Motion control method and apparatus for mobile device, and mobile device

Abstract

The present disclosure relates to a motion control method and device of a mobile device and the mobile device. The motion control method of the mobile device provided by the present disclosure can include: obtaining a first control instruction and a current motion state of the mobile device; wherein the first control instruction is used to indicate a motion speed of the mobile device in each dimension; generating a second control instruction according to the first control instruction, a motion response priority of the mobile device in different dimensions, the current motion state of the mobile device and a motion constraint condition of the mobile device in different dimensions; and controlling the motion of the mobile device according to the second control instruction. The unsafe situation of the mobile device, such as rollover, can be effectively avoided.

Description

Technical Field

[0001] This disclosure relates to the field of electronic technology, and specifically to a motion control method, apparatus, and mobile device for a mobile device. Background Technology

[0002] With the widespread application of artificial intelligence technology in civilian and commercial fields, mobile devices based on artificial intelligence technology are playing an increasingly important role in fields such as intelligent transportation and smart homes, and are also facing higher requirements.

[0003] Mobile devices typically exhibit different dimensions of motion. Taking a mobile device as an example of an intelligent robot, its motion includes forward movement along the X-axis, translation along the Y-axis, and rotation around its own Z-axis. During all-dimensional motion, it may fall and lose control. Summary of the Invention

[0004] This disclosure provides a motion control method, apparatus, and mobile device for a mobile device.

[0005] The first aspect of this disclosure provides a motion control method for a mobile device, comprising:

[0006] Obtain the first control command and the current motion state of the mobile device; wherein, the first control command is used to indicate the motion rate of the mobile device in each dimension;

[0007] Based on the first control command, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraints of the mobile device in different dimensions, a second control command is generated.

[0008] The movement of the mobile device is controlled according to the second control command.

[0009] In some possible implementations, a second control command is generated based on the first control command, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraints of the mobile device in different dimensions, including:

[0010] Based on the first control command, the target dimension to be responded to by the mobile device and the first target rate of the target dimension are determined;

[0011] Based on the priority of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and the first target rate in the target dimension, determine the second target rate in at least one dimension.

[0012] A second control command is generated based on the second target rate.

[0013] In some possible implementations, determining a second target rate in at least one dimension based on the priority of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and a first target rate in the target dimension includes:

[0014] If the target dimension is the highest priority dimension, the second target speed of the target dimension is determined based on the first target speed of the target dimension and the speed limit of the target dimension by the motion constraints.

[0015] In some possible implementations, determining a second target rate in at least one dimension based on the priority of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and a first target rate in the target dimension includes:

[0016] Determine the reference rate for the first dimension; wherein, when the first dimension is not the target dimension, the reference rate for the first dimension is the current rate of the first dimension; or, when the first dimension is the target dimension, the reference rate for the first dimension is the second target rate of the first dimension.

[0017] Based on the motion constraints and the reference rate of the first dimension, the target rate range of the second dimension is determined; wherein, the priority of the second dimension is lower than that of the first dimension.

[0018] If the second dimension is a target dimension, based on the first target rate and the target rate range of the second dimension, the rate with the smallest rate difference between the target rate range and the first target rate is taken as the second target rate of the second dimension.

[0019] In some possible implementations, determining a second target rate in at least one dimension based on the priority of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and a first target rate in the target dimension includes:

[0020] If the second dimension is not the target dimension, determine whether the current rate of the second dimension conforms to the target rate range of the second dimension;

[0021] If the current rate of the second dimension does not conform to the target rate range of the second dimension, then the rate with the smallest rate difference between the current rate and the target rate range shall be taken as the second target rate of the second dimension.

[0022] In some possible implementations, the target rate range in the second dimension is determined based on motion constraints and a reference rate in the first dimension, including:

[0023] Based on the reference rate of the first dimension, determine the scaling factor for the second dimension;

[0024] The product of the maximum initial velocity in the second dimension constrained by the motion constraints and the scale factor is taken as the target maximum velocity.

[0025] The product of the minimum initial velocity in the second dimension constrained by the motion constraints and the scale factor is taken as the target minimum velocity.

[0026] The target speed range is determined based on the target maximum speed and the target minimum speed.

[0027] In some possible implementations, determining the scaling factor for the second dimension based on the reference rate of the first dimension includes:

[0028] Based on the reference rate of the nth first dimension and the first factor of the nth first dimension, the second factor of the nth first dimension is obtained; where n is a positive integer less than or equal to N; where N is the total number of first dimensions with higher priority than the second dimension; the priority of the nth first dimension is one level higher than the priority of the (n-1)th first dimension.

[0029] The scaling factor for the second dimension is obtained by multiplying the second factors of the N first dimensions.

[0030] In some possible implementations, a second factor of the nth first dimension is obtained based on the reference rate of the nth first dimension and the first factor of the nth first dimension, including:

[0031] Determine the product of the reference rate of the nth first dimension and the first correction coefficient of the nth first dimension;

[0032] Determine the sum of the obtained product and the second correction coefficient of the nth first dimension;

[0033] The product of the determined sum and the first factor of the nth first dimension is taken as the second factor of the nth first dimension.

[0034] In some possible implementations, at least one dimension includes a first movement dimension in a first direction within a first plane, a second movement dimension in a second direction within the first plane, a yaw dimension rotating about a third direction as a central axis, and a rotation dimension rotating about the second direction as a central axis; the priority of at least one dimension is that the first movement dimension has a higher priority than the second movement dimension; the second movement dimension has a higher priority than the yaw dimension, and the yaw dimension has a higher priority than the rotation dimension.

[0035] The third direction is perpendicular to the first plane.

[0036] A second aspect of this disclosure provides a motion control device for a mobile device, comprising:

[0037] The acquisition module is used to acquire the first control command and the current motion state of the mobile device; wherein, the first control command is used to indicate the motion rate of the mobile device in each dimension;

[0038] The generation module is used to generate a second control command based on the first control command, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraints of the mobile device in different dimensions.

[0039] The control module is used to control the movement of the mobile device according to the second control command.

[0040] In some possible implementations, when the generation module generates the second control command based on the first control command, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraints of the mobile device in different dimensions, it is specifically used for:

[0041] Based on the first control command, the target dimension to be responded to by the mobile device and the first target rate of the target dimension are determined;

[0042] Based on the priority of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and the first target rate in the target dimension, determine the second target rate in at least one dimension.

[0043] A second control command is generated based on the second target rate.

[0044] In some possible implementations, when the generation module determines the second target rate for at least one dimension based on the priorities of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and the first target rate in the target dimension, it is specifically used to:

[0045] If the target dimension is the highest priority dimension, the second target speed of the target dimension is determined based on the first target speed of the target dimension and the speed limit of the target dimension by the motion constraints.

[0046] In some possible implementations, when the generation module determines the second target rate for at least one dimension based on the priorities of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and the first target rate in the target dimension, it is specifically used to:

[0047] Determine the reference rate for the first dimension; wherein, when the first dimension is not the target dimension, the reference rate for the first dimension is the current rate of the first dimension; or, when the first dimension is the target dimension, the reference rate for the first dimension is the second target rate of the first dimension.

