Mobile device control method, electronic device and medium

Abstract

The invention provides a mobile equipment control method, electronic equipment and a medium, and the method comprises the steps: determining an initial control instruction according to the difference between the current pose and the target pose of the mobile equipment, the initial control instruction comprises a first linear speed, a second linear speed and an angular speed, and the first linear speed is perpendicular to the second linear speed; a steering condition is determined according to the first linear speed and a preset steering angle threshold value, the second linear speed and the angular speed are updated according to the matching result of the second linear speed and the steering condition and the matching result of the angular speed and the steering condition, and a target control instruction is determined according to the updated second linear speed and the updated angular speed; and controlling the mobile device according to the target control instruction. According to the technical scheme, the control efficiency of the control process of the mobile equipment can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of mobile device control, and in particular to a mobile device control method, electronic device and medium. Background Art

[0002] With the continuous advancement of science and technology, mobile devices are becoming more and more widely used in people's lives. Taking multi-wheeled mobile devices as an example, they are often used in fields such as autonomous driving to perform tasks.

[0003] When a mobile device is performing a task, it is usually necessary to control the mobile device according to the difference between the current posture and the target posture to ensure the smooth execution of the task. The current mobile control method is mainly aimed at the situation where the longitudinal difference between the current posture and the target posture is large and the lateral difference is large. However, for the situation where the longitudinal difference between the current posture and the target posture is small and the lateral difference is large, there is a problem of low control efficiency. Summary of the invention

[0004] In view of this, embodiments of the present application provide a mobile device control method, electronic device, and medium, which can improve the control efficiency of the mobile device control process.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a mobile device, comprising: determining an initial control instruction based on a gap between a current posture and a target posture of the mobile device, the initial control instruction comprising a first linear velocity, a second linear velocity and an angular velocity, the first linear velocity being perpendicular to the second linear velocity, determining a steering condition based on the first linear velocity and a preset steering angle threshold, and updating the second linear velocity and angular velocity based on a matching result between the second linear velocity and the angular velocity and the steering condition respectively, and determining a target control instruction based on the updated second linear velocity and the updated angular velocity, and controlling the mobile device based on the target control instruction.

[0006] In a second aspect, an embodiment of the present application provides a mobile device control device, comprising: a determination module, used to determine an initial control instruction based on the gap between the current posture of the mobile device and the target posture, the initial control instruction comprising a first linear velocity, a second linear velocity and an angular velocity, the first linear velocity being perpendicular to the second linear velocity; an update module, used to determine a steering condition based on the first linear velocity and a preset steering angle threshold, and to update the second linear velocity and angular velocity based on the matching results between the second linear velocity and the angular velocity and the steering condition respectively, and to determine a target control instruction based on the updated second linear velocity and the updated angular velocity; a control module, used to control the mobile device according to the target control instruction.

[0007] In a third aspect, an embodiment of the present application provides a mobile device, including a control module, wherein the control module is used to execute the mobile device control method described in the first aspect.

[0008] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: a processor; and a memory for storing processor executable instructions, wherein the processor is used to execute the mobile device control method described in the first aspect above.

[0009] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the mobile device control method described in the first aspect above.

[0010] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor of a computer device, the computer device is enabled to execute the mobile device control method described in the first aspect above.

[0011] In a seventh aspect, an embodiment of the present application provides a chip, comprising: a processor; and a memory for storing processor executable instructions, wherein the processor is used to execute the mobile device control method described in the first aspect above.

[0012] The embodiment of the present application provides a mobile device control method, electronic device and medium, which determines the initial control instruction according to the difference between the current posture of the mobile device and the target posture during the movement of the mobile device, and then determines the steering condition according to the first linear velocity in the initial control instruction and the preset steering angle threshold, and then constrains the angular velocity and the second linear velocity perpendicular to the first linear velocity according to the steering condition, so as to determine the target control instruction, and finally controls the mobile device according to the target control instruction. In this way, the embodiment of the present application can ensure that the mobile device can move in a direction perpendicular to the direction of the head of the mobile device while moving in the direction of the head of the mobile device during the movement process, and when the longitudinal difference between the current posture and the target posture is small and the lateral difference is large, the mobile device can be adjusted to the target posture without adjusting the driving direction of the mobile device multiple times, thereby improving the control efficiency of the mobile control process. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 Shown is a schematic diagram of the system architecture of a mobile device control system provided by an exemplary embodiment of the present application.

[0014] Figure 2 Shown is a flow chart of a mobile device control method provided by an exemplary embodiment of the present application.

[0015] Figure 3Shown is a schematic diagram of a scene during movement of a mobile device provided by an exemplary embodiment of the present application.

[0016] Figure 4 Shown is a schematic diagram of a scene when a mobile device turns, provided by an exemplary embodiment of the present application.

[0017] Figure 5 Shown is a schematic diagram of a scene when a mobile device turns, provided by an exemplary embodiment of the present application.

[0018] Figure 6 Shown is a flow chart of a mobile device control method provided by an exemplary embodiment of the present application.

[0019] Figure 7 Shown is a schematic structural diagram of a mobile device control device provided by an exemplary embodiment of the present application.

[0020] Figure 8 FIG. 1 is a block diagram of an electronic device for executing a mobile device control method provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] Application Overview

[0023] At present, when a mobile device is performing a task, it is inevitable that the mobile device needs to turn in the process of moving from the starting position of the task to the target position. Taking the Ackerman steering constraint algorithm, one of the more commonly used control algorithms, as an example, it constrains the steering center of the mobile device to a straight line space perpendicular to the direction of the head of the mobile device, that is, the line between the steering center of the mobile device and the center of the mobile device is perpendicular to the direction of the head of the mobile device.

