Motion control methods and mobile devices

Abstract

This invention proposes a motion control method applied to a mobile device equipped with a steering wheel. The motion control method includes: acquiring steering wheel data, which reflects the rotation of the steering wheel; and controlling the movement of the mobile device based on the steering wheel data. Through this motion control method, the mobile device can accurately achieve its own motion goals.

Description

Technical Field

[0001] This invention relates to the field of motion control technology, and in particular to a motion control method, a mobile device, and a computer-readable storage medium. Background Technology

[0002] With the advancement and development of science, various devices are constantly being innovated, providing many conveniences for people's lives. For example, mobile devices can clean up trash; these are mobile devices that can move. Mobile devices have become an indispensable product in people's lives and work. However, mobile devices still have some shortcomings that urgently need to be addressed. For example, there is a gap between the movements expected to be performed by mobile devices and the actual movements; that is, current mobile devices cannot accurately complete their movement goals. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a motion control method, a mobile device, and a computer-readable storage medium to solve the problem that current mobile devices cannot accurately complete their motion goals.

[0004] This invention proposes a motion control method applied to a mobile device equipped with a steering wheel. The motion control method includes: acquiring steering wheel data, which reflects the rotation of the steering wheel; and controlling the movement of the mobile device based on the steering wheel data.

[0005] In some embodiments of the present invention, the steering wheel data includes: steering wheel parallel data and / or steering wheel perpendicular data. The steering wheel parallel data reflects the rotation of the steering wheel on a parallel plane, and the steering wheel perpendicular data reflects the rotation of the steering wheel on a vertical plane. The parallel plane is a plane parallel to the bearing surface, the bearing surface is a surface used to bear the mobile device, and the vertical plane is a plane perpendicular to the bearing surface.

[0006] In some embodiments of the present invention, the steering wheel data includes omnidirectional wheel parallel data, the mobile device is provided with a first drive wheel and a second drive wheel, and controlling the movement of the mobile device according to the steering wheel data includes: determining the rotational speed of the first drive wheel and the rotational speed of the second drive wheel according to the omnidirectional wheel parallel data; controlling the rotation of the first drive wheel according to the rotational speed of the first drive wheel, and controlling the rotation of the second drive wheel according to the rotational speed of the second drive wheel, so as to cause the mobile device to turn.

[0007] In some embodiments of the present invention, the steering wheel data includes the parallel angle of the omnidirectional wheel, and controlling the movement of the mobile device according to the steering wheel data includes: if the parallel angle of the omnidirectional wheel is not within the expected rotation angle range, then controlling the mobile device to turn.

[0008] In some embodiments of the present invention, the steering wheel data includes omnidirectional wheel parallel data, and controlling the movement of the mobile device according to the steering wheel data includes: determining the reciprocating frequency according to the omnidirectional wheel parallel data, wherein the reciprocating frequency is the frequency at which the omnidirectional wheel performs reciprocating motion; and controlling the movement of the mobile device according to the reciprocating frequency.

[0009] In some embodiments of the present invention, controlling the movement of the mobile device according to the reciprocating frequency includes: determining a movement mode corresponding to the reciprocating frequency; and controlling the movement of the mobile device according to the movement mode.

[0010] In some embodiments of the present invention, the steering wheel data includes omnidirectional wheel vertical data, and controlling the movement of the mobile device based on the steering wheel data includes: determining the state of the omnidirectional wheel based on the omnidirectional wheel vertical data; and controlling the movement of the mobile device based on the state of the omnidirectional wheel.

[0011] In some embodiments of the present invention, controlling the movement of the mobile device according to the state of the omnidirectional wheel includes: if the state of the omnidirectional wheel includes a contact state and / or a normal state, then controlling the movement of the mobile device.

[0012] A second aspect of the present invention provides a mobile device including a memory, a processor, and a computer program stored in the memory and executable on the processor. The mobile device is provided with a steering wheel, and the processor executes the computer program to implement the steps of the motion control method described above.

[0013] A third aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the motion control method described above.

[0014] In this embodiment of the invention, since the steering wheel data is data that can reflect the rotation of the steering wheel, the steering wheel data can, to a certain extent, reflect the robot's movement. Therefore, the mobile device can further control the movement of the mobile device based on the steering wheel data, which can effectively prevent the movement of the mobile device from deviating too much from the expected value, so that the mobile device can accurately achieve its own movement target. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0016] Figure 1 This is a schematic flowchart of a motion control method according to an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of a motion control device according to an embodiment of the present invention;

[0018] Figure 3 This is a schematic diagram of a mobile device according to an embodiment of the present invention.