[0048] Based on the motion constraints and the reference rate of the first dimension, the target rate range of the second dimension is determined; wherein, the priority of the second dimension is lower than that of the first dimension.

[0049] If the second dimension is a target dimension, based on the first target rate and the target rate range of the second dimension, the rate with the smallest rate difference between the target rate range and the first target rate is taken as the second target rate of the second dimension.

[0050] In some possible implementations, when the generation module determines the second target rate for at least one dimension based on the priorities of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and the first target rate in the target dimension, it is specifically used to:

[0051] If the second dimension is not the target dimension, determine whether the current rate of the second dimension conforms to the target rate range of the second dimension;

[0052] If the current rate of the second dimension does not conform to the target rate range of the second dimension, then the rate with the smallest rate difference between the current rate and the target rate range shall be taken as the second target rate of the second dimension.

[0053] In some possible implementations, when the generation module determines the target rate range in the second dimension based on the motion constraints and the reference rate in the first dimension, it is specifically used for:

[0054] Based on the reference rate of the first dimension, determine the scaling factor for the second dimension;

[0055] The product of the maximum initial velocity in the second dimension constrained by the motion constraints and the scale factor is taken as the target maximum velocity.

[0056] The product of the minimum initial velocity in the second dimension constrained by the motion constraints and the scale factor is taken as the target minimum velocity.

[0057] The target speed range is determined based on the target maximum speed and the target minimum speed.

[0058] In some possible implementations, the generation module, when determining the scaling factor for the second dimension based on the reference rate of the first dimension, specifically performs the following:

[0059] Based on the reference rate of the nth first dimension and the first factor of the nth first dimension, the second factor of the (n-1)th first dimension is obtained; where n is a positive integer less than or equal to N; where N is the total number of first dimensions with higher priority than the second dimension; the priority of the nth first dimension is one level higher than the priority of the (n-1)th first dimension.

[0060] The scaling factor for the second dimension is obtained by multiplying the second factors of the N first dimensions.

[0061] In some possible implementations, when the generation module obtains the second factor of the (n-1)th first dimension based on the reference rate of the nth first dimension and the first factor of the nth first dimension, it specifically performs the following:

[0062] Determine the product of the reference rate of the nth first dimension and the first correction coefficient of the nth first dimension;

[0063] Determine the sum of the obtained product and the second correction coefficient of the nth first dimension;

[0064] The product of the determined sum and the first factor of the nth first dimension is taken as the second factor of the (n-1)th first dimension.

[0065] In some possible implementations, at least one dimension includes a first movement dimension in a first direction within a first plane, a second movement dimension in a second direction within the first plane, a yaw dimension rotating about a third direction as a central axis, and a rotation dimension rotating about the second direction as a central axis; the priority of at least one dimension is that the first movement dimension has a higher priority than the second movement dimension; the second movement dimension has a higher priority than the yaw dimension, and the yaw dimension has a higher priority than the rotation dimension.

[0066] The third direction is perpendicular to the first plane.

[0067] A third aspect of this disclosure provides a mobile device, including:

[0068] Memory used to store processor-executable instructions;

[0069] The processor is connected to the memory;

[0070] The processor is configured to execute the motion control method for a mobile device as provided in any of the technical solutions of the first aspect described above.

[0071] The fourth aspect of this disclosure provides a non-transitory computer-readable storage medium, wherein when the instructions in the storage medium are executed by a computer processor, the computer is able to execute the motion control method for a mobile device provided in any of the technical solutions of the first aspect.

[0072] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0073] By using the first control command, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraints of the mobile device in different dimensions, a second control command that conforms to the safe speed range of the current motion state is generated. Then, the movement of the mobile device is controlled according to the second control command, which can effectively avoid unsafe situations such as the mobile device tipping over.

[0074] Furthermore, if the first control command only includes a portion of the target dimensions of the mobile device, it also takes into account whether the current rate of dimensions with lower priority than the target dimensions can continue to be maintained while satisfying the target dimensions as much as possible. This allows for effective adjustment of the mobile device's movement while satisfying the first control command as much as possible, thereby preventing tipping. Attached Figure Description

[0075] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0076] Figure 1 This is a schematic diagram illustrating the high-speed movement of a mobile device in an example.

[0077] Figure 2 A flowchart illustrating the motion control method for a mobile device provided in an embodiment of this application;

[0078] Figure 3 A flowchart illustrating the motion control method for a mobile device provided in an embodiment of this application;

[0079] Figure 4 This is a schematic diagram illustrating a scheme for determining the second target rate in one example of this application;

[0080] Figure 5 This is a schematic diagram illustrating a scheme for determining the second target rate in one example of this application;

[0081] Figure 6 This is a schematic diagram illustrating the motion dimensions of a mobile device in an example.

[0082] Figure 7 This is a schematic diagram of the structure of the motion control device for a mobile device provided in an embodiment of this application;

[0083] Figure 8 This is a schematic diagram of the structure of a mobile device in an example. Detailed Implementation

[0084] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses consistent with some aspects of this disclosure as detailed in the appended claims.

[0085] Those skilled in the art will understand that, unless otherwise stated, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this application mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as used herein indicates at least one of the items defined by the term; for example, “A and / or B” indicates implementation as “A,” or implementation as “A,” or implementation as “A and B.”

[0086] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0087] Mobile devices typically involve motion in multiple dimensions. Take intelligent robots as an example. Figure 1 This is a schematic diagram of a quadruped robot moving at high speed. The robot is prone to tipping over and losing control during its multi-dimensional movement. Just like driving a car on a highway, the forward-moving dimension has the highest weight, while the turning dimension has lower weight. If you suddenly turn the steering wheel at high speed, the robot is likely to fishtail and overturn.

[0088] The relevant technology controls the quadruped robot by performing null vector projection in the task space. The control commands are calculated by model prediction control to obtain the force at the end of the quadruped robot's feet. Based on the control task, the joint position, velocity, and joint feedforward torque commands of the quadruped robot are calculated through whole-body control. Then, the joint position, velocity, and joint feedforward torque commands are optimized by applying convex optimization theory through whole-body dynamics. However, it does not control different motion dimensions.

[0089] In some possible implementations, this application provides a motion control method for a mobile device, which can be applied to a control device that can be installed in the mobile device, such as... Figure 2 As shown, it may include:

[0090] Step S201: Obtain the first control command and the current motion state of the mobile device.

[0091] Among them, mobile devices can be devices that move based on instructions, and instructions can be used to indicate the time, direction, speed, etc. of the device's movement.

[0092] Specifically, mobile devices can move in a scrolling, swiping, or flying manner; there are no restrictions on the way a mobile device moves. For example, mobile devices can include bipedal robots, quadrupedal robots, drones, and even driverless vehicles, etc.

[0093] The first control command can be any command that controls the movement of the mobile device. For example, the first control command can be a command that controls the movement speed of the mobile device, or simply a command that indicates the movement rate of the mobile device in various dimensions. Different dimensions can include different movement directions and different movement modes.

[0094] For example, different dimensions can include different directions of motion, as well as different modes of motion such as translation, rotation, or yaw.