[0024] Therefore, when the mobile device turns, it can usually only generate a linear velocity parallel to the direction of travel of the mobile device, and cannot immediately generate a linear velocity perpendicular to the direction of travel of the mobile device, that is, the lateral movement speed, which limits the control ability of the mobile device. In particular, in a scene with a small longitudinal gap, the lateral gap cannot converge in time, resulting in a decrease in the control accuracy of the mobile device. In other words, the current control algorithm generally adjusts the head orientation of the mobile device first, and then controls the mobile device to travel according to the adjusted direction. In the case where the aforementioned longitudinal gap is small, if the lateral gap is large, it is necessary to adjust the head orientation of the mobile device multiple times before the mobile device can be adjusted to the target posture. Among them, the longitudinal gap can be: the gap between the current posture of the mobile device and the target posture in the direction parallel to the head orientation of the mobile device. The lateral gap can be: the gap between the current posture of the mobile device and the target posture in the direction perpendicular to the head orientation of the mobile device.

[0025] In the case where the steering wheels of the mobile device include driving wheels and driven wheels, since the mobile device itself does not have the ability to move laterally, the above problem does not actually restrict the control efficiency of the mobile device. However, in the case where the steering wheels of the mobile device are all driving wheels, the mobile device itself has the ability to move laterally. If the Ackerman constraint is still used to constrain the steering process of the mobile device, then under the Ackerman constraint, the lateral movement ability of the mobile device during the steering process cannot be exerted, resulting in low control efficiency.

[0026] In view of the above technical problems, an embodiment of the present application provides a method for controlling a mobile device, by determining an initial control instruction according to the difference between the current posture of the mobile device and the target posture during the movement of the mobile device, and then determining the steering condition according to the first linear velocity in the initial control instruction and the preset steering angle threshold, and then constraining the angular velocity and the second linear velocity perpendicular to the first linear velocity according to the steering condition, so as to determine the target control instruction, and finally controlling the mobile device according to the target control instruction. In this way, the embodiment of the present application can ensure that the mobile device can move in a direction perpendicular to the direction of the head of the mobile device while moving along the direction of the head of the mobile device during the movement. In the case where the longitudinal difference between the current posture and the target posture is small and the lateral difference is large, the mobile device can be adjusted to the target posture without adjusting the driving direction of the mobile device multiple times, thereby improving the control efficiency of the mobile control process.

[0027] Exemplary Systems

[0028] Figure 1 FIG. 1 is a schematic diagram of a system architecture of a mobile device control system provided by an exemplary embodiment of the present application. Figure 1As shown, the mobile device control system may include a mobile device 110, which may be a robot with a steering wheel, or a vehicle or other device that uses a steering wheel to move. The mobile device 110 can be used to adjust from the current posture to the target posture, that is, move from the current position to the target area 120 corresponding to the target posture, and adjust the posture to the posture corresponding to the target posture. The target posture may be the target posture corresponding to the task performed by the mobile device 110, and the task performed by the mobile device 110 may be a distribution task, a driving task, an assisted driving task, etc. The mobile device 110 may be installed with a sensor 111 and a controller 112, and the controller 112 may be used to control the mobile device to execute the mobile device control method provided in the embodiment of the present application. It should be noted that the steering wheels of the mobile device 110 are all active wheels, that is, steering wheels that can control both direction and speed.

[0029] In one example, the sensor 111 can be used to determine the current posture of the mobile device 110. In this way, the controller 112 can determine the current posture of the mobile device 110 through the sensor 111, and control the mobile device 110 to adjust its posture to the target posture based on the difference between the current posture of the mobile device 110 and the pre-stored target posture.

[0030] In one example, the controller 112 may determine the speed of the mobile device in each direction as an initial control instruction based on the difference between the current posture of the mobile device and the target posture. The instruction types of the initial control instruction include a first linear velocity and a second linear velocity that are perpendicular to each other, and an angular velocity of the mobile device. Afterwards, the controller 112 may determine the steering condition based on the first linear velocity and a preset steering angle threshold, and constrain the second linear velocity and the angular velocity based on the steering condition to ensure that the steering angle of the mobile device is not too large when the mobile device is traveling at the constrained second linear velocity and the constrained angular velocity. Finally, the controller 112 may determine the target control instruction based on the constrained second linear velocity and the constrained angular velocity, and control the mobile device to adjust to the target posture according to the target control instruction.

[0031] In other examples, the controller 112 may be located outside the mobile device 110, such as being a device independent of the mobile device 110. Exemplarily, the controller 112 may include at least one of a logic controller, a machine vision controller, a motion controller, and the like.

[0032] It should be understood that the above application scenario examples are only shown to facilitate understanding of the spirit and principle of the present application, and the embodiments of the present application are not limited thereto. On the contrary, the embodiments of the present application can be applied to any scenario that may be applicable.

[0033] Exemplary Methods

[0034] Figure 2 Shown is a flow chart of a mobile device control method provided by an exemplary embodiment of the present application. Figure 2 The method can be specifically executed by a mobile device, a smart terminal deployed in the mobile device, a server interacting with the mobile device, and other electronic devices. For the convenience of description, the mobile device executing the mobile device control method is taken as an example for explanation.

[0035] like Figure 2 As shown, the mobile device control method may include the following contents.

[0036] 210: Determine an initial control instruction according to a difference between a current posture of the mobile device and a target posture, wherein the initial control instruction includes a first linear velocity, a second linear velocity, and an angular velocity, wherein the first linear velocity is perpendicular to the second linear velocity.

[0037] In some embodiments, the mobile device may be a multi-wheeled vehicle such as a three-wheeled vehicle or a four-wheeled vehicle, and the mobile device controls the movement of the mobile device by controlling the steering wheel motors corresponding to each wheel, thereby performing a task. The tasks performed by the mobile device usually have a corresponding target posture, which can be pre-set. During the movement of the mobile device, the posture corresponding to the mobile device will change in real time as the movement proceeds. Therefore, the movement of the mobile device can usually be controlled based on the difference between the current posture of the mobile device and the target posture to complete the task.

[0038] Exemplarily, the mobile device may determine its own posture at the current moment as the current posture. Further, the mobile device may determine the target posture corresponding to the task performed by the mobile device. Based on the current posture and the target posture, the mobile device may determine the difference between the current posture and the target posture.

