Smart mobile device and mobile control method therefor

Abstract

According to the intelligent mobile device and the movement control method used for the intelligent mobile device, the actual driving direction of the corresponding steering angular velocity instruction output according to the specific operation position is turned according to the operation position, corresponding to the user control signal, on the control assembly, and the movement direction of the intelligent mobile device is corrected in time. Therefore, the intelligent mobile device can be controlled to execute the function of the mower in the specific areas identified in the front, back, left and right directions in an original four-direction mode; and on the basis, the operation of the mower can be more intuitively controlled continuously through the direction of the universal control, so that the control modes of the mower are more diversified. The control mode provided by the invention is more in line with the conventional use habits of the user, and the controllability and interactivity of the user are more friendly.

Description

Technical Field

[0001] The present application relates to the technical field of garden tools, and in particular to an intelligent mobile device and a mobile control method therefor. Background Art

[0002] In recent years, there have been more and more applications of intelligent robots that do not require human intervention, such as smart lawn mowers, smart pool cleaners, cleaning robots, etc. These products have freed people's hands, saved time, and made human life more convenient and better.

[0003] Before the intelligent robot can work autonomously, it needs to control the movement of the machine by remote control to build a work map. For intelligent mowing, this process is usually controlled by an APP, so that the machine movement depends on the speed V and steering angle velocity ω provided in the instructions sent by the APP. In this process, the combination of V and ω provided by the instructions includes driving the machine to move in four directions: forward, backward, left, and right, as well as in four combined directions: forward left, front right, rear left, and rear right.

[0004] For intelligent mobile systems such as lawn mowing robots, the robot kinematic model is usually constructed based on the two-wheel differential speed. Figure 1 In this model, since the movement of the robot depends on the speed difference between the left and right wheels of the machine body, the movement direction of the machine is opposite to the actual control direction during the movement. Generally speaking, the speed and angular velocity values ​​corresponding to the forward, backward, left and right movements of the machine are V>0 and ω=0, V<0 and ω=0, V=0 and ω<0, V=0 and ω>0, which are consistent with the APP control direction; however, when ω and V are not 0 at the same time, the movement direction of the machine is opposite to the actual control direction:

[0005] With the machine head direction as the positive direction of the Y axis and the right-hand side X axis positive direction, a plane rectangular coordinate system is established. When V>0 and ω=0, it is the positive direction of the Y axis. V=0 and ω>0 is the positive direction of the X axis. V>0 and ω>0, V>0 and ω<0, V<0 and ω<0, V<0 and ω>0 correspond to the four quadrants I, II, III, and IV of the rectangular coordinate system respectively. For example: APP sends the command V=30, ω=-10. According to the formula, the speed of the left wheel VL of the machine is greater than the speed of the right wheel VR, so the movement quadrant of the machine is to the right front and to the first quadrant of the plane rectangular coordinate system. This direction is opposite to the actual expected direction of the user. When the APP sends the command V=-30, ω=-10, it is obtained that the VL speed is less than VR. The movement direction of the machine is in the left rear direction and to the third quadrant of the plane rectangular coordinate system. At this time, the movement direction of the machine is the same as the actual expected direction of the user.

[0006] As the product enters the market and has more and more users, the drive system based on the drive wheel differential will keep the direction consistent with the user's expectations in some cases, but in other cases it will be opposite to the direction expected by the user. This phenomenon makes the user feedback of unfriendly use more obvious and the problem more prominent, so it is urgent to solve it. Summary of the invention

[0007] In view of the deficiencies of the prior art, the present application provides an intelligent mobile device and a mobile control method therefor. The present application combines the control of the lawn mower in four directions (front, back, left, and right) with the universal control method by corresponding the operation instructions of different areas to different command outputs, making the control of the machine more flexible. In the universal control mode, the present application matches different command output modes for the upper and lower areas according to the different areas operated by the user, effectively solving the problem of reverse movement of the machine caused by the differential control model. The present application specifically adopts the following technical solutions.