[0095] Specifically, the first control command can be input by the user into the motion control device through an input device, such as through a remote control, into the motion control device of the mobile device.

[0096] The current motion state of the mobile device can include the current speed of the mobile device in different dimensions.

[0097] Specifically, the current motion status of mobile devices can be monitored through motion sensors, positioning devices, and other means.

[0098] Step S202: Generate a second control command based on the first control command, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraints of the mobile device in different dimensions.

[0099] The motion response priorities of mobile devices in different dimensions can be pre-set. The higher the motion response priority of a dimension, the higher the second target rate will be determined for that dimension. The second target rates for each dimension are determined in descending order of priority, and a second control command is generated. For example, the first control command includes: the target rate for the first dimension is 5 m / s, and the target rate for the second dimension is 4 m / s. Since the first dimension has a higher priority than the second, the target rate for the first dimension will be satisfied first. If the target rate for the first dimension is satisfied, it is then determined whether the target rate for the second dimension is feasible.

[0100] Among them, motion constraints in different dimensions may include an initial safe range in different dimensions when the mobile device is stationary. The initial safe range may be pre-configured in the control device that controls the movement of the mobile device, i.e., the maximum initial rate and the minimum initial rate in each dimension.

[0101] Specifically, if the mobile device is in motion, the safety range for different dimensions corresponding to this motion state may change. At this time, it is necessary to determine the target rate range, i.e. the safety rate range in the current motion state, based on the current motion state and motion constraints of the device. Then, based on the first control command and the target rate range, the second control command is determined, and the mobile device moves according to the second control command.

[0102] In other words, the second control command can satisfy the first control command as much as possible and ensure that the mobile device can move safely without tipping over due to excessive movement speed.

[0103] For example, in a stationary state, the motion constraints of a mobile device are a maximum of 10 m / s in the first dimension and a maximum of 10 m / s in the second dimension. When the current speed of the mobile device in the first dimension is 8 m / s, the first control command is a target speed of 8 m / s in the second dimension. Since the first dimension has a higher priority than the second dimension, it is necessary to consider whether the target speed in the second dimension can reach 8 m / s while maintaining the target speed of 8 m / s in the first dimension, and generate a second control command, such as the second control command being 8 m / s in the first dimension and 4 m / s in the second dimension.

[0104] Step S203: Control the movement of the mobile device according to the second control command.

[0105] The second control command includes a second target rate in at least one dimension, and the mobile device moves according to the second control command.

[0106] It should be noted that the dimensions included in the second control command are not necessarily the same as those included in the first control command. For example, in the current state, the current rate of the first dimension is 4 m / s and the current rate of the second dimension is 8 m / s. The mobile device adjusts the rate of the first dimension to 8 m / s according to the first control command. If the second dimension is still maintained at 8 m / s, it will be unsafe. In this case, the generated second control command is that the second target rate of the first dimension is 8 m / s and the second target rate of the second dimension is 4 m / s.

[0107] In the above embodiments, a second control command is generated based on the first control command, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraints of the mobile device in different dimensions. The second control command is then used to control the movement of the mobile device, which can effectively prevent unsafe situations such as the mobile device tipping over.

[0108] The specific process of generating the second control command will be described below with reference to specific implementation methods.

[0109] In some possible implementations, such as Figure 3 As shown, step S202 generates a second control command based on the first control command, the priority of the mobile device's motion response in different dimensions, the current motion state of the mobile device, and the motion constraints of the mobile device in different dimensions. This may include:

[0110] Step S210: Determine the target dimension and the first target rate of the target dimension to be responded to by the mobile device according to the first control command;

[0111] Step S220: Determine a second target rate for at least one dimension based on the priority of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and the first target rate in the target dimension.

[0112] Step S230: Generate a second control command based on the second target rate.

[0113] The target dimension may include the dimension in which the motion rate needs to be adjusted as indicated by the first control command, and the first target rate is the rate of the target dimension indicated in the first control command.

[0114] The second target rate is the final rate at which the mobile device is controlled.

[0115] Specifically, the target speed range, i.e. the safe speed range under the current motion state, is first determined based on the current motion state of the device and the first control command. Then, the second target speed is determined based on the first control command and the target speed range. The mobile device moves according to the second target speed.

[0116] In some possible implementations, step S220, based on the priority of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and the first target rate in the target dimension, determines a second target rate in at least one dimension, which may include:

[0117] If the target dimension is the highest priority dimension, the second target speed of the target dimension is determined based on the first target speed of the target dimension and the speed limit of the target dimension by the motion constraints.

[0118] If the target dimension is the highest priority dimension, then there is no need to consider the constraints imposed on the target dimension by the first target rate of other dimensions. Instead, the second target rate of the target dimension is determined directly based on the first target rate and the velocity constraints imposed on the target dimension by the motion constraints.

[0119] Specifically, determining the second target rate in the target dimension based on the first target rate and the velocity limit in the target dimension imposed by motion constraints can include:

[0120] If the first target speed is greater than the maximum initial speed limited by the motion constraint of that priority, then the maximum initial speed limited by the motion constraint of the highest priority dimension is determined as the second target speed.

[0121] like Figure 4 As shown, Figure 4 The motion constraints include a maximum initial velocity and a minimum initial velocity. If the first target velocity is greater than the maximum initial velocity, then the maximum initial velocity is determined as the second target velocity.

[0122] If the first target speed is less than the maximum speed limited by the motion constraint condition of the highest priority dimension, then the first target speed is determined as the second target speed.

[0123] like Figure 5 As shown, Figure 5 The motion constraints include a maximum initial velocity and a minimum initial velocity. If the first target velocity is less than the maximum initial velocity but greater than the minimum initial velocity, then the second target velocity is determined as the second target velocity.

[0124] In other words, if the first target speed meets the speed limit of the motion constraint on the target dimension, then the first target speed is taken as the second target speed; if the first target speed does not meet the speed limit of the motion constraint on the target dimension, then the value closest to the first target speed is selected from the speed limit of the motion constraint on the target dimension as the second target speed.

[0125] For example, if the target dimension is the highest priority dimension, the first target speed is 8 m / s, and the motion constraint for the target dimension is a maximum initial speed of 10 m / s, then the second target speed is 8 m / s.

[0126] If the target dimension is not the highest priority dimension, then a second target rate for at least one dimension is determined based on the priority of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and the first target rate of the target dimension. Determining the second target rate may include:

[0127] a. Determine the reference rate for the first dimension.

[0128] Wherein, when the first dimension is not the target dimension, the reference rate of the first dimension is the current rate of the first dimension; or, when the first dimension is the target dimension, the reference rate of the first dimension is the second target rate of the first dimension.

[0129] In other words, when the first control command does not specify the first dimension, the second target rate of the first dimension can be determined based on the current rate of the first dimension; when the first control command specifies the first dimension, the second target rate of the first dimension is calculated first, and then the target rate range of the second dimension is determined based on the second target rate of the first dimension.

[0130] b. Determine the target rate range for the second dimension based on the motion constraints and the reference rate of the first dimension.

[0131] The second dimension has a lower priority than the first dimension.

