines the terrain based on the differences in the depths of the multiple points.

[0110] Optionally, the environmental information includes point cloud data obtained by scanning the environment of the wheeled mobile device using a radar device. Based on the point cloud data, the wheeled mobile device determines the depth of multiple points on the ground, and determines the terrain based on the differences in the depths of the multiple points.

[0111] Optionally, determining the terrain based on the depth differences of multiple location points includes: determining the ground as flat when the depth difference between the multiple location points is zero. Alternatively, determining the terrain based on the depth differences of multiple location points includes: determining whether the ground is uphill or downhill when the depth difference between any two adjacent location points is the same. Specifically, if the depth of the multiple location points increases with increasing distance from the wheeled mobile device, the ground is downhill; if the depth of the multiple location points decreases with increasing distance from the wheeled mobile device, the ground is uphill.

[0112] Optionally, the terrain is determined based on the depth difference of multiple location points, including: if, among the multiple location points, a portion of adjacent location points have a depth difference of zero, another portion of adjacent location points have a depth difference of non-zero, and the depth difference of the other portion of adjacent location points is the same, then the ground is determined to be a step.

[0113] 503. The wheeled mobile device acquires the rotational influence parameters that match the terrain, and obtains the second rotational influence parameters corresponding to the environment.

[0114] In some embodiments, the wheeled mobile device obtains rotational influence parameters matching the terrain to obtain second rotational influence parameters corresponding to the environment, including: the wheeled mobile device obtains the rotational influence parameters corresponding to the terrain from the correspondence between terrain and rotational influence parameters to obtain second rotational influence parameters corresponding to the environment.

[0115] The correspondence can be obtained by technicians through experiments, and the rotational influence parameter can be a parameter used to represent the influence of the terrain on the wheel hub rotation. This application does not limit the rotational influence parameter.

[0116] In some embodiments, the wheeled mobile device acquires rotational influence parameters that match the terrain to obtain a second rotational influence parameter corresponding to the environment, including: when the terrain is uphill or downhill, acquiring the slope of the ground and using the slope as the second rotational influence parameter corresponding to the environment.

[0117] In some embodiments, the wheeled mobile device acquires rotational influence parameters that match the terrain to obtain a second rotational influence parameter corresponding to the environment, including: when the terrain is a step, acquiring the step height on the ground and using the step height as the second rotational influence parameter corresponding to the environment.

[0118] 504. The first hub control parameters of the wheeled mobile device are determined based on the second rotational influence parameters.

[0119] Step 504 is the same as step 304 above, and will not be described in detail here.

[0120] 505. A wheeled mobile device moves in the environment based on first wheel hub control parameters.

[0121] Step 505 is the same as step 305 above, and will not be described in detail here.

[0122] This application provides a mobility control method that takes into account that wheeled mobile devices move by rotating wheel hubs. Different environments have different effects on the rotation of the wheel hubs. Therefore, the method obtains environmental information of the environment in which the wheeled mobile device is located, determines the influence parameters of the environment on the rotation of the wheel hub based on the environmental information, and determines the wheel hub control parameters of the wheeled mobile device based on the rotation influence parameters. This makes the obtained wheel hub control parameters more accurate, thereby enabling more accurate control of the movement of the wheeled mobile device.

[0123] If the wheel hub control parameters are inaccurate, sliding friction will occur between the wheel hub and the ground during the wheel hub rotation process, resulting in sliding noise and damage to the wheel hub. The motion control method provided in this application improves the accuracy of the wheel hub control parameters, thereby reducing sliding friction between the wheel hub and the ground, reducing sliding noise, achieving noise reduction during the movement of wheeled mobile devices, and extending the service life of the wheel hub.

[0124] In this embodiment of the application, the terrain of the wheeled mobile device's movement path is taken into account during the movement of the wheeled mobile device. Based on the terrain, the movement of the wheeled mobile device is controlled so that the wheeled mobile device can adapt to different terrains and move accurately in various terrain environments, thereby improving the applicability of the wheeled mobile device.