[0039] In some embodiments, taking the longitudinal movement of the mobile device as an example, if the center of the mobile device is the origin, the direction in which the head of the mobile device is facing is the X-axis direction, and the direction perpendicular to the direction in which the head of the mobile device is facing is the Y-axis direction, then the direction of the first linear velocity may be the X-axis direction, and the first linear velocity may be v x Similarly, the second linear velocity can be v y , the angular velocity can be w.

[0040] In one example, the initial control instruction can be determined only by the difference between the current posture and the target posture, that is, the direction from the current posture to the target posture is used as the driving direction of the mobile device at the next moment, and the initial control instruction is determined according to the difference between the current posture and the target posture. The initial control instruction is used to indicate the speed component in each direction.

[0041] In one example, the initial control instruction is determined not only by the gap between the current posture and the target posture, but also by the control instructions of the mobile device at each historical moment during the execution of the task. The mobile device can take the gap between the current posture and the target posture as input, and input it into a pre-set proportional-integral-derivative controller (PID, Proportional-Integral-Derivative Control), and the PID controller outputs instructions according to the input gap. The instruction output by the PID controller can be an initial control instruction. Among them, the PID controller can usually determine the output result at the current moment based on the gap of the current input, the degree of accumulation of the gap over time, and the rate of change of the gap at each historical moment. The degree of accumulation of the gap over time and the rate of change of the gap at each historical moment are determined according to the control instructions at each historical moment and the gap at each historical moment. For each historical moment, the gap at the historical moment is the gap between the posture of the mobile device at the historical moment and the target posture.

[0042] 220: Determine a steering condition based on the first linear velocity and a preset steering angle threshold, update the second linear velocity and angular velocity based on the matching results between the second linear velocity and angular velocity and the steering condition, and determine a target control instruction based on the updated second linear velocity and the updated angular velocity.

[0043] In some embodiments, the steering angle threshold may be the maximum steering angle that the mobile device itself can achieve or the maximum steering angle set according to actual needs / experience of technicians. The mobile device may determine the steering condition according to the first linear velocity and the preset steering angle threshold. After determining the steering condition, the second linear velocity and the angular velocity are updated respectively according to the steering condition, so as to determine the target control instruction according to the updated second linear velocity and the updated angular velocity.

[0044] The steering condition is used to indicate, when the first linear velocity is the direction of the head of the mobile device, within what value range the second linear velocity and the angular velocity can ensure that the steering angle of the mobile device does not exceed the steering angle threshold.

[0045] 230: Control the mobile device according to the target control instruction.

[0046] In one or more embodiments provided in this specification, after obtaining the target control instruction, the mobile device can control the mobile device to move, thereby completing the task execution.

[0047] The embodiment of the present application provides a method for controlling a mobile device, which determines an initial control instruction according to the difference between the current posture of the mobile device and the target posture during the movement of the mobile device, and then determines the steering condition according to the first linear velocity in the initial control instruction and the preset steering angle threshold, and then constrains the angular velocity and the second linear velocity perpendicular to the first linear velocity according to the steering condition, so as to determine the target control instruction, and finally controls the mobile device according to the target control instruction. In this way, the embodiment of the present application can ensure that the mobile device can move in a direction perpendicular to the direction of the head of the mobile device while moving along the direction of the head of the mobile device during the movement. In the case where the longitudinal difference between the current posture and the target posture is small and the lateral difference is large, the mobile device can be adjusted to the target posture without adjusting the driving direction of the mobile device multiple times, thereby improving the control efficiency of the mobile control process.

[0048] Furthermore, the solution of the embodiment of the present application can constrain the second linear velocity (lateral velocity) according to the steering angle threshold, so that the lateral velocity can be quickly generated under certain circumstances, thereby improving the mobile control capability of the mobile device. In addition, for scenes with a small longitudinal gap, the solution of the embodiment of the present application can improve the mobile control accuracy to a certain extent.

[0049] According to one embodiment of the present application, step 210 may include: determining an initial control instruction based on a first gap, a second gap and a third gap between the current posture and the target posture, wherein the first gap is the gap along the first linear velocity direction, the second gap is the gap along the second linear velocity direction, and the third gap is the posture gap.

[0050] In one example, the target posture and the current posture may be located in the same coordinate system. For example, the same coordinate system may be a Cartesian coordinate system with the mobile device as the origin, or a Cartesian coordinate system with the starting position corresponding to the task as the origin.

[0051] In another example, the target posture and the current posture may also be located in different coordinate systems. In this case, the mobile device needs to project the current posture to the coordinate system where the target posture is located, or project the target posture to the coordinate system where the current posture is located, or project the current posture and the target posture to another coordinate system, so as to obtain the target posture and the current posture located in the same coordinate system, and then determine the difference between the current posture and the target posture.

[0052] In one example, the current posture and the target posture are represented in the form of a formula, and the current posture can be P act (x act ,y act , Θ act ), the target pose can be P ref (xref ,y ref ,θ ref ), the difference between the current pose and the target pose can be e = P ref -P act Among them, x act and act Represents the horizontal and vertical coordinates of the current pose in the coordinate system, Θ act represents the orientation of the mobile device at the current location (e.g., the orientation of the vehicle head). Similarly, x ref and ref Represents the horizontal and vertical coordinates of the target pose in the coordinate system, θ ref Characterizes the orientation of the mobile device at the target location.

[0053] In one example, by moving the mobile device toward the current location θ act and the orientation of the mobile device at the target location θ ref The gap between θ and θ can determine the third gap of the mobile device, and the third gap can be the posture gap. That is, θ act and θ ref Thus, through the posture difference, the mobile device can determine the initial angular velocity in the initial control instruction of the mobile device.