[0132] It is important to note that if the second dimension is the target dimension, then the target rate range for the second dimension needs to be determined. If the second dimension is not the target dimension, then the first dimension, which has a higher priority than the second dimension, is the target dimension. In this case, the current state of the first dimension changes. If the second target rate of the first dimension is prioritized, it is necessary to consider whether the current rate of the second dimension can guarantee safety. Therefore, it is still necessary to determine the target rate range for the second dimension. In other words, regardless of whether the second dimension is the target dimension, the target rate range for the second dimension needs to be determined.

[0133] In some possible implementations, determining the target rate range in the second dimension based on motion constraints and a reference rate in the first dimension may include:

[0134] Based on the reference rate of the first dimension, determine the scaling factor for the second dimension;

[0135] The product of the maximum initial velocity in the second dimension constrained by the motion constraints and the scale factor is taken as the target maximum velocity.

[0136] The product of the minimum initial velocity in the second dimension constrained by the motion constraints and the scale factor is taken as the target minimum velocity.

[0137] The target speed range is determined based on the target maximum speed and the target minimum speed.

[0138] The scale factor in the second dimension can be used to adjust the motion constraints in the second dimension, so that the target speed range obtained after adjustment can ensure the safe movement of the mobile device.

[0139] The calculation process for the scale factor in the second dimension will be explained in more detail below.

[0140] c. If the second dimension is a target dimension, based on the first target rate and the target rate range of the second dimension, the rate with the smallest rate difference between the target rate range and the first target rate is taken as the second target rate of the second dimension.

[0141] Specifically, if the second dimension is the target dimension, then the second target rate should satisfy the first target rate as much as possible while ensuring safety. Therefore, the rate that is closest to the first target rate within the target rate range can be used as the second target rate.

[0142] d. If the second dimension is not the target dimension, determine whether the current rate of the second dimension conforms to the target rate range of the second dimension; if the current rate of the second dimension does not conform to the target rate range of the second dimension, then take the rate with the smallest rate difference between the target rate range and the current rate as the second target rate of the second dimension.

[0143] Specifically, if the second dimension is not the target dimension, that is, the first control command is not targeting the second dimension, then it is necessary to consider whether the current rate of the second dimension conforms to the target rate range of the second dimension. If the current rate of the second dimension conforms to the target rate range of the second dimension, the current rate of the second dimension can be maintained. If the current rate of the second dimension does not conform to the target rate range of the second dimension, then the current rate needs to be adjusted so that the adjusted second target rate is as close as possible to the current rate while ensuring safety. That is, the rate closest to the current rate within the target rate range is taken as the second target rate.

[0144] In the above embodiments, if the first control command only includes a portion of the target dimension of the mobile device, it also takes into account whether the current rate of the dimension with lower priority than the target dimension can continue to be maintained while satisfying the target dimension as much as possible. This allows for effective adjustment of the movement of the mobile device while satisfying the first control command as much as possible, thereby avoiding rollover.

[0145] The following will further illustrate the specific process of determining the scale factor for the second dimension from the reference rate of the first dimension, with reference to specific embodiments.

[0146] In some possible implementations, determining the scaling factor for the second dimension based on the reference rate of the first dimension includes:

[0147] Based on the reference rate of the nth first dimension and the first factor of the nth first dimension, the second factor of the nth first dimension is obtained; where n is a positive integer less than or equal to N; where N is the total number of first dimensions with higher priority than the second dimension; the priority of the nth first dimension is one level higher than the priority of the (n-1)th first dimension.

[0148] The scaling factor for the second dimension is obtained by multiplying the second factors of the N first dimensions.

[0149] In the specific implementation process, the reference rate of each dimension can be calculated in descending order of priority. Then, based on the reference rate of each dimension and the corresponding first factor, the first factor of the dimension with a lower priority can be calculated.

[0150] For example, if there are four dimensions with priorities from high to low: Dimension 1, Dimension 2, Dimension 3, and Dimension 4, where the priority of Dimension 1 is higher than that of Dimension 2, which is higher than that of Dimension 3, which is higher than that of Dimension 4, then firstly, the reference rate of Dimension 1 is determined; based on the reference rate of Dimension 1 and its pre-defined first factor, the second factor of Dimension 1 is determined, which is the scaling factor of Dimension 2; the reference rate of Dimension 2 is determined, and based on the reference rate of Dimension 2 and its pre-defined first factor, the second factor of Dimension 2 is determined; the product of the second factors of Dimension 1 and Dimension 2 is used as the scaling factor of Dimension 3; the reference rate of Dimension 3 is determined, and based on the reference rate of Dimension 3 and its pre-defined first factor, the second factor of Dimension 3 is determined; the product of the second factors of Dimension 1, Dimension 2, and Dimension 3 is used as the scaling factor of Dimension 4.

[0151] In some possible implementations, obtaining a second factor for the nth first dimension based on the reference rate of the nth first dimension and the first factor of the nth first dimension may include:

[0152] Determine the product of the reference rate of the nth first dimension and the first correction coefficient of the nth first dimension;

[0153] Determine the sum of the obtained product and the second correction coefficient of the nth first dimension;

[0154] The product of the determined sum and the first factor of the nth first dimension is taken as the second factor of the nth first dimension.

[0155] In some possible implementations, at least one dimension includes a first movement dimension in a first direction within a first plane, a second movement dimension in a second direction within the first plane, a yaw dimension rotating about a third direction as a central axis, and a rotation dimension rotating about the second direction as a central axis; the priority of at least one dimension is that the first movement dimension has a higher priority than the second movement dimension; the second movement dimension has a higher priority than the yaw dimension, and the yaw dimension has a higher priority than the rotation dimension.

[0156] The third direction is perpendicular to the first plane.

[0157] like Figure 6 As shown, taking intelligent robots as an example, Figure 6This is a schematic diagram of the motion dimensions of an intelligent robot, including forward movement along the horizontal X-axis, lateral movement along the horizontal Y-axis, rotation around its own Z-axis, and pitch rotation around the Y-axis.

[0158] In some possible implementations, step S203, controlling the movement of the mobile device according to the second control command, may include:

[0159] Based on the second control command and the acceleration supported by the mobile device in various dimensions, at least two third control commands are generated;

[0160] The movement of the mobile device is controlled sequentially based on at least two third control commands.

[0161] Specifically, multiple sub-target speeds can be generated based on the current state of the mobile device and the second target speed indicated by the second control command. A third control command is then generated based on the multiple sub-target speeds, and the mobile device is controlled to move sequentially.

[0162] For example, if the second control command is that the second target speed on the X-axis is 10 m / s, and the current speed of the mobile device on the X-axis is 2 m / s, then multiple sub-target speeds of 4 m / s, 6 m / s, 8 m / s, and 10 m / s can be generated in sequence according to the speed, and multiple corresponding third control commands can be generated based on the multiple sub-target speeds.

[0163] Specifically, when the current state of the mobile device reaches the sub-target speed, the next sub-target speed is executed accordingly; alternatively, based on the current state of the mobile device, sub-target speeds greater than the current speed are sent to the mobile device sequentially to control the movement of the mobile device; or sub-target speeds are sent to the mobile device sequentially at set intervals. The above process can control the speed of the mobile device to increase according to the preset intervals, thereby controlling the acceleration of the mobile device.