[0008] Firstly, to achieve the above-mentioned purpose, a mobile control method for an intelligent mobile device is proposed, the steps of which include: receiving a user's control signal, and when the operation position corresponding to the control signal is located in a first interval of the control component, outputting a corresponding speed instruction V and a steering angular velocity instruction ω according to the operation position to drive the intelligent mobile device to operate; when the operation position corresponding to the control signal is located in a second interval of the control component, outputting a corresponding speed instruction V according to the operation position, and at the same time reversing the direction of the steering angular velocity instruction ω corresponding to the operation position, outputting a steering angular velocity instruction of -ω, and driving the intelligent mobile device to operate; wherein, the first interval corresponds to an operation range for driving the intelligent mobile device to operate backward; and the second interval corresponds to an operation range for driving the intelligent mobile device to operate forward.

[0009] Optionally, the mobile control method for an intelligent mobile device as described in any of the above further includes the following steps: when the operation position corresponding to the control signal is located in a first area preset in the middle of the first interval, the corresponding speed command V and the steering angular velocity command of ω=0 are output to drive the intelligent mobile device to operate; when the operation position corresponding to the control signal is located in a second area preset in the middle of the second interval, the corresponding speed command V and the steering angular velocity command of ω=0 are output to drive the intelligent mobile device to operate; when the operation position corresponding to the control signal is located in a third area preset on one side between the first interval and the second interval, the speed command V=0 and the steering angular velocity command of ω<0 are output to drive the intelligent mobile device to operate; when the operation position corresponding to the control signal is located in a fourth area preset on the other side between the first interval and the second interval, the speed command V=0 and the steering angular velocity command of ω>0 are output to drive the intelligent mobile device to operate.

[0010] Optionally, in a mobile control method for an intelligent mobile device as described in any of the above, when the steering angular velocity instruction ω>0, the speed of driving the right walking wheel of the intelligent mobile device is greater than the speed of driving the left walking wheel thereof; when the steering angular velocity instruction ω<0, the speed of driving the left walking wheel of the intelligent mobile device is greater than the speed of driving the right walking wheel thereof.

[0011] Optionally, in any of the above-described mobile control methods for intelligent mobile devices, when the intelligent mobile device is driven to run, the rotation speed Vl of the left running wheel and the rotation speed Vr of the right running wheel are determined specifically in the following manner: ,in, It is the distance between the walking wheels on both sides and the center position of the smart mobile device.

[0012] Optionally, in any of the above-described mobile control methods for a smart mobile device, the operation direction corresponding to the control signal triggered by the user corresponds to the direction of the front of the vehicle and the left and right wheels when the smart mobile device is running.

[0013] At the same time, in order to achieve the above-mentioned purpose, the present application also provides an intelligent mobile device, which is communicatively connected to a control component, and an operation area for receiving user operations is provided on the control component; the control component responds to the user's operation signal, and when the operation position corresponding to the operation signal is located in the first interval of the control component, the control component outputs a corresponding speed instruction V and a steering angular velocity instruction ω according to the operation position, so as to drive the intelligent mobile device to operate; and when the operation position corresponding to the operation signal is located in the second interval of the control component, the control component outputs a corresponding speed instruction V according to the operation position, and at the same time reverses the direction of the steering angular velocity instruction ω corresponding to the operation position, and outputs a steering angular velocity instruction of -ω, so as to drive the intelligent mobile device to operate.

[0014] Optionally, in any of the above-described smart mobile devices, four direction marks of up, down, left and right are provided in the operation area, wherein up corresponds to the direction of the front of the vehicle when the smart mobile device is in operation, left corresponds to the direction of the left wheel when the smart mobile device is in operation, right corresponds to the direction of the right wheel when the smart mobile device is in operation, and down corresponds to the direction of the rear of the vehicle when the smart mobile device is in operation; the positions of the four direction marks of up, down, left and right in the operation area are taken as the center of a circle, and the corresponding area in the operation area is set according to a preset area radius: when the operation position is in the first area corresponding to the lower mark, the corresponding speed command V and the steering angular velocity command of ω=0 are output to drive the smart mobile device to operate; when the operation position is in the second area corresponding to the upper mark, the corresponding speed command V and the steering angular velocity command of ω=0 are output to drive the smart mobile device to operate; when the operation position is in the third area corresponding to the left mark, the speed command V of V=0 and the steering angular velocity command of ω<0 are output to drive the smart mobile device to operate; when the operation position is in the fourth area corresponding to the right mark, the speed command V of V=0 and the steering angular velocity command of ω>0 are output to drive the smart mobile device to operate.