[0125] Figure 6This is a flowchart of a motion control method provided in an embodiment of this application, executed by a wheeled mobile device. See also... Figure 6 The method includes:

[0126] 601. Wheeled mobile devices acquire environmental information about their surroundings.

[0127] Step 601 is similar to step 201, and will not be described in detail here.

[0128] 602. Based on this environmental information, wheeled mobile devices identify the material of the ground in the environment.

[0129] Step 602 is similar to step 302, and will not be described in detail here.

[0130] 603. The wheeled mobile device obtains the rotational influence parameters that match the material, and obtains the first rotational influence parameters corresponding to the environment.

[0131] Step 603 is similar to step 303, and will not be described in detail here.

[0132] 604. Based on this environmental information, wheeled mobile devices identify the terrain of the ground in the environment.

[0133] Step 604 is similar to step 502, and will not be described in detail here.

[0134] 605. The wheeled mobile device acquires the rotational influence parameters that match the terrain, and obtains the second rotational influence parameters corresponding to the environment.

[0135] Step 605 is similar to step 503, and will not be described in detail here.

[0136] 606. The first hub control parameters of the wheeled mobile device are determined based on the first rotational influence parameter and the second rotational influence parameter.

[0137] Step 606 is similar to step 304, and will not be described in detail here.

[0138] 607. A wheeled mobile device moves in the environment based on first wheel hub control parameters.

[0139] Step 607 is similar to step 305, and will not be described in detail here.

[0140] This application provides a mobility control method that takes into account that wheeled mobile devices move by rotating wheel hubs. Different environments have different effects on the rotation of the wheel hubs. Therefore, the method obtains environmental information of the environment in which the wheeled mobile device is located, determines the influence parameters of the environment on the rotation of the wheel hub based on the environmental information, and determines the wheel hub control parameters of the wheeled mobile device based on the rotation influence parameters. This makes the obtained wheel hub control parameters more accurate, thereby enabling more accurate control of the movement of the wheeled mobile device.

[0141] If the wheel hub control parameters are inaccurate, sliding friction will occur between the wheel hub and the ground during the wheel hub rotation process, resulting in sliding noise and damage to the wheel hub. The motion control method provided in this application improves the accuracy of the wheel hub control parameters, thereby reducing sliding friction between the wheel hub and the ground, reducing sliding noise, achieving noise reduction during the movement of wheeled mobile devices, and extending the service life of the wheel hub.

[0142] Furthermore, this application embodiment determines the rotational influence parameters corresponding to the current environment by identifying the material of the ground in the current environment, enabling the wheeled mobile device to achieve precise control on ground of various materials, and enabling the wheeled mobile device to adapt to a variety of different environments.

[0143] In this embodiment of the application, the terrain of the wheeled mobile device's movement path is taken into account during the movement of the wheeled mobile device. Based on the terrain, the movement of the wheeled mobile device is controlled so that the wheeled mobile device can adapt to different terrains and move accurately in various terrain environments, thereby improving the applicability of the wheeled mobile device.

[0144] Figure 7 This is a schematic diagram of the structure of a mobile control device provided in an embodiment of this application. See also... Figure 7 The device includes:

[0145] The acquisition module 701 is used to acquire environmental information about the environment in which the wheeled mobile device is located.

[0146] The first determining module 702 is used to determine the rotation influence parameters corresponding to the environment based on the environmental information. The rotation influence parameters are used to represent the parameters that affect the rotation of the wheel hub of the wheeled mobile device.

[0147] The second determining module 703 is used to determine the first hub control parameters of the wheeled mobile device based on the rotation influence parameters;

[0148] The control module 704 is used to control the movement of the wheeled mobile device in the environment based on the first hub control parameters.

[0149] like Figure 8As shown, in one possible implementation, the first determining module 702 includes:

[0150] The first identification unit 7021 is used to identify the material of the ground in the environment based on the environmental information;

[0151] The first acquisition unit 7022 is used to acquire rotational influence parameters that match the material, and obtain the first rotational influence parameters corresponding to the environment.