[0164] This time interval can be determined based on the acceleration supported by the mobile device in the corresponding dimension and the difference between the velocities of two adjacent sub-targets. The mobile device may support the same or different accelerations in different dimensions.

[0165] This acceleration includes: acceleration for increasing velocity and / or acceleration for decreasing velocity.

[0166] In some embodiments, the mobile device package includes: a main control module, a drive control module, and a drive module.

[0167] The drive module provides the driving force for the movement of the mobile device; the drive control module is connected to the drive module and controls the driving force output of the drive module.

[0168] The main control module is connected to the drive control module and is used to control the operation of the drive module.

[0169] In some embodiments, the main control module includes, but is not limited to, a central processing unit, a microprocessor, or an embedded controller.

[0170] The drive control module may include: a drive chip and / or a drive control circuit, etc.

[0171] In one embodiment, the main control module generates a second control instruction and sends the second control instruction to the drive control module. The drive control module breaks down the second control instruction into multiple third control instructions based on the acceleration supported by the mobile device in various dimensions, determines the execution time of each third control instruction, and then controls the operation of the drive module according to each third control instruction at the determined execution time.

[0172] In another embodiment, after the main control module generates the second control command, it breaks down the second control command into multiple third control commands based on the acceleration supported by the mobile device in various dimensions, determines the execution time of each third control command, and then sends the third control commands to the drive control module at the determined execution time, triggering the drive control module to control the operation of the drive module. To more clearly illustrate the motion control method of the mobile device of this application, the following will further explain the motion control method of the mobile device of this application with examples.

[0173] In one example, the motion control method for a mobile device may include:

[0174] The motion dimensions of a mobile device include X-axis movement, Y-axis movement, yaw (rotation around its own Z-axis), and pitch (tilt around the Y-axis); X-axis movement has higher priority than Y-axis movement, which has higher priority than yaw, which has higher priority than pitch.

[0175] Obtain first control commands, including instructing the mobile device to achieve a first target rate v along the X-axis. x cmd The first target speed v along the X-axis of the mobile device. y cmd The first target rate v that indicates the yaw of the mobile device yaw cmd and the first target rate v indicating the yaw of the mobile device. pitch cmd ;

[0176] Obtain the current state of the mobile device, including the current speed v of the mobile device's X-axis. x 0 Indicates the current rate v of the mobile device's X-axis. y 0 The current rate v of the mobile device's yaw. yaw 0 And the current rate v indicating the yaw of the mobile device. pitch 0 ;

[0177] Based on the first target speed v along the X-axis x cmd and the current speed v along the X-axis x 0And the motion constraints on the velocity limit along the X-axis, to determine the second target velocity v along the X-axis. x des For details, please refer to the following formula:

[0178] v x min ≤v x des ≤v x max (1)

[0179] Among them, v x min Minimum initial velocity along the X-axis dimension, constrained by motion constraints; v x max The maximum initial velocity along the X-axis dimension, which is constrained by motion constraints.

[0180] The reference rate v on the X-axis x That is, the second target speed v along the X-axis. x des The scale factor of the Y-axis can be determined based on the reference rate of the X-axis, using the following formula:

[0181] v y scale =-α1×abs(v x )+1 (2)

[0182] Among them, v y scale α is the scale factor for the Y-axis; -α1 is the first correction factor for the Y-axis; abs is the absolute value.

[0183] The target rate range on the Y-axis is determined based on the scale factor of the Y-axis. The second target rate on the Y-axis is then determined based on the target rate range and the first target rate on the Y-axis, using the following formula as a reference:

[0184] v y min ×v y scale ≤v y des ≤v y max ×v y scale (3)

[0185] Among them, v y min Minimum initial velocity along the Y-axis, constrained by motion constraints; v y max The maximum initial velocity along the Y-axis, constrained by motion constraints; v y des The second target rate is the Y-axis dimension;

[0186] Y-axis reference rate v y That is, the second target speed v along the Y-axis. y des According to the reference rate v on the X-axis x and the reference rate v on the Y-axis y Determine the scaling factor v of the yaw dimension. yaw scale You can refer to the following formula:

[0187] v yaw scale=(-β1×abs(v x )+1)(-α2×abs(v y (4) + 1)

[0188] Among them, v y scale -β1 and -α2 are the scale factors for yaw; abs is the absolute value.

[0189] The target velocity range of the yaw dimension is determined based on the scale factor of the yaw dimension. The second target velocity of the yaw dimension is then determined based on the target velocity range and the first target velocity of the yaw dimension, using the following formula as a reference:

[0190] v yaw min ×v yaw scale ≤v yaw des ≤v yaw max ×v yaw scale (5)

[0191] Among them, v yaw min Minimum initial velocity in the yaw dimension, constrained by motion constraints; v yaw max The maximum initial velocity in the yaw dimension, constrained by motion constraints; v yaw des The second target velocity is the yaw dimension.

[0192] Reference rate v in yaw dimension yaw That is, the second target velocity v in the yaw dimension. yaw des The scale factor for the pitch dimension is determined based on the reference rates of the X-axis, Y-axis, and yaw, using the following formula:

[0193] V pitch scale =(-γ1×abs(v x )+1)(-β2×abs(v y )+1)(-γ2×abs(v yaw (6) + 1)

[0194] Among them, v y pitch γ is the scale factor for pitch rotation; -γ1, -β2, and -γ2 are all first correction coefficients for pitch rotation; abs is the absolute value.

[0195] The target rate range of the rotation dimension pitch is determined based on the scale factor of the rotation dimension pitch. The second target rate of the rotation dimension pitch is then determined based on the target rate range and the first target rate of the rotation dimension pitch, as shown in the following formula:

[0196] v pitch min ×v pitch scale ≤v pitch des ≤v pitch max ×v pitch scale (7)

[0197] Among them, v pitch min The minimum initial velocity of the rotational dimension pitch, constrained by motion constraints; v pitch max The maximum initial velocity of the rotational dimension pitch, constrained by motion constraints; v pitch des The second target rate is the rotational dimension pitch.

[0198] The aforementioned motion control method for mobile devices generates a second control command that conforms to a safe speed range under the current motion state by using a first control command, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraints of the mobile device in different dimensions. Then, the motion of the mobile device is controlled according to the second control command, which can effectively avoid unsafe situations such as the mobile device tipping over.

[0199] Furthermore, if the first control command only includes a portion of the target dimensions of the mobile device, it also takes into account whether the current rate of dimensions with lower priority than the target dimensions can continue to be maintained while satisfying the target dimensions as much as possible. This allows for effective adjustment of the mobile device's movement while satisfying the first control command as much as possible, thereby preventing tipping.

[0200] In some possible implementations, a motion control device 70 for a mobile device is provided, comprising:

[0201] The acquisition module 701 is used to acquire the first control command and the current motion state of the mobile device; wherein, the first control command is used to indicate the motion rate of the mobile device in each dimension;

[0202] The generation module 702 is used to generate a second control command based on the first control command, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraints of the mobile device in different dimensions.