[0054] In one example, the mobile device may determine a first gap, a second gap, and a third gap between the current posture and the target posture. The first gap may be a gap along a first linear velocity direction, and the first linear velocity direction may be a direction perpendicular to the direction of the head of the mobile device (in this case, the first gap may be referred to as a lateral gap), or a direction parallel to the direction of the head of the mobile device (in this case, the first gap may be referred to as a longitudinal gap). The second gap may be a gap along a second linear velocity direction, and the second linear velocity is perpendicular to the first linear velocity. The third gap is a gap in angular velocity.

[0055] The mobile device can input the first gap, the second gap and the third gap into the PID controller respectively, and obtain the first linear velocity, the second linear velocity and the angular velocity respectively output by the PID controller as the initial control instruction. The first linear velocity can be v x =PID(e x ), the second linear velocity can be v y =PID(e y ), the angular velocity can be w=PID(e w ).

[0056] In one example, the controller used to determine the initial control instruction may also be a neural network controller (Neural Network Control), a sliding mode controller (SMC), a feedback linearization controller (Feedback Linearization Control), etc. This specification does not limit which controller the mobile device uses to obtain the initial control instruction.

[0057] In this embodiment, the first gap, second gap and third gap respectively corresponding to the current posture and the target posture are determined from the first linear velocity, the second linear velocity and the orientation, and then the initial control instruction is determined according to the first gap, the second gap and the third gap. While ensuring the positioning accuracy, the first linear velocity, the second linear velocity and the angular velocity in the initial control instruction can also correspond to the first gap, the second gap and the third gap, and the determination process is more intuitive and efficient.

[0058] According to an embodiment of the present application, in a multi-wheel control system, accurate control of a mobile device can be achieved through reasonable calculation and adjustment. In the process of the mobile device performing a task, the steering angle of the mobile device is usually affected by the magnitude of the velocity component in the direction perpendicular to the direction of the head of the mobile device. Therefore, as long as the second linear velocity, that is, the velocity component in the direction perpendicular to the direction of the mobile device is constrained, it can be ensured that the mobile device can move in the direction perpendicular to the direction of the head of the mobile device, and will not cause unexpected situations due to excessive speed in the direction perpendicular to the direction of the head of the mobile device. At the same time, because the linear velocity needs to be converted into angular velocity during the steering process of the mobile device, and the angular velocity is relied on to control the steering of the mobile device, the mobile device can also constrain the angular velocity based on the steering condition. Based on this, in step 220, the mobile device can determine the steering condition based on the steering angle threshold, and constrain the second linear velocity and angular velocity according to the steering condition.

[0059] Specifically, the mobile device may determine the turning condition according to the first linear velocity in the control instruction and the preset turning angle threshold. Afterwards, the mobile device may match the second linear velocity and the angular velocity with the turning condition respectively to obtain a matching result. The matching result may be whether the second linear velocity and the angular velocity meet the turning condition. The mobile device may update the second linear velocity and the angular velocity respectively according to the matching result to obtain an updated second linear velocity and angular velocity. Finally, the mobile device may determine the target control instruction according to the updated second linear velocity and angular velocity.

[0060] The turning condition can be used to indicate the range of the second linear velocity and the angular velocity for the mobile device to travel normally when the speed in the direction in which the head of the mobile device is facing is the first linear velocity, that is, the turning angle of the mobile device at the next moment is less than the turning angle threshold.

[0061] In one example, the steering angle threshold may be the maximum steering angle that the mobile device itself can reach, which is affected by factors such as the design, mechanical structure and safety restrictions of the mobile device, and can usually be predetermined based on the above factors. In other words, once the steering angle of the mobile device exceeds the steering angle threshold, the safety of the mobile device may be questionable.

[0062] In one example, the steering angle threshold value can also be pre-set by the user based on the maximum steering angle that the mobile device can achieve. The corresponding value is usually smaller than the maximum steering angle that the mobile device can achieve, so as to avoid the situation where the steering angle of the mobile device exceeds the steering angle threshold value during actual driving.

[0063] In this embodiment, by determining the turning condition and constraining the second linear velocity and angular velocity based on the turning condition, it is ensured that the mobile device can move in a direction perpendicular to the direction of the head of the mobile device, and does not cause unexpected situations or inability to move due to excessive speed in the direction perpendicular to the direction of the head of the mobile device, thereby ensuring the safety and reliability of the mobile device control process.

[0064] According to an embodiment of the present application, the steering angle threshold includes a first steering angle threshold, and the first steering angle threshold is used to characterize the range of the steering angle of the mobile device under the influence of the second linear velocity. Step 220 may include: determining a linear velocity threshold of the mobile device during the steering process according to the first linear velocity and the first steering angle threshold, and determining a first steering condition according to the linear velocity threshold, wherein the first steering condition is used to indicate that when the mobile device travels according to the first linear velocity and the second linear velocity matching the first steering condition, the steering angle of the mobile device is less than the first steering angle threshold.

[0065] In one example, the angular velocity of the mobile device when turning can be given by the sum of the first linear velocity and the second linear velocity. Therefore, the mobile device can directly determine the linear velocity threshold based on the first linear velocity threshold and the preset first steering angle threshold, and then determine the first steering condition corresponding to the second linear velocity based on the linear velocity threshold. The first steering condition is used to constrain the second linear velocity. When the mobile device travels according to the first linear velocity and the second linear velocity matching the first steering condition, the steering angle of the mobile device is less than the first steering angle threshold.

[0066] In one example, if Figure 3 shown. Figure 3FIG. 1 is a schematic diagram of a scene in which a mobile device moves according to an exemplary embodiment of the present application. x For example, if v is the speed in the direction of the mobile device's head, then y is the speed in the direction perpendicular to the direction of the head of the mobile device, then according to the first steering angle threshold θ1, the line speed threshold v can be determined th , then according to the linear speed threshold, the mobile device can determine the first turning condition.

[0067] In one example, the first turning condition may be: in, Used to characterize the combined velocity.

[0068] In one example, the first turning condition may be: vy ≥v y ≥-U vy , where v y Used to characterize the second linear velocity, U vy It may be determined according to a linear speed threshold or according to a first steering angle threshold and a first linear speed.