[0152] In one possible implementation, the first identification unit 7021 is used to extract features from the environmental information using a material identification model to obtain roughness features, which represent the roughness of the ground in the environment; and to identify the material based on the roughness features using the material identification model to obtain the material.

[0153] In one possible implementation, the first rotational influence parameter includes at least one of the frictional parameters and damping parameters of the ground in the environment.

[0154] In one possible implementation, the first determining device 702 includes:

[0155] The second identification unit 7023 is used to identify the terrain of the ground in the environment based on the environmental information;

[0156] The second acquisition unit 7024 is used to acquire rotational influence parameters that match the terrain, and obtain the second rotational influence parameters corresponding to the environment.

[0157] In one possible implementation, the second identification unit 7023 is used to determine the depth of multiple location points on the ground based on the environmental information; and to determine the terrain based on the difference in the depth of the multiple location points.

[0158] In one possible implementation, the second determining module 703 is used to construct a dynamic model of the wheeled mobile device based on the rotational influence parameter, the dynamic parameters of the wheeled mobile device, and the kinematic parameters of the wheeled mobile device; and to determine the first hub control parameters based on the dynamic model.

[0159] In one possible implementation, the second determining module 703 is used to adjust the second hub control parameters of the wheeled mobile device based on the rotational influence parameters to obtain the first hub control parameters.

[0160] In one possible implementation, the control module 704 is used to instruct the motor of the wheeled mobile device to control the rotation of the wheel hub based on the first wheel hub control parameters, so as to move the wheeled mobile device in the environment, wherein the motor is electrically connected to the wheel hub.

[0161] In one possible implementation, the motor is either a direct-drive motor or a magnetic levitation motor.

[0162] In one possible implementation, the environmental information includes a target image of the environment; the acquisition module 701 is used to call a camera device to take a picture of the environment in which the wheeled mobile device is located, and obtain the target image.

[0163] In one possible implementation, the wheeled mobile device includes the camera device.

[0164] This application provides a mobile control device that takes into account that wheeled mobile devices move by rotating wheel hubs. Different environments have different effects on the rotation of the wheel hubs. Therefore, the device acquires environmental information of the environment in which the wheeled mobile device is located, determines the influence parameters of the environment on the rotation of the wheel hub based on the environmental information, and determines the wheel hub control parameters of the wheeled mobile device based on the rotation influence parameters. This makes the obtained wheel hub control parameters more accurate, thereby enabling more accurate control of the movement of the wheeled mobile device.

[0165] Figure 9 This illustration shows a structural block diagram of a wheeled mobile device 900 according to an exemplary embodiment of this application. The wheeled mobile device 900 can be a smart device that moves by rotating wheels, such as a wheeled delivery robot, a wheeled food delivery robot, or a vacuum cleaner. The wheeled mobile device 900 in this application may include one or more components such as a processor 910 and a memory 920.

[0166] The processor 910 may include one or more processing cores. The processor 910 connects to various parts within the wheeled mobile device 900 using various interfaces and lines, and performs various functions and processes data of the wheeled mobile device 900 by running or executing program code, programs, code sets, or program code sets stored in the memory 920, and by calling data stored in the memory 920. Optionally, the processor 910 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 910 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), Neural-network Processing Unit (NPU), and modem. Specifically, the CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display on the screen; the NPU is used to implement Artificial Intelligence (AI) functions; and the modem is used for wireless communication. Understandably, the aforementioned modem may also be implemented separately as a single chip, rather than being integrated into the processor 910.

[0167] The memory 920 may include random access memory (RAM) or read-only memory (ROM). Optionally, the memory 920 may include a non-transitory computer-readable storage medium. The memory 920 may be used to store program code, programs, code, code sets, or program code sets. The memory 920 may include a program storage area and a data storage area, wherein the program storage area may store program code for implementing an operating system, program code for at least one function (such as touch function, sound playback function, image playback function, etc.), program code for implementing the various method embodiments described above, etc.; the data storage area may store data (such as audio data, phone book, etc.) created based on the use of the wheeled mobile device 900.