[0019] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0021] To illustrate the technical solution described in this invention, specific embodiments are provided below. It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements, or / and components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, or / and sets thereof.

[0022] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0023] It should also be further understood that the term "or / and" as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0024] Example 1

[0025] Figure 1 A schematic flowchart of a motion control method provided in an embodiment of this application is shown. This motion control method can be applied to a mobile device, which is a movable device. The mobile device includes a cleaning robot, which is a robot capable of performing cleaning tasks, such as a sweeping robot or a mopping robot. The mobile device includes a mobile device body and is also provided with steering wheels, which are rotatable wheels on the mobile device. The motion control method includes:

[0026] Step S101: Obtain steering wheel data, which reflects the rotation of the steering wheel.

[0027] By way of example, and not limitation, the steering wheel may be mounted on the chassis or bottom shell of the mobile device. The steering wheel may include at least one of the following: a swivel wheel, a first drive wheel, and a second drive wheel. The swivel wheel is capable of rotating 360 degrees in a parallel plane and also provides support for the mobile device. The swivel wheel includes a steering component and a wheel body. The steering component is rotatably connected to the mobile device body, and the wheel body is connected to the steering component. The wheel body and the steering component can rotate synchronously in a parallel plane. The first drive wheel and the second drive wheel may also be referred to as the left wheel and right wheel, respectively. The first drive wheel and the second drive wheel are used to drive the mobile device, enabling it to move.

[0028] Additionally, by way of example and not limitation, the steering wheel data may include steering wheel parallel data and / or steering wheel perpendicular data. The steering wheel parallel data reflects the rotation of the steering wheel on a parallel plane. For example, the steering wheel parallel data may include omnidirectional wheel parallel data (omnidirectional wheel parallel data reflects the rotation of the omnidirectional wheel on a parallel plane), and the omnidirectional wheel parallel data may include the omnidirectional wheel parallel angle, which is the angle of rotation of the omnidirectional wheel on the parallel plane. The parallel plane is a plane parallel to the bearing surface. The bearing surface is the surface used to support the mobile device. The steering wheel perpendicular data reflects the rotation of the steering wheel on a vertical plane, and the vertical plane is a plane perpendicular to the bearing surface. For example, the steering wheel perpendicular data may include omnidirectional wheel perpendicular data (omnidirectional wheel perpendicular data reflects the rotation of the omnidirectional wheel on a vertical plane), and the omnidirectional wheel perpendicular data may include the omnidirectional wheel perpendicular angle, which is the angle of rotation of the omnidirectional wheel on the vertical plane.

[0029] For example, when the mobile device is located on the ground parallel to the horizontal plane, the bearing surface is the ground, the parallel plane can be the horizontal plane, and the parallel angle of the omnidirectional wheel is specifically the rotation angle of the omnidirectional wheel on the horizontal plane. For example, this parallel angle of the omnidirectional wheel can indicate whether the mobile device is turning left or right on the horizontal plane.

[0030] In some embodiments, step S101 may include: acquiring parallel data of the omnidirectional wheel through a first detection device, the first detection device being used to detect the rotation of the wheel.

[0031] As an example and not a limitation, the first detection device is used to detect the rotation of the wheel on a parallel plane.

[0032] In some embodiments, step S101 may include: acquiring parallel data of the omnidirectional wheel through a second detection device, the second detection device being used to detect the rotation of the steering component.

[0033] By way of example, and not limitation, the first detection device is used to detect the rotation of the steering component on a parallel plane. Since the wheel and the steering component can rotate synchronously on a parallel plane, the rotation of the steering component on a parallel plane can reflect the parallel data of the omnidirectional wheel.

[0034] Step S102: Control the movement of the mobile device according to the steering wheel data.

[0035] As an example, and not a limitation, the steering wheel data can reflect the rotation of the steering wheel over a specified period of time. For example, the steering wheel data can reflect the rotation of the omnidirectional wheel over a specified period of time.

[0036] For example, if the start and end times of the specified duration are 10:01 and 10:02 respectively, the mobile device controls the drive wheels (first drive wheel and / or second drive wheel) to move between 10:01 and 10:02. The movement of the drive wheels can drive the movement of the omnidirectional wheels. The rotation wheel data includes omnidirectional wheel parallel data, which specifically reflects the rotation of the omnidirectional wheels between 10:01 and 10:02. Correspondingly, step S102 includes: controlling the movement of the drive wheels according to the omnidirectional wheel parallel data.

[0037] Since the steering wheel data reflects the rotation of the steering wheel, it can provide feedback on the robot's movement to a certain extent. Therefore, by using the steering wheel data to further control the movement of the mobile device, the movement of the mobile device can be effectively prevented from deviating too much from the expected value, thus enabling the mobile device to accurately achieve its movement goals.