[0069] In one example, the first steering angle threshold θ1 may be a steering angle threshold. In another example, the first steering angle threshold θ1 may be a portion of the steering angle threshold.

[0070] In this embodiment, the first turning condition is determined by the first linear velocity and the preset first turning angle threshold, so that the second linear velocity can be subsequently updated according to the matching result of the first turning condition and the second linear velocity. Furthermore, the angular velocity can be updated according to the matching result of the first turning condition and the angular velocity, and the determined first turning condition ensures that the turning angle of the mobile device when turning does not exceed the preset first turning angle threshold, thereby avoiding the instability of the mobile device caused by excessive turning angles, and further ensuring safety. In addition, by defining the turning condition through the preset linear velocity threshold, the design of the control algorithm can be simplified. This method provides a clear reference framework for the control system, which is easy to implement and maintain.

[0071] According to an embodiment of the present application, since the directions in which the mobile device turns during the execution of a task generally include "turning to the left" and "turning to the right", the linear speed threshold in the turning condition may generally include an upper threshold and a lower threshold of the linear speed. When the mobile device determines the speed constraint of the second linear speed, the speed constraint may also include an upper threshold and a lower threshold. Therefore, step 220 may include: determining the speed constraint corresponding to the second linear speed according to the first turning condition, the speed constraint including the upper threshold and the lower threshold of the second linear speed, if it is determined according to the matching result that the second linear speed does not match the speed constraint, then determining a threshold close to the second linear speed from the upper threshold and the lower threshold corresponding to the speed constraint as the updated second linear speed.

[0072] In one example, the turning condition includes a first turning condition, and the first turning condition may include a linear speed threshold. Then, the mobile device may determine a speed constraint on a second linear speed in the first turning condition according to the linear speed threshold in the first turning condition. The speed constraint includes an upper threshold and a lower threshold of the second linear speed. Then, the mobile device may determine a matching result between the second linear speed and the speed constraint. The speed constraint may be specifically [-U vy , U vy ], where U vy is the upper threshold of the second linear velocity, -U vy is the lower threshold of the second linear speed. If the matching result is a match, the mobile device can directly use the second linear speed as the updated second linear speed. If the matching result is a mismatch, the mobile device can determine a threshold close to the second linear speed from the upper threshold and the lower threshold included in the speed constraint as the updated second linear speed. The updated second linear speed can be represented as

[0073]

[0074] In another example, the first turning condition may include a threshold value U of the second linear velocity. vy , the mobile device can directly determine the speed constraint [-U vy , U vy ],.

[0075] In one example, U vy Specific vy =|v x tan(θ1)|This formula is obtained.

[0076] In another example, U vy Specific vy =v th The formula sin(θ1) is obtained.

[0077] In one example, the mobile device may use U w =|v th | / R and B=0.5(H+L / tan(θ2)) are used to determine the angular velocity threshold and match the angular velocity with the angular velocity threshold. Wherein, H is the width of the mobile device, L is the length of the mobile device, θ2 is the maximum steering angle that the mobile device can reach, and B is the minimum turning radius of the mobile device. By assigning B to R, the angular velocity threshold of the mobile device can be obtained. It should be noted that the minimum turning radius B is related to the structure of the mobile device itself, that is, the minimum turning radius is the minimum turning radius that can be achieved during the turning process of the mobile device.

[0078] In this embodiment, the upper threshold and the lower threshold of the second linear velocity are set to constrain the second linear velocity, which can prevent the mobile device from generating excessive lateral acceleration when turning, thereby avoiding rollover, loss of control or other potential safety problems, and further ensuring the driving safety of the mobile device.

[0079] According to an embodiment of the present application, according to the angular velocity determination formula w=v / R, it can be known that, when the speed is determined, the smaller the turning radius, the greater the angular velocity, and the larger the turning radius, the smaller the angular velocity. When the mobile device is turning, an excessive angular velocity may cause the mobile device to roll over. Therefore, the angular velocity of the mobile device needs to be constrained. Based on this, the steering angle threshold also includes a second steering angle threshold, and the second steering angle threshold is used to characterize the range of the steering angle under the influence of the angular velocity. Specifically, step 220 may also include: determining the target turning radius of the mobile device according to the linear velocity threshold and the second steering angle threshold, determining the angular velocity threshold according to the target turning radius, the first steering angle threshold, the second steering angle threshold and the linear velocity threshold, and determining the second steering condition according to the angular velocity threshold, the second steering condition is used to indicate that when the mobile device is traveling at an angular velocity matching the second steering condition, the turning radius of the mobile device is greater than or equal to the target turning radius.

[0080] In one example, the steering angle threshold may include a second steering angle threshold θ2. The second steering angle threshold θ2 is used to characterize the maximum steering angle that the mobile device itself can reach, which is affected by factors such as vehicle design, mechanical structure, and safety restrictions, and can usually be predetermined based on the above factors. In this case, the first steering angle threshold θ1 can be a manually given preset value, which can be used to characterize the maximum angle that the mobile device can deflect under the influence of the first linear velocity and the second linear velocity, and θ1 is usually smaller than θ2.

[0081] In one example, the aforementioned minimum turning radius B only specifies the minimum turning radius that can be achieved during the turning process of the mobile device. However, during the turning process of the mobile device, due to the influence of factors such as the first linear velocity and the second linear velocity, the direction of the angular velocity of the mobile device at each moment will change. Therefore, the size of the turning radius of the mobile device at each moment will also change. Figure 4 shown. Figure 4 A schematic diagram of a steering scenario provided in an embodiment of this specification. Figure 4 In the figure, the rectangle is the mobile device itself, point O is the center point of the mobile device, and the shaded area in the figure is the area between v y In the direction, the area where the steering center of the mobile device can fall can usually be obtained based on the position of each steering wheel of the mobile device and the second steering angle threshold θ2. Figure 4 In the figure, the specific angle value of ∠1 is θ2, the specific angle value of ∠5 is θ1, similarly, the specific angle values ​​of ∠3 and ∠2 are also θ2, and the specific angle value of ∠4 is θ2-θ1. After determining the second linear velocity, the actual total velocity of the mobile device is also determined. Usually, the turning center of the mobile device can be located in a direction perpendicular to the total velocity of the mobile device. Therefore, it can be determined that The vertical straight line is used as the straight line where the turning center is located. The intersection of this straight line and the shaded area can be the intersection of the combined speed The position of the turning center corresponding to the minimum turning radius under the influence is point D shown in the figure. In this way, the minimum turning radius of the mobile device under the influence of the combined speed can be determined as OD, which is used as the target turning radius R.