[0168] In addition, those skilled in the art will understand that the structure of the wheeled mobile device 900 shown in the above figures does not constitute a limitation on the wheeled mobile device 900. The wheeled mobile device 900 may include more or fewer components than shown, or combine certain components, or have different component arrangements. For example, the wheeled mobile device 900 may also include wheel hubs, camera devices, motors, microphones, speakers, radio frequency circuits, input units, sensors, audio circuits, Wireless Fidelity (Wi-Fi) modules, power supplies, Bluetooth modules, etc., which will not be described in detail here.

[0169] In an exemplary embodiment, a computer-readable medium is also provided, which stores at least one piece of program code that is loaded and executed by a processor to implement the motion control method in the above embodiments.

[0170] In an exemplary embodiment, a computer program product is also provided, which stores at least one piece of program code, which is loaded and executed by a processor to implement the motion control method in the above embodiments.

[0171] In some embodiments, the computer program involved in the present application embodiments may be deployed and executed on a computer device, or executed on multiple computer devices located in one location, or executed on multiple computer devices distributed in multiple locations and interconnected through a communication network. Multiple computer devices distributed in multiple locations and interconnected through a communication network may constitute a blockchain system.

[0172] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0173] The above description is only for the purpose of enabling those skilled in the art to understand the technical solution of this application, and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A motion control method, characterized in that, The method includes: In scenarios involving movement on flat ground or on slopes, acquire environmental information about the environment in which the wheeled mobile device is located. Based on the environmental information, the rotation influence parameters corresponding to the environment are determined. The rotation influence parameters are used to represent the parameters that affect the rotation of the wheel hub of the wheeled mobile device. The rotation influence parameters are either parameters that match the material of the ground in the flat ground movement scenario or parameters that match the terrain of the ground in the uphill and downhill movement scenario. Based on the rotational influence parameters, the first hub control parameters of the wheeled mobile device are determined, and the first hub control parameters include torque; Based on the first hub control parameters, the wheeled mobile device is controlled to move in the environment; The determination of the first hub control parameters of the wheeled mobile device based on the rotational influence parameters includes: Based on the rotational influence parameters, the dynamic parameters of the wheeled mobile device, and the kinematic parameters of the wheeled mobile device, a dynamic model of the wheeled mobile device is constructed; based on the dynamic model, the first hub control parameters are determined. The kinematic parameters describe the geometric relationships between the positions of various components in the wheeled mobile device, and the dynamic parameters describe the mechanical relationships between the positions and torques of the various components. The dynamic model includes the relationship data between the rotational influence parameters, the dynamic parameters, the kinematic parameters, and the first hub control parameters; or, Based on the rotational influence parameters, a third wheel hub control parameter is determined, and the third wheel hub control parameter is superimposed on the second wheel hub control parameter to obtain the first wheel hub control parameter. The second wheel hub control parameter is a wheel hub control parameter determined without considering environmental influences. The determination of the third wheel hub control parameters based on the rotational influence parameters includes: The wheel hub control parameter corresponding to the rotational influence parameter is determined from the correspondence between the rotational influence parameter and the wheel hub control parameter to obtain the third wheel hub control parameter; or, the rotational influence parameter is processed based on the second relationship data to obtain the third wheel hub control parameter, wherein the second relationship data is used to represent the relationship between the rotational influence parameter and the wheel hub control parameter.

2. The method according to claim 1, characterized in that, The step of determining the rotational influence parameters corresponding to the environment based on the environmental information includes: Based on the environmental information, identify the material of the ground in the environment; Obtain rotational influence parameters that match the material to obtain the first rotational influence parameters corresponding to the environment.

3. The method according to claim 2, characterized in that, The step of identifying the material of the ground in the environment based on the environmental information includes: By using a material recognition model, feature extraction is performed on the environmental information to obtain roughness features, which are used to represent the roughness of the ground in the environment. The material is obtained by performing material identification based on the roughness features using the material identification model.