[0015] Optionally, in any of the above smart mobile devices, the first interval corresponds to an area between the left and right markers and a lower marker; and the second interval corresponds to an area between the left and right markers and an upper marker.

[0016] Optionally, in any of the above smart mobile devices, the control component is a touch screen area provided by a remote controller or an application paired with the smart mobile device.

[0017] Optionally, in any of the above-described intelligent mobile devices, the control component drives the intelligent mobile device to operate in the following manner: when the speed command V>0, the wheels on the left and right sides of the intelligent mobile device are driven to rotate forward; when the speed command V<0, the wheels on the left and right sides of the intelligent mobile device are driven to rotate reversely; when the steering angular velocity command ω>0, the speed of the right running wheel of the intelligent mobile device is driven to be greater than the speed of the left running wheel; when the steering angular velocity command ω<0, the speed of the left running wheel of the intelligent mobile device is driven to be greater than the speed of the right running wheel; wherein the speed Vl of the left running wheel and the speed Vr of the right running wheel of the intelligent mobile device are jointly determined by Specifically determined, where It is the distance between the walking wheels on both sides and the center position of the smart mobile device.

[0018] Beneficial Effects

[0019] The intelligent mobile device and the mobile control method for the same provided by the present application, according to the operation position on the control component corresponding to the user control signal, the actual driving direction of the corresponding steering angular velocity instruction output according to the operation position is reversed. When the user operates the intelligent mobile device to move forward, the user's control of the device steering angle is output to the mobile system in the opposite driving direction; and when the user operates the intelligent mobile device to move backward, the user's control of the device steering angle is output to the mobile system in a completely corresponding and consistent manner. In this way, the present application can timely correct the situation that when the movement direction of the intelligent mobile device deflects to the left front direction and to the right front direction, the direction of the device movement is opposite to the expected vehicle body driving direction corresponding to the operation position when the user actually operates; and at the same time, when the user drives the device to move to the left rear or right rear, the driving direction is the same as the expected vehicle body driving direction corresponding to the operation position when the user actually operates. Therefore, the present application can control the intelligent mobile device to perform the lawn mower function in the original four-way manner in the specific areas marked by the front, back, left and right; and on this basis, continue to control the lawn mower operation more intuitively through the direction of the universal control, so that the machine control method is more diverse. The control method provided by this application is not only more in line with the user's conventional usage habits, but also can make the user controllability and interactivity more user-friendly.

[0020] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings:

[0022] Figure 1 It is a schematic diagram of the two-wheel chassis motion analysis used by the smart mobile device of the present application;

[0023] Figure 2 It is an interactive flow chart of mobile control instructions of the smart mobile device of the present application;

[0024] Figure 3 It is a schematic diagram of the movement direction of the intelligent mobile device in the plane rectangular coordinate system when V and ω are non-zero;

[0025] Figure 4 It is a schematic diagram of the relationship between V and ω and the movement direction of the smart mobile device when V and ω exist at zero speed;

[0026] Figure 5 It is a schematic diagram of different control modes of the control components of the smart mobile device of the present application. DETAILED DESCRIPTION

[0027] In order to make the purpose and technical solution of the embodiment of the present application clearer, the technical solution of the embodiment of the present application will be clearly and completely described in conjunction with the drawings of the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, not all of the embodiments. Based on the described embodiment of 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.

[0028] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0029] The meaning of "and / or" described in this application means that the situations where each exists alone or both exist at the same time are included.

[0030] The meaning of "inside" and "outside" in this application refers to the direction pointing to the inside of the device as inside, and the opposite direction as outside, relative to the smart mobile device itself; it is not a specific limitation on the device mechanism of this application.