[0038] In some embodiments, the start and end points of the specified duration can be flexibly determined according to actual needs.

[0039] In some embodiments, the steering wheel data includes the omnidirectional wheel parallel angle, and step S102 includes: if the omnidirectional wheel parallel angle is not within the expected rotation angle range, then controlling the mobile device to turn.

[0040] As an example, and not a limitation, if the parallel angle of the omnidirectional wheel is not within the expected rotation angle range, the mobile device is controlled to turn so that the actual rotation angle of the mobile device body (body) is within the expected rotation angle range. The expected rotation angle range is the range of angles within which the mobile device body is expected to rotate. Specifically, the expected rotation angle can be the range of angles within which the mobile device body is expected to rotate within a specified time period.

[0041] Since the parallel angle of the omnidirectional wheels can accurately reflect the steering of the mobile device, if the parallel angle of the omnidirectional wheels is not within the expected rotation angle range, the mobile device is controlled to steer, so that the actual rotation angle of the mobile device body (body) is within the expected rotation angle range. In this way, the movement of the mobile device body can be effectively corrected. Moreover, this process does not require additional sensors (such as inertial sensors) on the mobile device, which can greatly reduce costs.

[0042] Optionally, step S102 includes: determining the reciprocating frequency based on the parallel data of the omnidirectional wheel, wherein the reciprocating frequency is the frequency at which the omnidirectional wheel makes a reciprocating motion, and controlling the movement of the mobile device based on the reciprocating frequency.

[0043] As an example and not a limitation, the reciprocating frequency is specifically the frequency at which the omnidirectional wheel performs reciprocating motion within the specified time period. The reciprocating motion process can be as follows: the omnidirectional wheel moves in one direction (for ease of description, this direction can be referred to as the positive direction), and then the omnidirectional wheel moves in the opposite direction.

[0044] Since the reciprocating frequency can accurately reflect the condition of the bearing surface, such as its roughness, controlling the movement of the mobile device according to the reciprocating frequency can make the movement of the mobile device better adapt to the bearing surface.

[0045] In some embodiments, controlling the movement of the mobile device according to the reciprocating frequency includes: if the reciprocating frequency is greater than or equal to a specified frequency, then controlling the movement of the mobile device according to the reciprocating frequency. When the reciprocating frequency is greater than or equal to the specified frequency, it indicates that the bearing surface is relatively rough. Therefore, controlling the movement of the mobile device according to the reciprocating frequency allows the movement of the mobile device to better adapt to the relatively rough bearing surface.

[0046] In some embodiments, controlling the movement of the mobile device according to the reciprocating frequency includes: determining a movement mode corresponding to the reciprocating frequency; and controlling the movement of the mobile device according to the movement mode.

[0047] The difference between different motion modes can be any difference in motion control data. Motion control data is data used to control the motion of a mobile device. That is, determining the motion mode corresponding to the reciprocating frequency may include: determining the motion control data corresponding to the reciprocating frequency.

[0048] For example, motion control data could be motion speed.

[0049] As an example, and not a limitation, it is suggested that if the reciprocating frequency is greater than or equal to a specified frequency, the movement speed of the mobile device is increased.

[0050] Optionally, the steering wheel data includes omnidirectional wheel parallel data, and the mobile device is provided with a first drive wheel and a second drive wheel. Step S102 includes: determining the rotational speed of the first drive wheel and the rotational speed of the second drive wheel based on the omnidirectional wheel parallel data; controlling the rotation of the first drive wheel based on the rotational speed of the first drive wheel; and controlling the rotation of the second drive wheel based on the rotational speed of the second drive wheel, so that the mobile device turns.

[0051] As an example, and not a limitation, the rotational speeds of the first drive wheel and the second drive wheel may differ to achieve steering of the mobile device, ensuring that the actual rotation angle of the mobile device body (body) is within the expected rotation angle range. Furthermore, controlling the rotation of the first drive wheel based on its rotational speed, and controlling the rotation of the second drive wheel based on its rotational speed, to achieve steering of the mobile device, may include the following cases: Case a, the rotational speed of the first drive wheel is 0 (i.e., the first drive wheel does not rotate), while the rotational speed of the second drive wheel is greater than 0 (i.e., the second drive wheel is controlled to rotate); Case b, the rotational speed of the second drive wheel is 0 (i.e., the second drive wheel does not rotate), while the rotational speed of the first drive wheel is greater than 0 (i.e., the first drive wheel is controlled to rotate).