4. The method according to claim 2 or 3, characterized in that, The first rotational influence parameter includes at least one of the friction parameter and damping parameter of the ground in the environment.

5. The method according to claim 1 or 2, characterized in that, The step of determining the rotational influence parameters corresponding to the environment based on the environmental information includes: Based on the environmental information, identify the terrain of the ground in the environment; Obtain rotational influence parameters that match the terrain to obtain the second rotational influence parameters corresponding to the environment.

6. The method according to claim 5, characterized in that, The step of identifying the terrain of the ground in the environment based on the environmental information includes: Based on the environmental information, the depths of multiple locations on the ground are determined; The terrain is determined based on the depth differences between the multiple location points.

7. The method according to claim 1, characterized in that, The step of controlling the wheeled mobile device to move in the environment based on the first wheel hub control parameters includes: Based on the first hub control parameters, the motor of the wheeled mobile device is instructed to control the hub to rotate, so that the wheeled mobile device can move in the environment, and the motor is electrically connected to the hub.

8. The method according to claim 7, characterized in that, The motor is either a direct-drive motor or a magnetic levitation motor.

9. The method according to claim 1, characterized in that, The environmental information includes a target image of the environment; acquiring the environmental information of the environment in which the wheeled mobile device is located includes: The camera device is used to capture images of the environment in which the wheeled mobile device is located, thereby obtaining the target image.

10. The method according to claim 1, characterized in that, The wheeled mobile device includes a camera device.

11. A mobile control device, characterized in that, The device includes: The acquisition module is used to acquire environmental information about the environment in which the wheeled mobile device is located, whether it is moving on flat ground or moving up or down slopes. The first determining module is used to determine the rotation influence parameters corresponding to the environment based on the environmental information. The rotation influence parameters are used to represent the parameters that affect the rotation of the wheel hub of the wheeled mobile device. The rotation influence parameters are either parameters that match the material of the ground in the flat ground movement scenario or parameters that match the terrain of the ground in the uphill and downhill movement scenario. The second determining module is used to determine the first hub control parameters of the wheeled mobile device based on the rotation influence parameters, wherein the first hub control parameters include torque; A control module is configured to control the wheeled mobile device to move in the environment based on the first hub control parameters; The second determining module is used to construct a dynamic model of the wheeled mobile device based on the rotational influence parameters, the dynamic parameters of the wheeled mobile device, and the kinematic parameters of the wheeled mobile device; and to determine the first hub control parameters based on the dynamic model. The kinematic parameters describe the geometric relationships between the positions of various components in the wheeled mobile device, and the dynamic parameters describe the mechanical relationships between the positions and torques of the various components. The dynamic model includes relationship data between the rotational influence parameters, the dynamic parameters, the kinematic parameters, and the first hub control parameters; or, The second determining module is used to determine the third wheel hub control parameter based on the rotation influence parameter, and to superimpose the third wheel hub control parameter onto the second wheel hub control parameter to obtain the first wheel hub control parameter. The second wheel hub control parameter is a wheel hub control parameter determined without referring to environmental influence. The second determining module is used to determine the wheel hub control parameter corresponding to the rotation influence parameter from the correspondence between the rotation influence parameter and the wheel hub control parameter, and obtain the third wheel hub control parameter; or, based on the second relationship data, to process the rotation influence parameter to obtain the third wheel hub control parameter, wherein the second relationship data is used to represent the relationship between the rotation influence parameter and the wheel hub control parameter.

12. A wheeled mobile device, characterized in that, The wheeled mobile device includes a processor and a memory, the memory storing at least one line of program code, which is loaded and executed by the processor to implement the mobility control method as described in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to implement the motion control method as described in any one of claims 1 to 10.

14. A computer program product, characterized in that, The computer program product stores at least one piece of program code, which is loaded and executed by a processor to implement the motion control method as described in any one of claims 1 to 10.

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