[0031] The meaning of "left and right" in this application refers to that when a user is facing the direction of travel of the smart mobile device, the left side of the user is left and the right side of the user is right, rather than a specific limitation on the device mechanism of this application.

[0032] The term “connection” as used in this application may mean a direct connection between components or an indirect connection between components via other components.

[0033] The meaning of "up" and "down" in this application refers to that when a user is facing the control component, the upper side of the user's field of vision is up, and the reverse side is down, rather than a specific limitation on the device mechanism of this application.

[0034] Figure 3 A smart mobile device according to the present application is connected to a control component, which is generally configured as a remote controller paired with the smart mobile device, and an application that can interact and communicate with the smart mobile device via Bluetooth or a wireless network. The application or remote controller generally provides a touch screen area or other forms of response area as an operation area to receive user operation actions and respond to them as corresponding user control signals, thereby adjusting the operation state of the smart mobile device accordingly based on the control signal.

[0035] In this application, the smart mobile device can generally be configured as a lawn mower robot, a pool cleaning robot, a cleaning robot, etc. It is generally provided with at least one Figure 1 The two sets of running wheel drive systems shown in the figure. Among them, the running wheel on the left side of the vehicle body can be driven independently, and Vl drives the equipment to run; the running wheel on the right side of the vehicle body can be driven independently, and Vr drives the equipment to run. The distance between the running wheel on the left side of the vehicle body and the central axis of the vehicle body structure, and the distance between the running wheel on the right side of the vehicle body and the central axis of the vehicle body structure can be set to L. Therefore, the forward speed V of the entire vehicle body can be controlled by Accurately calculate the steering angular velocity ω of the vehicle body through Accurately calculated.

[0036] Regardless of which of the aforementioned control interaction modes is adopted by the smart mobile device, its control component can respond to the user's control signal. When the operation position corresponding to the control signal is located in the first interval of the control component, for example, Figure 3 , Figure 4 When the negative Y-axis area or the lower side of the X-axis is shown, the corresponding speed command V and the steering angular velocity command ω are output according to the operation position to drive the intelligent mobile device to operate; and when the operation position corresponding to the control signal is located in the second interval of the control component, for example, corresponding to Figure 3 , Figure 4 When it is in the positive Y-axis area or on the upper side of the X-axis as shown, the corresponding speed command V is output according to the operating position, and at the same time, the direction of the steering angular velocity command ω corresponding to the operating position is reversed, and a steering angular velocity command of -ω is output to drive the intelligent mobile device to operate.

[0037] Therefore, this application can Figure 5 On the control component panel shown, when the user wants to drive the device forward in the direction of the nose, the forward arrow is triggered to output a driving instruction of V>0 to the device to make the device move forward; when the user wants to drive the device backward to the rear side of the nose, the backward arrow is triggered to output a driving instruction of V<0 to the device to make the device move backward; when the user wants to drive the device to turn to the left side of the nose, the left arrow is triggered to output a driving instruction of ω<0 to the device, so that the right driving wheel of the device rotates faster and the left driving wheel rotates slower, thereby achieving a left turn; when the user wants to drive the device to turn to the right side of the nose, the right arrow is triggered to output a driving instruction of ω>0 to the device, so that the left driving wheel of the device rotates faster and the right driving wheel rotates slower, thereby achieving a right turn.

[0038] When the user wants to drive the device to the left front of the nose, the user can output a drive instruction of V>0 and ω<0 to the device by triggering the position between the forward arrow and the left arrow. However, this instruction is based on Figure 3The conventional drive mode shown will cause the device to deflect to the right front. Figure 5 The upper half of the control component panel shown, that is, the operating range corresponding to driving the intelligent mobile device forward is set to the second interval. When the operating position corresponding to the control signal is in the second interval of the control component, the corresponding speed instruction V is output according to the operating position, and the direction of the steering angular velocity instruction ω corresponding to the operating position is reversed, and the steering angular velocity instruction of -ω is output to drive the intelligent mobile device to run. Therefore, when the user wants to drive the device to turn to the right front of the nose, the drive instruction of V>0 and ω>0 is output to the device by triggering the position between the right arrow and the forward arrow. At this time, since the operating position corresponding to the control signal is still in the second interval of the control component, the steering angular velocity in the above-mentioned operating instruction will be reversed according to the operating position, and the steering angular velocity instruction of -ω is output, and the speed instruction V corresponding to the operating position is kept unchanged, and the left and right side running wheels of the intelligent mobile device are driven forward at the same time, and the speed of the right running wheel is kept greater than the left driving wheel to realize the left front deflection of the vehicle body.