[0203] The control module 703 is used to control the movement of the mobile device according to the second control command.

[0204] In some possible implementations, when the generation module 702 generates the second control command based on the first control command, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraints of the mobile device in different dimensions, it is specifically used for:

[0205] Based on the first control command, the target dimension to be responded to by the mobile device and the first target rate of the target dimension are determined;

[0206] Based on the priority of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and the first target rate in the target dimension, determine the second target rate in at least one dimension.

[0207] A second control command is generated based on the second target rate.

[0208] In some possible implementations, when determining a second target rate for at least one dimension based on the priorities of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and a first target rate in the target dimension, the generation module 702 is specifically used for:

[0209] If the target dimension is the highest priority dimension, the second target speed of the target dimension is determined based on the first target speed of the target dimension and the speed limit of the target dimension by the motion constraints.

[0210] In some possible implementations, when determining a second target rate for at least one dimension based on the priorities of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and a first target rate in the target dimension, the generation module 702 is specifically used for:

[0211] Determine the reference rate for the first dimension; wherein, when the first dimension is not the target dimension, the reference rate for the first dimension is the current rate of the first dimension; or, when the first dimension is the target dimension, the reference rate for the first dimension is the second target rate of the first dimension.

[0212] Based on the motion constraints and the reference rate of the first dimension, the target rate range of the second dimension is determined; wherein, the priority of the second dimension is lower than that of the first dimension.

[0213] If the second dimension is a target dimension, based on the first target rate and the target rate range of the second dimension, the rate with the smallest rate difference between the target rate range and the first target rate is taken as the second target rate of the second dimension.

[0214] In some possible implementations, when determining a second target rate for at least one dimension based on the priorities of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and a first target rate in the target dimension, the generation module 702 is specifically used for:

[0215] If the second dimension is not the target dimension, determine whether the current rate of the second dimension conforms to the target rate range of the second dimension;

[0216] If the current rate of the second dimension does not conform to the target rate range of the second dimension, then the rate with the smallest rate difference between the current rate and the target rate range shall be taken as the second target rate of the second dimension.

[0217] In some possible implementations, when determining the target rate range in the second dimension based on motion constraints and a reference rate in the first dimension, the generation module 702 is specifically used for:

[0218] Based on the reference rate of the first dimension, determine the scaling factor for the second dimension;

[0219] The product of the maximum initial velocity in the second dimension constrained by the motion constraints and the scale factor is taken as the target maximum velocity.

[0220] The product of the minimum initial velocity in the second dimension constrained by the motion constraints and the scale factor is taken as the target minimum velocity.

[0221] The target speed range is determined based on the target maximum speed and the target minimum speed.

[0222] In some possible implementations, when the generation module 702 determines the scaling factor for the second dimension based on the reference rate of the first dimension, it is specifically used for:

[0223] Based on the reference rate of the nth first dimension and the first factor of the nth first dimension, the second factor of the nth first dimension is obtained; where n is a positive integer less than or equal to N; where N is the total number of first dimensions with higher priority than the second dimension; the priority of the nth first dimension is one level higher than the priority of the (n-1)th first dimension.

[0224] The scaling factor for the second dimension is obtained by multiplying the second factors of the N first dimensions.

[0225] In some possible implementations, when the generation module 702 obtains the second factor of the nth first dimension based on the reference rate of the nth first dimension and the first factor of the nth first dimension, it is specifically used for:

[0226] Determine the product of the reference rate of the nth first dimension and the first correction coefficient of the nth first dimension;

[0227] Determine the sum of the obtained product and the second correction coefficient of the nth first dimension;

[0228] The product of the determined sum and the first factor of the nth first dimension is taken as the second factor of the (n-1)th first dimension.

[0229] In some possible implementations, at least one dimension includes a movement dimension, a yaw dimension, and a rotation dimension in the first plane; the priority of the at least one dimension is that the horizontal movement dimension has a higher priority than the yaw dimension, and the yaw dimension has a higher priority than the rotation dimension.

[0230] The axis of rotation of the rotation dimension is perpendicular to the first plane.

[0231] The aforementioned motion control device for mobile devices generates a second control command that conforms to a safe speed range under the current motion state by using a first control command, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraints of the mobile device in different dimensions. Then, the device controls the motion of the mobile device according to the second control command, which can effectively prevent unsafe situations such as the mobile device tipping over.

[0232] Furthermore, if the first control command only includes a portion of the target dimensions of the mobile device, it also takes into account whether the current rate of dimensions with lower priority than the target dimensions can continue to be maintained while satisfying the target dimensions as much as possible. This allows for effective adjustment of the mobile device's movement while satisfying the first control command as much as possible, thereby preventing tipping.

[0233] Figure 8 This is a block diagram illustrating a mobile device 800 according to an exemplary embodiment. For example, the mobile device 800 may be included in a terminal device such as a mobile phone or mobile computer, or a device such as a server.

[0234] Reference Figure 8 The mobile device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, a multimedia data component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0235] Processing component 802 typically controls the overall operation of mobile device 800, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 802 may include one or more processors 820 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 802 may include one or more modules to facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.

[0236] Memory 804 is configured to store various types of data to support the operation of device 800. Examples of this data include instructions for any application or method operating on mobile device 800, contact data, phonebook data, messages, pictures, videos, etc. Memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0237] The power supply component 806 provides power to various components of the mobile device 800. The power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the mobile device 800.

[0238] Multimedia component 808 includes a screen that provides an output interface between mobile device 800 and user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 808 includes a front-facing camera and / or a rear-facing camera. When device 800 is in an operational state, such as a shooting state or a video state, the front-facing camera and / or rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0239] Multimedia data component 810 is configured to output and / or input multimedia data signals. For example, multimedia data component 810 includes a microphone (MIC) configured to receive external multimedia data signals when mobile device 800 is in an operational state, such as a call state, recording state, or voice recognition state. The received multimedia data signals may be further stored in memory 804 or transmitted via communication component 816.

[0240] In some embodiments, the multimedia data component 810 further includes a speaker for outputting multimedia data signals.

[0241] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, and operation buttons. These operation buttons may include, but are not limited to, home button, volume button, power button, and lock button.

[0242] Sensor assembly 814 includes one or more sensors for providing status assessments of various aspects of mobile device 800. For example, sensor assembly 814 may detect the on / off state of device 800, the relative positioning of components such as the display and keypad of mobile device 800, changes in position of mobile device 800 or a component of mobile device 800, the presence or absence of user contact with mobile device 800, orientation or acceleration / deceleration of mobile device 800, and temperature changes of mobile device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 814 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0243] Communication component 816 is configured to facilitate wired or wireless communication between mobile device 800 and other devices. Mobile device 800 can access wireless networks based on communication standards, such as Wi-Fi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0244] In an exemplary embodiment, the apparatus 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0245] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, which can be executed by a processor 820 of the device 800 to complete the aforementioned information processing method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0246] After the above instructions are executed by processor 820, they may include:

[0247] Obtain the first control command and the current motion state of the mobile device; wherein, the first control command is used to indicate the motion rate of the mobile device in each dimension;

[0248] Based on the first control command, the motion response priority of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraints of the mobile device in different dimensions, a second control command is generated.