[0052] Optionally, the steering wheel data includes omnidirectional wheel vertical data, and step S102 includes: determining the state of the omnidirectional wheel based on the omnidirectional wheel vertical data; and controlling the movement of the mobile device based on the state of the omnidirectional wheel.

[0053] By way of example and not limitation, the state of the caster wheel may include at least one of the following: a contact state, a fault state, and a normal state. The contact state refers to the caster wheel being in contact with the bearing surface, and the normal state refers to the state in which the caster wheel can rotate in a vertical plane.

[0054] In some embodiments, controlling the movement of the mobile device based on the state of the omnidirectional wheel includes: if the state of the omnidirectional wheel includes a contact state and / or a normal state, then controlling the movement of the mobile device.

[0055] In some embodiments, controlling the movement of the mobile device based on the state of the omnidirectional wheel includes: if the state of the omnidirectional wheel includes a fault state, then controlling the mobile device to move to a designated position.

[0056] The designated location can be a place for maintaining the mobile device, or the location of a device used for maintaining the mobile device. Controlling the mobile device to move to this designated location facilitates troubleshooting of the caster wheels.

[0057] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0058] Example 2

[0059] Corresponding to the above embodiments, Figure 2 A schematic diagram of a motion control device provided in an embodiment of this application is shown. The motion control device can be applied to mobile devices. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0060] The motion control device includes a data acquisition unit 21 and a control unit 22.

[0061] The data acquisition unit 21 is used to acquire steering wheel data, which can reflect the rotation of the steering wheel.

[0062] In some embodiments, the mobile device may also be provided with a first detection device and / or a second detection device.

[0063] Control unit 22 is used to control the movement of the mobile device based on the steering wheel data.

[0064] In some embodiments, the steering wheel data includes omnidirectional wheel parallel data. The mobile device is provided with a first drive wheel and a second drive wheel. When the control unit 22 executes the action of controlling the movement of the mobile device according to the steering wheel data, it is specifically used to: determine the rotational speed of the first drive wheel and the rotational speed of the second drive wheel according to the omnidirectional wheel parallel data; control the rotation of the first drive wheel according to the rotational speed of the first drive wheel; and control the rotation of the second drive wheel according to the rotational speed of the second drive wheel, so as to cause the mobile device to turn.

[0065] In some embodiments, the steering wheel data includes the parallel angle of the omnidirectional wheel. When the control unit 22 executes the control of the mobile device movement based on the steering wheel data, it is specifically used to: control the mobile device to turn if the parallel angle of the omnidirectional wheel is not within the expected rotation angle range.

[0066] In some embodiments, the steering wheel data includes omnidirectional wheel parallel data. When the control unit 22 executes the step of controlling the movement of the mobile device based on the steering wheel data, it is specifically used to: determine the reciprocating frequency based on the omnidirectional wheel parallel data, wherein the reciprocating frequency is the frequency at which the omnidirectional wheel performs reciprocating motion; and control the movement of the mobile device based on the reciprocating frequency.

[0067] In some embodiments, when the control unit 22 performs the action of controlling the movement of the mobile device according to the reciprocating frequency, it is specifically used to: determine the movement mode corresponding to the reciprocating frequency; and control the movement of the mobile device according to the movement mode.

[0068] In some embodiments, the steering wheel data includes omnidirectional wheel vertical data. When the control unit 22 performs the action of controlling the movement of the mobile device based on the steering wheel data, it is specifically used to: determine the state of the omnidirectional wheel based on the omnidirectional wheel vertical data; and control the movement of the mobile device based on the state of the omnidirectional wheel.

[0069] In some embodiments, when the control unit 22 performs the action of controlling the movement of the mobile device according to the state of the omnidirectional wheel, it is specifically configured to: control the movement of the mobile device if the state of the omnidirectional wheel includes a contact state and / or a normal state.

[0070] It should be noted that for technical details not described in detail in this embodiment, please refer to the motion control methods provided in the various embodiments of Embodiment 1 above.

[0071] Example 3

[0072] Figure 3 This is a schematic diagram of a mobile device provided according to an embodiment of the present invention. Figure 3 As shown, the mobile device 3 in this embodiment includes a processor 31, a memory 32, and a computer program 33 stored in the memory 32 and executable on the processor 31. The mobile device 3 is also provided with a steering wheel, and may further include at least one of the following devices: a first detection device and a second detection device.

[0073] When processor 31 executes computer program 33, it implements the steps in the various motion control method embodiments described above, for example... Figure 1 The steps S101 to S102 are shown. Alternatively, when the processor 31 executes the computer program 33, it implements the functions of each unit in the above-described device embodiments, for example... Figure 2 The functions of units 21 to 22 shown.