[0082] In one example, after determining the target turning radius R, according to the sine theorem and Figure 4 , we can get the following formula: sinθ2 / R=sin(θ2-θ1) / B. w =|v th | / R, it can be seen that U w =|v th |sin(θ2-θ1) / Bsinθ2. In this way, the maximum angular velocity of the mobile device when the turning radius is the target turning radius is obtained, that is, the angular velocity threshold U w .

[0083] In one example, the second turning condition may be: w ≥w≥-U w , where w is used to represent the angular velocity.

[0084] It should be noted that Figure 4 For example, if θ1=θ2, then the resultant velocity With v xThe angle is θ2, that is, the total velocity The direction is the same as that of OE. Then the straight line where the steering center of the mobile device is located is the straight line of OH perpendicular to OE, and the intersection of OH and the shadow area is the minimum steering center of the mobile device. Obviously, OH and the shadow area will not intersect, or in other words, if the intersection of OH and the shadow area is at infinity, then the steering center of the mobile device is also at infinity. Therefore, the value of the first steering angle threshold θ1 is usually set artificially, and θ1 is usually smaller than θ2.

[0085] In this embodiment, by considering the turning radius and angular velocity of the mobile device when turning, and then setting a second turning condition for constraining the angular velocity of the mobile device, the driving safety of the mobile device can be further ensured.

[0086] According to an embodiment of the present application, similar to the second linear velocity, the angular velocity also has its corresponding direction (two directions of "turning to the left" and "turning to the right"), so the angular velocity threshold in the turning condition can generally also include an upper threshold and a lower threshold of the angular velocity. Therefore, step 220 may include: according to the second turning condition, determining an angular velocity constraint corresponding to the angular velocity, the angular velocity constraint including an upper threshold and a lower threshold of the angular velocity, if the angular velocity does not match the angular velocity constraint, then determining a threshold close to the angular velocity from the upper threshold and the lower threshold included in the angular velocity constraint as the updated angular velocity.

[0087] In one example, the turning condition further includes a second turning condition. The mobile device may determine the angular velocity constraint in the turning condition according to the angular velocity threshold in the second turning condition. The angular velocity constraint includes an upper threshold and a lower threshold of the angular velocity. Afterwards, the mobile device may determine a matching result between the angular velocity and the angular velocity constraint. The angular velocity constraint may specifically be [-U w ,U w ]. If the matching result is a match, the mobile device can directly use the angular velocity as the updated angular velocity. If the matching result is a mismatch, the mobile device can determine a threshold value close to the angular velocity from the upper threshold value and the lower threshold value included in the angular velocity constraint as the updated angular velocity. The updated angular velocity can be represented as

[0088]

[0089] In this embodiment, by setting upper and lower limits for the angular velocity, the mobile device can be prevented from having an angular velocity that is too fast or too slow when turning, thereby avoiding loss of control or instability. This improves the safety of the overall operation and further ensures the driving safety of the mobile device.

[0090] According to one embodiment of the present application, step 230 may include: determining the speed corresponding to each steering wheel according to the target control instruction, the position of the steering center of the mobile device and the position of each steering wheel of the mobile device, and controlling the steering wheel motors corresponding to each steering wheel according to the speed corresponding to each steering wheel to control the mobile device.

[0091] In one example, the mobile device may determine the turning center of the mobile device ( Figure 4 The steering center is the position around which all steering wheels rotate, and it determines the direction and trajectory of the entire system. Figure 5 shown. Figure 5 The figure shows a scene diagram of a mobile device turning according to an exemplary embodiment of the present application. Figure 5 In the figure, point O is the center of the mobile device, and point D is the steering center. After determining the steering center, the mobile device can determine the travel direction corresponding to each steering wheel according to the position of the steering wheel of the mobile device and the position of the steering center. The positions of the four endpoints of the rectangle in the figure are the positions of the four steering wheels of the mobile device. According to the connection line between each steering wheel and the steering center, the speed direction of each steering wheel can be determined, that is, the direction of the arrows at the four positions of steering wheel 1, steering wheel 2, steering wheel 3, and steering wheel 4 in the figure. At the same time, for each steering wheel, the target control instruction and The steering wheel is input into the controller corresponding to the steering wheel, and the target speed corresponding to the steering wheel output by the controller is obtained, that is, the speed size. Finally, according to the speed direction and target speed corresponding to each steering wheel, the mobile device can control each steering wheel motor respectively to control the movement of the mobile device.

[0092] In one example, the mobile device may send a target control instruction and As input, it is input into a controller for determining the speed corresponding to each steering wheel, and the target speed corresponding to each steering wheel output by the controller is obtained.

[0093] In this embodiment, by calculating the steering center and determining the speed direction and magnitude required for each steering wheel based on the center and the position of each steering wheel, more precise control of the vehicle can be achieved.

[0094] It should be noted that the above process is based on the v x The direction of the head of the mobile device is used as an example for explanation, but in actual process, the v x The direction of may be a direction perpendicular to the head direction of the mobile device, and v yThe direction may be the head orientation of the mobile device, that is, the mobile device may also constrain the first linear velocity and angular velocity according to the second linear velocity and a preset steering angle threshold. The specific constraint process may refer to the above description, and this specification does not limit this.