[0249] The movement of the mobile device is controlled according to the second control command.

[0250] Understandably, based on the first control command, the motion response priorities of the mobile device in different dimensions, the current motion state of the mobile device, and the motion constraints of the mobile device in different dimensions, a second control command is generated, including:

[0251] Based on the first control command, the target dimension to be responded to by the mobile device and the first target rate of the target dimension are determined;

[0252] Based on the priority of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and the first target rate in the target dimension, determine the second target rate in at least one dimension.

[0253] A second control command is generated based on the second target rate.

[0254] Understandably, based on the priorities of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and the first target rate in the target dimension, a second target rate in at least one dimension is determined, including:

[0255] If the target dimension is the highest priority dimension, the second target speed of the target dimension is determined based on the first target speed of the target dimension and the speed limit of the target dimension by the motion constraints.

[0256] Understandably, based on the priorities of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and the first target rate in the target dimension, a second target rate in at least one dimension is determined, including:

[0257] Determine the reference rate for the first dimension; wherein, when the first dimension is not the target dimension, the reference rate for the first dimension is the current rate of the first dimension; or, when the first dimension is the target dimension, the reference rate for the first dimension is the second target rate of the first dimension.

[0258] Based on the motion constraints and the reference rate of the first dimension, the target rate range of the second dimension is determined; wherein, the priority of the second dimension is lower than that of the first dimension.

[0259] If the second dimension is a target dimension, based on the first target rate and the target rate range of the second dimension, the rate with the smallest rate difference between the target rate range and the first target rate is taken as the second target rate of the second dimension.

[0260] Understandably, based on the priorities of the mobile device in different dimensions, the current motion state of the mobile device, motion constraints, and the first target rate in the target dimension, a second target rate in at least one dimension is determined, including:

[0261] If the second dimension is not the target dimension, determine whether the current rate of the second dimension conforms to the target rate range of the second dimension;

[0262] If the current rate of the second dimension does not conform to the target rate range of the second dimension, then the rate with the smallest rate difference between the current rate and the target rate range shall be taken as the second target rate of the second dimension.

[0263] Understandably, based on the motion constraints and the reference rate in the first dimension, the target rate range in the second dimension is determined, including:

[0264] Based on the reference rate of the first dimension, determine the scaling factor for the second dimension;

[0265] The product of the maximum initial velocity in the second dimension constrained by the motion constraints and the scale factor is taken as the target maximum velocity.

[0266] The product of the minimum initial velocity in the second dimension constrained by the motion constraints and the scale factor is taken as the target minimum velocity.

[0267] The target speed range is determined based on the target maximum speed and the target minimum speed.

[0268] Understandably, the scaling factor for the second dimension is determined based on the reference rate of the first dimension, including:

[0269] Based on the reference rate of the nth first dimension and the first factor of the nth first dimension, the second factor of the nth first dimension is obtained; where n is a positive integer less than or equal to N; where N is the total number of first dimensions with higher priority than the second dimension; the priority of the nth first dimension is one level higher than the priority of the (n-1)th first dimension.

[0270] The scaling factor for the second dimension is obtained by multiplying the second factors of the N first dimensions.

[0271] Understandably, based on the reference rate of the nth first dimension and the first factor of the nth first dimension, the second factor of the nth first dimension is obtained, including:

[0272] Determine the product of the reference rate of the nth first dimension and the first correction coefficient of the nth first dimension;

[0273] Determine the sum of the obtained product and the second correction coefficient of the nth first dimension;

[0274] The product of the determined sum and the first factor of the nth first dimension is taken as the second factor of the nth first dimension.

[0275] Understandably, at least one dimension includes a first movement dimension in a first direction within a first plane, a second movement dimension in a second direction within the first plane, a yaw dimension rotating about a third direction as a central axis, and a rotation dimension rotating about a second direction as a central axis; the priority of at least one dimension is that the first movement dimension has a higher priority than the second movement dimension; the second movement dimension has a higher priority than the yaw dimension, and the yaw dimension has a higher priority than the rotation dimension.

[0276] The third direction is perpendicular to the first plane.

[0277] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0278] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A motion control method for a mobile device, characterized in that, include: Obtain a first control command and the current motion state of the mobile device; wherein the first control command is used to indicate the motion rate of the mobile device in each dimension; Based on the first control command, the target dimension to be responded to by the mobile device and the first target rate of the target dimension are determined; Based on the priority of the mobile device in different dimensions, the current motion state of the mobile device, the motion constraints of the mobile device in different dimensions, and the first target rate of the target dimension, a second target rate of at least one dimension is determined; wherein, the step of determining the second target rate of at least one dimension based on the priority of the mobile device in different dimensions, the current motion state of the mobile device, the motion constraints of the mobile device in different dimensions, and the first target rate of the target dimension includes: determining the second target rate of each dimension in descending order of priority based on the current state of the mobile device, the motion constraints, and the first target rate of the target dimension; Based on the second target rate, generate a second control command; The movement of the mobile device is controlled according to the second control command.

2. The motion control method for a mobile device according to claim 1, characterized in that, Determining the second target rate in at least one dimension based on the mobile device's priority in different dimensions, the mobile device's current motion state, the mobile device's motion constraints in different dimensions, and the first target rate in the target dimension includes: If the target dimension is the highest priority dimension among all dimensions, the second target rate of the target dimension is determined based on the first target rate of the target dimension and the speed limit of the target dimension by the motion constraint conditions.

3. The motion control method for a mobile device according to claim 2, characterized in that, The step of determining a second target rate in at least one dimension based on the priority of the mobile device in different dimensions, the current motion state of the mobile device, the motion constraints of the mobile device in different dimensions, and the first target rate in the target dimension includes: Determine a reference rate for a first dimension; wherein, when the first dimension is not the target dimension, the reference rate for the first dimension is the current rate of the first dimension; or, when the first dimension is the target dimension, the reference rate for the first dimension is the second target rate of the first dimension. Based on the motion constraints and the reference rate of the first dimension, the target rate range of the second dimension is determined; wherein, the priority of the second dimension is lower than that of the first dimension. If the second dimension is the target dimension, based on the first target rate of the second dimension and the target rate range, the rate with the smallest rate difference between the target rate range and the first target rate is taken as the second target rate of the second dimension.

4. The motion control method for a mobile device according to claim 3, characterized in that, The step of determining a second target rate in at least one dimension based on the priority of the mobile device in different dimensions, the current motion state of the mobile device, the motion constraints of the mobile device in different dimensions, and the first target rate in the target dimension includes: If the second dimension is not the target dimension, determine whether the current rate of the second dimension conforms to the target rate range of the second dimension; If the current rate of the second dimension does not conform to the target rate range of the second dimension, then the rate with the smallest rate difference between the current rate and the target rate range shall be taken as the second target rate of the second dimension.