[0074] For example, computer program 33 can be divided into one or more modules / units, one or more of which are stored in memory 32 and executed by processor 31 to complete the present invention. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of computer program 33 in mobile device 3. For example, computer program 33 can be divided into a data acquisition unit and a control unit, with the specific functions of each unit as follows:

[0075] The data acquisition unit is used to acquire steering wheel data, which reflects the rotation of the steering wheel.

[0076] A control unit is used to control the movement of the mobile device based on the steering wheel data.

[0077] Those skilled in the art will understand that Figure 3 This is merely an example of mobile device 3 and does not constitute a limitation on mobile device 3. It may include more or fewer components than shown, or combine certain components, or different components. For example, mobile device may also include input / output devices, network access devices, buses, etc.

[0078] The processor 31 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0079] The memory 32 can be an internal storage unit of the mobile device 3, such as a hard drive or memory. The memory 32 can also be an external storage device of the mobile device 3, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 32 can include both internal and external storage units of the mobile device 3. The memory 32 is used to store computer programs and other programs and data required by the mobile device. The memory 32 can also be used to temporarily store data that has been output or will be output.

[0080] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0081] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0082] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0083] In the embodiments provided by this invention, it should be understood that the disclosed apparatus / mobile devices and methods can be implemented in other ways. For example, the apparatus / mobile device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0084] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0085] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0086] If integrated modules / units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in a computer-readable medium can be appropriately added to or subtracted according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0087] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

[0088] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural transformations made using the contents of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of patent protection of the present invention.

Claims

1. A motion control method, characterized in that, The motion control method is applied to a mobile device, which is equipped with a steering wheel, and the motion control method includes: Acquire steering wheel data, which reflects the rotation of the steering wheel over a specified period of time; The movement of the mobile device is controlled based on the steering wheel data; The steering wheel data includes omnidirectional wheel parallel data, and controlling the movement of the mobile device based on the steering wheel data includes: The reciprocating frequency is determined based on the parallel data of the omnidirectional wheel, which is the frequency at which the omnidirectional wheel performs reciprocating motion within the specified time period. The movement of the mobile device is controlled according to the reciprocating frequency, wherein the roughness of the bearing surface is determined according to the reciprocating frequency; and the movement of the mobile device is controlled according to the roughness.

2. The motion control method according to claim 1, characterized in that, The steering wheel data includes: steering wheel parallel data and / or steering wheel perpendicular data. The steering wheel parallel data reflects the rotation of the steering wheel on a parallel plane, and the steering wheel perpendicular data reflects the rotation of the steering wheel on a vertical plane. The parallel plane is a plane parallel to the bearing surface, the bearing surface is the surface used to support the mobile device, and the vertical plane is a plane perpendicular to the bearing surface.

3. The motion control method according to claim 1, characterized in that, The mobile device is equipped with a first drive wheel and a second drive wheel. Controlling the movement of the mobile device based on the steering wheel data includes: The rotational speeds of the first drive wheel and the second drive wheel are determined based on the parallel data of the omnidirectional wheels; the rotation of the first drive wheel is controlled based on the rotational speed of the first drive wheel, and the rotation of the second drive wheel is controlled based on the rotational speed of the second drive wheel, so that the mobile device can turn.

4. The motion control method according to claim 1, characterized in that, The steering wheel data includes the parallel angle of the omnidirectional wheel, and controlling the movement of the mobile device based on the steering wheel data includes: If the parallel angle of the omnidirectional wheel is not within the expected rotation angle range, the mobile device is controlled to turn.

5. The motion control method according to claim 1, characterized in that, The step of controlling the movement of the mobile device according to the reciprocating frequency includes: Determine the motion pattern corresponding to the reciprocating frequency; The movement of the mobile device is controlled according to the motion mode.

6. The motion control method according to claim 1, characterized in that, The steering wheel data includes omnidirectional wheel vertical data, and controlling the movement of the mobile device based on the steering wheel data includes: The state of the omnidirectional wheel is determined based on the vertical data of the omnidirectional wheel; The movement of the mobile device is controlled based on the state of the omnidirectional wheels.

7. The motion control method according to claim 6, characterized in that, The step of controlling the movement of the mobile device based on the state of the omnidirectional wheel includes: If the state of the omnidirectional wheel includes a contact state and / or a normal state, then control the movement of the mobile device.

8. A mobile device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The mobile device is provided with steering wheels, and the processor executes the computer program to implement the steps of the motion control method as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the motion control method as described in any one of claims 1 to 7.

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