[0095] Figure 6 Shown is a flow chart of a mobile device control method provided by another exemplary embodiment of the present application. Figure 6 The embodiment is Figure 2 For the example of the embodiment, in order to avoid repetition, the same points can be referred to the description in the above embodiment, which will not be repeated here. Figure 6 As shown, the mobile device control method may include the following contents.

[0096] 610: Determine the current pose of the mobile device.

[0097] 620: Determine the first gap, the second gap and the third gap respectively corresponding to the current posture and the target posture, and determine the initial control instruction according to the first gap, the second gap and the third gap. The initial control instruction includes a first linear velocity, a second linear velocity and an angular velocity, the first linear velocity is perpendicular to the second linear velocity, the first gap is the gap in the direction of the first linear velocity, the second gap is the gap in the direction of the second linear velocity, and the third gap is the orientation gap.

[0098] 630: Determine a first turning condition and a second turning condition according to the first linear speed and a preset turning angle threshold.

[0099] 640: Update the second linear velocity according to the matching result between the second linear velocity and the first turning condition.

[0100] 650: Update the angular velocity according to the matching result between the angular velocity and the second steering condition.

[0101] 660: Determine a target control instruction according to the updated second linear velocity and the updated angular velocity.

[0102] 670: Control the mobile device according to the target control instruction.

[0103] The execution order of the above steps 610-670 can be adjusted as needed. And the above steps 610-670 can refer to the description of steps 210-230 in this specification, and this specification will not repeat them. The mobile device control method provided in the embodiment of the present application can realize the control of the mobile device to move to the target posture.

[0104] Exemplary Devices

[0105] Figure 7FIG. 7 is a schematic diagram of a structure of a mobile device control device 700 provided by an exemplary embodiment of the present application. Figure 7 As shown, the mobile device control apparatus 700 includes: a determination module 710 , an update module 720 and a control module 730 .

[0106] The determination module 710 is used to determine the initial control instruction according to the gap between the current posture of the mobile device and the target posture, the initial control instruction includes a first linear velocity, a second linear velocity and an angular velocity, the first linear velocity is perpendicular to the second linear velocity, the update module 720 is used to determine the steering condition according to the first linear velocity and a preset steering angle threshold, and update the second linear velocity and angular velocity according to the matching results of the second linear velocity and angular velocity with the steering condition respectively, and determine the target control instruction according to the updated second linear velocity and the updated angular velocity, and the control module 730 is used to control the mobile device according to the target control instruction.

[0107] The embodiment of the present application provides a mobile device control device, which determines the initial control instruction according to the difference between the current posture of the mobile device and the target posture during the movement of the mobile device, and then determines the steering condition according to the first linear velocity in the initial control instruction and the preset steering angle threshold, and then constrains the angular velocity and the second linear velocity perpendicular to the first linear velocity according to the steering condition, so as to determine the target control instruction, and finally controls the mobile device according to the target control instruction. In this way, the embodiment of the present application can ensure that the mobile device can move in a direction perpendicular to the direction of the head of the mobile device while moving along the direction of the head of the mobile device during the movement. In the case where the longitudinal difference between the current posture and the target posture is small and the lateral difference is large, the mobile device can be adjusted to the target posture without adjusting the driving direction of the mobile device multiple times, thereby improving the control efficiency of the mobile control process.

[0108] According to one embodiment of the present application, the determination module 710 is used to determine the initial control instruction based on the first gap, the second gap and the third gap between the current posture and the target posture, wherein the first gap is the gap along the first linear velocity direction, the second gap is the gap along the second linear velocity direction, and the third gap is the posture gap.

[0109] According to an embodiment of the present application, the steering angle threshold includes a first steering angle threshold; the first steering angle threshold is used to characterize the range of the steering angle of the mobile device under the influence of the second linear velocity. Update module 720: used to determine the linear velocity threshold of the mobile device during the steering process according to the first linear velocity and the first steering angle threshold, and determine the first steering condition according to the linear velocity threshold, the first steering condition is used to indicate that when the mobile device is traveling according to the first linear velocity and the second linear velocity matching the first steering condition, the steering angle of the mobile device is less than the first steering angle threshold.

[0110] According to an embodiment of the present application, the steering angle threshold also includes a second steering angle threshold; the second steering angle threshold is used to characterize the range of the steering angle of the mobile device under the influence of the angular velocity. Update module 720: used to determine the target steering radius of the mobile device according to the linear velocity threshold and the second steering angle threshold, and determine the angular velocity threshold according to the target steering radius, the first steering angle threshold, the second steering angle threshold and the linear velocity threshold; determine the second steering condition according to the angular velocity threshold, and the second steering condition is used to indicate that when the mobile device travels at an angular velocity matching the second steering condition, the steering radius of the mobile device is greater than or equal to the target steering radius.

[0111] According to an embodiment of the present application, the updating module 720 is used to determine a speed constraint corresponding to the second linear speed according to the first turning condition, the speed constraint including an upper threshold and a lower threshold of the second linear speed. If it is determined according to the matching result that the second linear speed does not match the speed constraint, then a threshold close to the second linear speed is determined from the upper threshold and the lower threshold corresponding to the speed constraint as the updated second linear speed.

[0112] According to one embodiment of the present application, the updating module 720 is used to determine an angular velocity constraint corresponding to the angular velocity according to the second steering condition, the angular velocity constraint including an upper threshold value and a lower threshold value of the angular velocity. If the angular velocity does not match the angular velocity constraint, a threshold value close to the angular velocity is determined from the upper threshold value and the lower threshold value included in the angular velocity constraint as the updated angular velocity.

[0113] According to an embodiment of the present application, the control module 730 is used to determine the steering center of the mobile device according to the target control instruction, and determine the speed direction corresponding to each steering wheel according to the position of the steering center and the position of each steering wheel of the mobile device. For each steering wheel, the target control instruction is input into the controller of the steering wheel motor corresponding to the steering wheel, and the speed output by the controller is obtained as the target speed of the steering wheel. According to the speed direction and target speed corresponding to each steering wheel, each steering wheel motor is controlled separately to control the mobile device.