[0039] On the contrary, when the user wants to drive the device to move backward to the left rear of the tail, the position between the backward arrow and the left arrow can be triggered to output a driving instruction of V<0 and ω<0 to the device. Since the operation position corresponding to the instruction is within the first interval of the control component, the steering angular velocity in the above operation instruction does not need to be inverted. Figure 3 The traditional driving mode shown will cause the device to deflect to the left rear. Similarly, when the user wants to drive the device to turn to the right rear of the nose, the position between the right arrow and the rear arrow is triggered to output a driving instruction of V<0 and ω>0 to the device. At this time, since the operating position corresponding to the control signal is still within the first interval of the control component, the steering angular velocity in the above operating instruction does not need to be reversed. The device can directly drive the left and right side running wheels of the smart mobile device according to the obtained steering angular velocity instruction of ω. While reversing backward, the rotation speed of the left running wheel of the vehicle body is kept greater than the rotation speed of the right driving wheel to achieve the right rear deflection of the vehicle body.

[0040] The reason why the above control strategy can make up for the confusion caused by the existing drive instructions is that:

[0041] refer to Figure 1

[0042] Two-wheel differential control model When ω=0, the machine V (machine speed) = Vl (left wheel speed) = Vr (right wheel speed), that is, the machine moves in a straight line. When ω! = 0 and Vl! = Vr, there is a phenomenon that the machine moves along a curve.

[0043] Among them, the rotational speed of the drive wheel on the right side of the vehicle body Vr = V + ω * L / 2, and the rotational speed of the drive wheel on the left side of the vehicle body Vl = V - ω * L / 2. Thus, the device can determine the actual movement direction of the machine according to the absolute value and relative difference between Vr and Vl in the state where ω != 0.

[0044] Reference Figure 2

[0045] The user can interact with the machine through the APP. The APP and the machine are connected through a Bluetooth data link, and the APP transmits V and ω required for the machine movement to the machine through Bluetooth. However, in this process, due to Figure 3 The driving state of ω shown in the state where V > 0 is Figure 4 opposite to the driving state of ω shown in Figure 3 while the driving state of ω shown in the state where V < 0 is Figure 4 the same as the driving state of ω shown in Figure 5 Therefore, in this application, the front part of the control component shown in

[0046] is set to reverse or take the negative of the steering angular velocity command of ω, while the rear part of the control component is set to not make any adjustment to the steering angular velocity command of ω.

[0046] At this time, referring to Figure 3 and 4 the following conclusions can be drawn according to the derivation formula measured above:

[0047] When ω = 0, when V > 0, the lawn mower moves forward, and at this time Vl = Vr, driving the wheels on both sides of the intelligent mobile device to rotate forward; when V < 0, the lawn mower moves backward, and at this time Vl = Vr, driving the wheels on both sides of the intelligent mobile device to rotate in reverse;

[0048] When V = 0, when ω > 0, the lawn mower makes a right turn in place, Vl = -Vr, and when ω < 0, the lawn mower makes a left turn in place, and at this time Vl = -Vr;

[0049] When ω > 0 and V > 0, Vl < Vr, and the lawn mower moves forward to the left;

[0050] When ω > 0 and V < 0, VL > Vr, and the lawn mower moves backward to the right;

[0051] When ω < 0 and V > 0, VL > Vr, and the lawn mower moves forward to the right;

[0052] When ω < 0 and V < 0, VL < Vr, and the lawn mower moves backward to the left.