5. The motion control method for a mobile device according to claim 3, characterized in that, Determining the target speed range for the second dimension based on the motion constraints and the reference speed of the first dimension includes: Based on the reference rate of the first dimension, determine the scaling factor for the second dimension; The product of the maximum initial velocity in the second dimension defined by the motion constraints and the scale factor is taken as the target maximum velocity. The product of the minimum initial velocity of the second dimension constrained by the motion constraint and the scale factor is taken as the target minimum velocity. The target rate range is determined based on the target maximum rate and the target minimum rate.

6. The motion control method for a mobile device according to claim 5, characterized in that, Determining the scaling factor for the second dimension based on the reference rate of the first dimension includes: The second factor of the nth first dimension is obtained based on the reference rate of the nth first dimension and the first factor of the nth first dimension; where n is a positive integer less than or equal to N; where N is the total number of first dimensions with higher priority than the second dimension; the priority of the nth first dimension is one level higher than the priority of the (n-1)th first dimension. The scaling factor for the second dimension is obtained by multiplying the N second factors of the first dimension.

7. The motion control method for a mobile device according to claim 6, characterized in that, Based on the reference rate of the nth first dimension and the first factor of the nth first dimension, the second factor of the nth first dimension is obtained, including: Determine the product of the reference rate of the nth first dimension and the first correction coefficient of the nth first dimension; Determine the sum of the obtained product and the second correction coefficient of the nth first dimension; The product of the determined sum and the first factor of the nth first dimension is taken as the second factor of the nth first dimension.

8. The motion control method for a mobile device according to any one of claims 1 to 7, characterized in that, At least one dimension includes a first movement dimension in a first direction within a first plane, a second movement dimension in a second direction within the first plane, a yaw dimension rotating about a third direction as a central axis, and a rotation dimension rotating about the second direction as a central axis; the priority of the at least one dimension is that the first movement dimension has a higher priority than the second movement dimension; the second movement dimension has a higher priority than the yaw dimension, and the yaw dimension has a higher priority than the rotation dimension; The third direction is perpendicular to the first plane.

9. A motion control device for a mobile device, characterized in that, include: The acquisition module is used to acquire a first control command and the current motion state of the mobile device; wherein, the first control command is used to indicate the motion rate of the mobile device in each dimension; A generation module is configured to, according to the first control instruction, determine the target dimension to be responded to by the mobile device and the first target rate of the target dimension; and determine the second target rate of at least one dimension according to the priority of the mobile device in different dimensions, the current motion state of the mobile device, the motion constraints of the mobile device in different dimensions, and the first target rate of the target dimension; wherein, determining the second target rate of at least one dimension according to the priority of the mobile device in different dimensions, the current motion state of the mobile device, the motion constraints of the mobile device in different dimensions, and the first target rate of the target dimension includes: determining the second target rate of each dimension in descending order of priority according to the current state of the mobile device, the motion constraints, and the first target rate of the target dimension; and generating a second control instruction according to the second target rate. The control module is used to control the movement of the mobile device according to the second control command.

10. The motion control device for a mobile device according to claim 9, characterized in that, When determining the second target rate for at least one dimension based on the priorities of the mobile device in different dimensions, the current motion state of the mobile device, the motion constraints, and the first target rate of the target dimension, the generation module is specifically used for: If the target dimension is the highest priority dimension among all dimensions, the second target rate of the target dimension is determined based on the first target rate of the target dimension and the speed limit of the target dimension by the motion constraint conditions.

11. The motion control device for a mobile device according to claim 10, characterized in that, When determining a second target rate in at least one dimension based on the priorities of the mobile device in different dimensions, the current motion state of the mobile device, the motion constraints, and the first target rate in the target dimension, the generation module is specifically used for: Determine a reference rate for a first dimension; wherein, when the first dimension is not the target dimension, the reference rate for the first dimension is the current rate of the first dimension; or, when the first dimension is the target dimension, the reference rate for the first dimension is the second target rate of the first dimension. Based on the motion constraints and the reference rate of the first dimension, the target rate range of the second dimension is determined; wherein, the priority of the second dimension is lower than that of the first dimension. If the second dimension is the target dimension, based on the first target rate of the second dimension and the target rate range, the rate with the smallest rate difference between the target rate range and the first target rate is taken as the second target rate of the second dimension.

12. The motion control device for a mobile device according to claim 11, characterized in that, When determining a second target rate in at least one dimension based on the priorities of the mobile device in different dimensions, the current motion state of the mobile device, the motion constraints, and the first target rate in the target dimension, the generation module is specifically used for: If the second dimension is not the target dimension, determine whether the current rate of the second dimension conforms to the target rate range of the second dimension; If the current rate of the second dimension does not conform to the target rate range of the second dimension, then the rate with the smallest rate difference between the current rate and the target rate range shall be taken as the second target rate of the second dimension.

13. The motion control device for a mobile device according to claim 11, characterized in that, When determining the target rate range for the second dimension based on the motion constraints and the reference rate of the first dimension, the generation module is specifically used for: Based on the reference rate of the first dimension, determine the scaling factor for the second dimension; The product of the maximum initial velocity in the second dimension defined by the motion constraints and the scale factor is taken as the target maximum velocity. The product of the minimum initial velocity of the second dimension constrained by the motion constraint and the scale factor is taken as the target minimum velocity. The target rate range is determined based on the target maximum rate and the target minimum rate.

14. The motion control device for a mobile device according to claim 13, characterized in that, When the generation module determines the scaling factor for the second dimension based on the reference rate of the first dimension, it is specifically used for: The second factor of the nth first dimension is obtained based on the reference rate of the nth first dimension and the first factor of the nth first dimension; where n is a positive integer less than or equal to N; where N is the total number of first dimensions with higher priority than the second dimension; the priority of the nth first dimension is one level higher than the priority of the (n-1)th first dimension. The scaling factor for the second dimension is obtained by multiplying the N second factors of the first dimension.

15. The motion control device for a mobile device according to claim 14, characterized in that, When the generation module obtains the second factor of the nth first dimension based on the reference rate of the nth first dimension and the first factor of the nth first dimension, it is specifically used for: Determine the product of the reference rate of the nth first dimension and the first correction coefficient of the nth first dimension; Determine the sum of the obtained product and the second correction coefficient of the nth first dimension; The product of the determined sum and the first factor of the nth first dimension is taken as the second factor of the (n-1)th first dimension.

16. The motion control device for a mobile device according to any one of claims 9 to 15, characterized in that, At least one dimension includes a first movement dimension in a first direction within a first plane, a second movement dimension in a second direction within the first plane, a yaw dimension rotating about a third direction as a central axis, and a rotation dimension rotating about the second direction as a central axis; the priority of the at least one dimension is that the first movement dimension has a higher priority than the second movement dimension; the second movement dimension has a higher priority than the yaw dimension, and the yaw dimension has a higher priority than the rotation dimension; The third direction is perpendicular to the first plane.

17. A mobile device, characterized in that, include: Memory used to store processor-executable instructions; The processor is connected to the memory; The processor is configured to perform the method provided in any one of claims 1 to 8.

18. A non-transitory computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor of a computer, enable the computer to perform the method provided in any one of claims 1 to 8.

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