[0114] An embodiment of the present application further provides a mobile device, which includes a control module, and the control module is used to execute the mobile device control method provided in any of the above embodiments.

[0115] In some embodiments, the mobile device may be a robot with a steering wheel, or a vehicle or other device that uses a steering wheel to move. Specifically, the mobile device further includes at least three steering wheels, and the at least three steering wheels are all active wheels.

[0116] The operation and functions of the mobile device provided in the embodiments of the present application can refer to the above Figure 2 or Figure 6The description of the mobile device control method provided in the embodiment will not be repeated here to avoid repetition.

[0117] Figure 8 The block diagram of an electronic device 800 for executing a mobile device control method provided by an exemplary embodiment of the present application is shown. The electronic device 800 may be a mobile device, a control device of a mobile device, a server or other device interacting with a mobile device.

[0118] Reference Figure 8 , the electronic device 800 includes a processing component 810, which further includes one or more processors, and a memory resource represented by a memory 820 for storing instructions executable by the processing component 810, such as an application. The application stored in the memory 820 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 810 is configured to execute instructions to perform the above-mentioned mobile device control method.

[0119] The electronic device 800 may also include a power supply component configured to perform power management of the electronic device 800, a wired or wireless network interface configured to connect the electronic device 800 to a network, and an input / output (I / O) interface. The electronic device 800 may be operated based on an operating system stored in the memory 820, such as Windows Server 2000. TM , Mac OSX TM , Unix TM , Linux TM , FreeBSD TM or similar.

[0120] A non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a processor of the electronic device 800, enables the electronic device 800 to execute a mobile device control method.

[0121] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, and will not be described one by one here.

[0122] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example 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 performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0123] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0124] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0125] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0126] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0127] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program check codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0128] It should be noted that, in the description of this application, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0129] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0130] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling a mobile device, characterized in that: include: Determining an initial control instruction according to a difference between a current posture of the mobile device and a target posture, wherein the initial control instruction includes a first linear velocity, a second linear velocity, and an angular velocity, wherein the first linear velocity is perpendicular to the second linear velocity; Determining a steering condition according to the first linear velocity and a preset steering angle threshold, updating the second linear velocity and the angular velocity according to matching results between the second linear velocity and the angular velocity and the steering condition, and determining a target control instruction according to the updated second linear velocity and the updated angular velocity; The mobile device is controlled according to the target control instruction.

2. The mobile device control method according to claim 1, characterized in that: The step of determining the initial control instruction according to the difference between the current posture of the mobile device and the target posture comprises: Determining the initial control instruction according to a first gap, a second gap, and a third gap between the current posture and the target posture; The first gap is the gap along the first linear velocity direction, the second gap is the gap along the second linear velocity direction, and the third gap is the posture gap.

3. The mobile device control method according to claim 1, characterized in that: The steering angle threshold comprises a first steering angle threshold; the first steering angle threshold is used to characterize the range of the steering angle of the mobile device under the influence of the second linear velocity, The determining of the steering condition according to the first linear speed and a preset steering angle threshold comprises: Determining a linear velocity threshold of the mobile device during a steering process according to the first linear velocity and the first steering angle threshold; A first turning condition is determined according to the linear speed threshold, wherein the first turning condition is used to indicate that when the mobile device travels according to the first linear speed and a second linear speed matching the first turning condition, the steering angle of the mobile device is less than the first steering angle threshold.

4. The mobile device control method according to claim 3, characterized in that: The steering angle threshold also includes a second steering angle threshold; the second steering angle threshold is used to characterize the range of the steering angle of the mobile device under the influence of angular velocity; The step of determining the steering condition according to the first linear velocity and a preset steering angle threshold value further includes: determining a target turning radius of the mobile device according to the linear speed threshold and the second turning angle threshold, determining an angular velocity threshold according to the target turning radius, the first turning angle threshold, the second turning angle threshold, and the linear velocity threshold; A second turning condition is determined according to the angular velocity threshold, where the second turning condition is used to indicate that when the mobile device travels at an angular velocity matching the second turning condition, a turning radius of the mobile device is greater than or equal to the target turning radius.

5. The mobile device control method according to claim 3, characterized in that: According to the matching result of the second linear speed and the turning condition, updating the second linear speed includes: determining, according to the first turning condition, a speed constraint corresponding to the second linear speed, the speed constraint comprising an upper threshold and a lower threshold of the second linear speed; If it is determined according to the matching result that the second linear velocity does not match the velocity constraint, a threshold value close to the second linear velocity is determined from the upper threshold value and the lower threshold value corresponding to the velocity constraint as the updated second linear velocity.

6. The mobile device control method according to claim 4, characterized in that: According to the matching result of the angular velocity and the steering condition, the angular velocity is updated, including: determining an angular velocity constraint corresponding to the angular velocity according to the second steering condition, the angular velocity constraint comprising an upper threshold and a lower threshold of the angular velocity; If the angular velocity does not match the angular velocity constraint, a threshold value close to the angular velocity is determined from an upper threshold value and a lower threshold value included in the angular velocity constraint as the updated angular velocity.

7. The mobile device control method according to claim 1, characterized in that: The step of controlling the mobile device according to the target control instruction includes: Determining the speeds corresponding to the steering wheels according to the target control instruction, the position of the steering center of the mobile device and the positions of the steering wheels of the mobile device; According to the speeds corresponding to the steering wheels, the steering wheel motors corresponding to the steering wheels are controlled respectively to control the mobile device.

8. A mobile device, characterized in that: It comprises a control module, and the control module is used to execute the mobile device control method according to any one of claims 1 to 7.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor, The processor is used to execute the mobile device control method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the mobile device control method according to any one of claims 1 to 7.

11. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor of a computer device, the computer device is enabled to execute the mobile device control method according to any one of claims 1 to 7.

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