[0053] Based on this, the present application can set corresponding up, down, left, and right four direction marks for the operation area corresponding to the smart mobile device in a more preferred manner, wherein the up corresponds to the direction of the front of the vehicle when the smart mobile device is running, the left corresponds to the direction of the left wheel when the smart mobile device is running, the right corresponds to the direction of the right wheel when the smart mobile device is running, and the down corresponds to the direction of the rear of the vehicle when the smart mobile device is running;

[0054] In order to improve the convenience of operation, it is generally necessary to take the positions of the four direction marks of the upper, lower, left and right in the operation area as the center of the circle, and set the corresponding area in the operation area according to the preset area radius:

[0055] When the operating position is located in the first area corresponding to the lower mark, the corresponding speed command V and the steering angle speed command of ω=0 are output to drive the intelligent mobile device to operate;

[0056] When the operating position is located in the second area corresponding to the upper mark, the corresponding speed command V and the steering angle speed command of ω=0 are output to drive the intelligent mobile device to operate;

[0057] When the operating position is located in the third area corresponding to the left mark, a speed command V of V=0 and a steering angular velocity command of ω<0 are output to drive the intelligent mobile device to operate;

[0058] When the operating position is located in the fourth area corresponding to the right mark, a speed command V of V=0 and a steering angular velocity command of ω>0 are output to drive the intelligent mobile device to operate;

[0059] At the same time, the first interval corresponds to the area between the left and right marks and the lower mark; the second interval corresponds to the area between the left and right marks and the upper mark. When the speed command V>0, the steering angular velocity command ω is negated in the second area, and while driving the wheels on the left and right sides of the intelligent mobile device to rotate forward, the wheels on the left and right sides are driven in the opposite direction of the driving direction of the touch position corresponding to the command to generate a differential speed so as to drive the device to the direction corresponding to the touch position while moving forward; when the speed command V<0, the steering angular velocity command ω is not negated in the first area, and while driving the wheels on the left and right sides of the intelligent mobile device to rotate forward, the wheels on the left and right sides are directly driven in the driving direction of the touch position corresponding to the command to generate a differential speed so as to drive the device to turn while moving backward.

[0060] When V=0, when the steering angular velocity command ω>0, the speed of the right running wheel of the intelligent mobile device can be driven to be greater than the speed of the left running wheel;

[0061] When V=0, when the steering angular velocity command ω<0, the speed of the left running wheel of the intelligent mobile device can be directly driven to be greater than the speed of the right running wheel;

[0062] During the above process, the rotational speed Vl of the left walking wheel and the rotational speed Vr of the right walking wheel of the intelligent mobile device are jointly determined by wherein, is the distance between the two walking wheels and the central position of the intelligent mobile device.

[0063] For specific reference, Figure 5 in this application, the mower control joystick can be divided into 6 regions in the custom View, namely the front, rear, left, right, the upper region of the universal control, and the lower region of the universal control. When a certain region is clicked, the other regions are unavailable and in a grayed-out state.

[0064] Among them, the front, rear, left, and right can be directly triggered by the four-way control: their operation regions correspond to four regions drawn with a certain distance as the radius with 4 points as the prototype. In this four-way control:

[0065] The upward arrow region is the forward control. At this time, the value sent by the APP to the mower is V>0, ω=0.

[0066] The downward arrow region is the reverse control. At this time, the value sent by the APP to the mower is V<0, ω=0.

[0067] The left arrow region is the left turn control. At this time, the value sent by the APP to the mower motor is V=0, ω<0.

[0068] The right arrow region is the right turn control. At this time, the value sent by the APP to the mower motor is V=0, ω>0.

[0069] Among them, the universal control used to drive the device to deflect synchronously during walking: its operation region divides the control into two regions with the horizontal symmetry axis of the control as the boundary: the upper region and the lower region;

[0070] Upper region: When the touched point is greater than the Y value of the horizontal symmetry axis, it enters the upper half region;

[0071] Lower region: When the touched point is less than the Y value of the horizontal symmetry axis, it enters the lower half region;

[0072] Among them, for the lower region, V<0 (ω<0 or ω>0) and the third and fourth quadrants of the screen rectangular coordinate system. At this time, in the third quadrant, Vl<Vr, and the mower moves left and backward in the same direction as the actual direction. At this time, in the fourth quadrant, Vl>Vr, and the mower moves right and backward in the same direction as the actual direction;

[0073] However, for the upper region where V > 0 (ω < 0 or ω > 0) and the first and second quadrants of the screen rectangular coordinate system, at this time, in the first quadrant where VL < Vr, the lawn mower moves forward to the left, which is opposite to the actual direction. At this time, in the second quadrant where Vl > Vr, the lawn mower moves forward to the right, which is opposite to the actual direction. When touching the upper region, the ω value transmitted to the machine is inverted, that is, ω = -ω, so as to achieve the consistency between the control direction and the machine movement direction.

[0074] Thus, the present application can make the operation orientation corresponding to the manipulation signal triggered by the user consistent with the orientation of the front of the vehicle head and the left and right wheels when the intelligent mobile device is running in the following manner:

[0075] Define Figure 5 the upper part of the control component shown as the second region, and define the lower part of the control component as the first region. When the operation position corresponding to the manipulation signal is in the first region preset in the middle of the first interval, output the corresponding speed command V and the steering angular velocity command with ω = 0 to drive the intelligent mobile device to run;

[0076] When the operation position corresponding to the manipulation signal is in the second region preset in the middle of the second interval, output the corresponding speed command V and the steering angular velocity command with ω = 0 to drive the intelligent mobile device to run;

[0077] When the operation position corresponding to the manipulation signal is in the third region preset on the left side of the middle between the first interval and the second interval, output the speed command V with V = 0 and the steering angular velocity with ω < 0, and drive the rotation speed of the left walking wheel of the intelligent mobile device to be greater than that of its right walking wheel, and drive the intelligent mobile device to run with the command;

[0078] When the operation position corresponding to the manipulation signal is in the fourth region preset on the right side of the middle between the first interval and the second interval, output the speed command V with V = 0 and the steering angular velocity with ω > 0, and drive the rotation speed of the right walking wheel of the intelligent mobile device to be greater than that of its left walking wheel to drive the intelligent mobile device to run.

[0079] In summary, through the selective inversion of the steering angle of the present application, it is possible to effectively control the lawn mower in the original four-way manner and also control the lawn mower through the universal control, making the machine control method more diverse. The present application can effectively solve the situation of misoperation through the inversion of the steering angular velocity command, making the practical use of the mowing equipment conform to the normal use habits, and making the user control and interactivity more friendly.

[0080] The above is only an implementation method of the present application, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present application. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application.

Claims

1. A mobile control method for a smart mobile device, characterized in that the steps include: Receive a control signal from a user, and when the operation position corresponding to the control signal is in the first interval of the control component, output a corresponding speed instruction V and a steering angular velocity instruction ω according to the operation position to drive the intelligent mobile device to operate; When the operation position corresponding to the control signal is in the second interval of the control component, a corresponding speed instruction V is output according to the operation position, and at the same time, the direction of the steering angular speed instruction ω corresponding to the operation position is reversed, and a steering angular speed instruction of -ω is output to drive the intelligent mobile device to operate; The first interval corresponds to an operation range of driving the smart mobile device to run backwards; The second interval corresponds to an operation range for driving the smart mobile device to move forward.

2. The mobile control method for a smart mobile device according to claim 1, characterized in that: The following steps are also included: When the operation position corresponding to the control signal is located in a first area preset in the middle of the first interval, a corresponding speed command V and a steering angular velocity command of ω=0 are output to drive the intelligent mobile device to operate; When the operation position corresponding to the control signal is located in a second area preset in the middle of the second interval, a corresponding speed command V and a steering angular velocity command of ω=0 are output to drive the intelligent mobile device to operate; When the operation position corresponding to the control signal is located in a third area preset between the first interval and the second interval and biased to one side, a speed command V of V=0 and a steering angular velocity command of ω<0 are output to drive the intelligent mobile device to operate; When the operation position corresponding to the control signal is located in a fourth area preset between the first interval and the second interval and biased toward the other side, a speed instruction V of V=0 and a steering angular velocity instruction of ω>0 are output to drive the intelligent mobile device to operate.

3. The mobile control method for a smart mobile device according to claim 1, characterized in that: When the steering angular velocity instruction ω>0, the speed of the right running wheel of the intelligent mobile device is driven to be greater than the speed of the left running wheel thereof; When the steering angular velocity instruction ω<0, the rotation speed of the left running wheel of the intelligent mobile device is driven to be greater than the rotation speed of the right running wheel thereof.

4. The mobile control method for a smart mobile device according to claim 1, characterized in that: When the intelligent mobile device is driven to run, the rotation speed Vl of the left running wheel and the rotation speed Vr of the right running wheel are determined in the following manner: ,in, It is the distance between the walking wheels on both sides and the center position of the smart mobile device.

5. The mobile control method for an intelligent mobile device according to claims 1 to 4, characterized in that: The operation direction corresponding to the control signal triggered by the user is consistent with the direction of the front of the vehicle and the wheels on the left and right sides when the smart mobile device is running.

6. A smart mobile device, characterized in that: The smart mobile device is communicatively connected with the control component, and the control component is provided with an operation area for receiving user manipulation; The control component responds to the user's control signal. When the operation position corresponding to the control signal is in the first interval of the control component, the control component outputs the corresponding speed instruction V and the steering angular velocity instruction ω according to the operation position to drive the intelligent mobile device to operate; and when the operation position corresponding to the control signal is in the second interval of the control component, the control component outputs the corresponding speed instruction V according to the operation position, and at the same time reverses the direction of the steering angular velocity instruction ω corresponding to the operation position, outputs a steering angular velocity instruction of -ω, and drives the intelligent mobile device to operate.

7. The intelligent mobile device according to claim 6, characterized in that: The operation area is provided with four direction marks of up, down, left and right, wherein up corresponds to the direction of the front of the vehicle when the smart mobile device is running, left corresponds to the direction of the left wheel when the smart mobile device is running, right corresponds to the direction of the right wheel when the smart mobile device is running, and down corresponds to the direction of the rear of the vehicle when the smart mobile device is running; The positions of the four direction marks of up, down, left and right in the operation area are taken as the center of the circle, and the corresponding areas in the operation area are set according to the preset area radius: When the operating position is located in the first area corresponding to the lower mark, the corresponding speed command V and the steering angle speed command of ω=0 are output to drive the intelligent mobile device to operate; When the operating position is located in the second area corresponding to the upper mark, the corresponding speed command V and the steering angle speed command of ω=0 are output to drive the intelligent mobile device to operate; When the operating position is located in the third area corresponding to the left mark, a speed command V of V=0 and a steering angular velocity command of ω<0 are output to drive the intelligent mobile device to operate; When the operating position is located in the fourth area corresponding to the right mark, a speed instruction V of V=0 and a steering angular velocity instruction of ω>0 are output to drive the intelligent mobile device to operate.

8. The intelligent mobile device according to claim 7, wherein: The first interval corresponds to the area between the left and right markers and the lower marker; the second interval corresponds to the area between the left and right markers and the upper marker.

9. The intelligent mobile device according to claim 8, characterized in that: The control component is a touch screen area provided by a remote controller or an application program paired with the smart mobile device.

10. The intelligent mobile device according to claims 1 to 9, characterized in that: The control component drives the intelligent mobile device to operate in the following manner: When the speed command V>0, the wheels on the left and right sides of the smart mobile device are driven to rotate forward. When the speed command V<0, the wheels on the left and right sides of the smart mobile device are driven to reverse. When the steering angular velocity command ω>0, the speed of the right running wheel of the intelligent mobile device is driven to be greater than the speed of the left running wheel thereof; When the steering angular velocity instruction ω<0, the speed of the left running wheel of the intelligent mobile device is driven to be greater than the speed of the right running wheel thereof; The speed Vl of the left running wheel and the speed Vr of the right running wheel of the smart mobile device are both given by It is determined that, It is the distance between the walking wheels on both sides and the center position of the smart mobile device.

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