Movement control method and device, electronic equipment, storage medium and load moving device

Abstract

The embodiment of the invention provides a movement control method and device, electronic equipment, a storage medium and a load moving device. The method comprises the following steps: acquiring environment data corresponding to a current scene in response to a trigger instruction; when the environment data has the corresponding priori path, controlling the load moving device to move based on the priori path; in the moving process of the load moving device, continuously collecting new environment data; and when the new environment data shows that the scene where the load moving device is located changes, planning a moving path of the load moving device in real time, and switching to control the load moving device to move based on the moving path planned in real time based on the transition strategy. The method is used for achieving the effects of ensuring the stable transition of the load moving device in the environment change period and ensuring the continuity and stability of the load moving device in the moving process.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a mobile control method, device, electronic device, storage medium, and load-carrying mobile device. Background Art

[0002] At present, load-bearing mobile devices are widely used in various industries. For example, in hospital scenarios, load-bearing mobile devices can be electric wheelchairs. In express delivery scenarios, load-bearing mobile devices can be express delivery robots. Load-bearing mobile devices can help people move heavy objects quickly and safely, thereby reducing the workload of staff and improving handling efficiency.

[0003] However, most common mobile load-carrying devices rely on single-path planning technology with a preset path to ensure safe and smooth navigation and operation. This approach typically relies on fixed path models or predefined navigation points. However, in real-world applications, the environment is complex and changing, involving obstacles, pedestrian traffic, terrain changes, and other factors. Single-path planning technology is difficult to flexibly adjust, which can lead to path mismatches or control imbalances in the mobile load-carrying device. This not only reduces the operational smoothness of the mobile load-carrying device, but can also increase energy consumption and affect its endurance. Summary of the Invention

[0004] The embodiments of the present application provide a mobile control method, device, electronic device, storage medium and load-carrying mobile device, which are used to achieve the effect of flexible switching path planning methods and ensure the smooth operation of the load-carrying mobile device.

[0005] In a first aspect, an embodiment of the present application provides a movement control method applied to a load-carrying mobile device, comprising:

[0006] In response to a trigger instruction, collecting environmental data corresponding to the current scene;

[0007] When the environmental data has a corresponding a priori path, controlling the load-moving device to move based on the a priori path;

[0008] During the movement of the load-carrying mobile device, new environmental data is continuously collected;

[0009] When new environmental data indicates that the scene in which the load-carrying mobile device is located has changed, the moving path of the load-carrying mobile device is planned in real time, and based on the transition strategy, the movement of the load-carrying mobile device is controlled by switching to the moving path based on the real-time planning.

[0010] In a possible implementation, the environmental data includes initial position information corresponding to the load-moving device;

[0011] After collecting the environmental data corresponding to the current scene, the method further includes:

[0012] Obtaining the terminal position information of the load-carrying mobile device;

[0013] Performing a similarity comparison between the initial position information and the terminal position information corresponding to the load-moving device and the path position information and the terminal position information corresponding to a plurality of pre-stored prior paths;

[0014] Based on the result of the similarity comparison, the prior path corresponding to the environmental data is determined.

[0015] In a possible implementation, controlling the movement of the load-moving device based on the a priori path includes:

[0016] Continuously collecting angular velocity and displacement information of the load-carrying mobile device;

[0017] Based on the angular velocity and the displacement information, obtaining predicted angular velocity and predicted displacement information of the load-moving device within a first preset time period;

[0018] Obtaining energy consumption parameter information of the load-carrying moving device;

[0019] The movement of the load-carrying moving device is controlled based on the predicted angular velocity, the predicted displacement information, the energy consumption parameter information, and the multiple path position information and terminal position information corresponding to the prior path.

[0020] In a possible implementation, controlling the movement of the load-moving device based on the a priori path further includes:

[0021] Continuously collecting angular velocity and displacement information of the load-carrying mobile device;

[0022] obtaining predicted position information of the load-moving device based on the angular velocity and the displacement information;

[0023] Based on the predicted position information, multiple path position information and terminal position information corresponding to the prior path, differential positioning compensation is performed on the load-carrying mobile device so that the actual moving path of the load-carrying mobile device conforms to the prior path.

[0024] In a possible implementation manner, after continuously collecting new environmental data during the movement of the load-moving device, the method further includes:

[0025] Continuously determining the scene in which the load-carrying mobile device is located based on continuously collected new environmental data;

[0026] When the change between the current scene of the load-carrying mobile device and the scene at the previous moment meets the preset scene change requirements, it is determined that the scene of the load-carrying mobile device has changed.

[0027] In a possible implementation, the switching based on the transition strategy to controlling the movement of the load-moving device based on the real-time planned movement path includes:

[0028] Obtaining real-time position information of the load-carrying mobile device and the starting position information of the real-time planned moving path;

[0029] Based on the real-time position information and the starting position information, a cubic spline curve is used to control the load-moving device to move from the real-time position to the starting position of the real-time planned moving path.

[0030] In a second aspect, an embodiment of the present application provides a mobile control device, comprising:

[0031] A first acquisition module, configured to acquire environmental data corresponding to the current scene in response to a trigger instruction;

[0032] A first control module is configured to control the movement of the load-moving device based on a priori path when the environmental data has a corresponding priori path;

[0033] A second collection module is used to continuously collect new environmental data during the movement of the load-carrying mobile device;

[0034] The second control module is used to plan the moving path of the load-carrying mobile device in real time when new environmental data indicates that the scene in which the load-carrying mobile device is located has changed, and based on a transition strategy, switch to controlling the movement of the load-carrying mobile device based on the moving path planned in real time.

[0035] In a third aspect, an embodiment of the present application provides a load-moving device, comprising a load-moving device body and a controller;

[0036] The controller is used to control the movement of the load-moving device body by adopting the method in the first aspect and / or various possible implementation methods of the first aspect.

[0037] In a fourth aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0038] The memory stores computer-executable instructions;

[0039] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0040] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementation methods of the first aspect.

[0041] The mobile control method, device, electronic device, storage medium and load-carrying mobile device provided in the embodiments of the present application can collect environmental information of the load-carrying mobile device and directly match the environmental information with the prior path, so that an existing path can be quickly selected to support the initial mobile control of the load-carrying mobile device, reducing the real-time calculation burden and improving the response speed. In addition, environmental data can be continuously collected during the movement of the load-carrying mobile device, so that changes in the environment can be captured in time. When the environment changes, the path can be planned in real time according to the actual environment, and the existing path can be switched to the real-time planned path to support the mobile control of the load-carrying mobile device, thereby avoiding the load-carrying mobile device from falling into obstacles or deviating from the target, so that the load-carrying mobile device can flexibly respond to emergencies in dynamic and complex environments, ensuring safety; and a transition strategy is adopted in the path switching process to ensure a smooth transition of the load-carrying mobile device during environmental changes, avoid abrupt movements, ensure the continuity and stability of the load-carrying mobile device during movement, and also ensure that the load of the load-carrying mobile device is safer and more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] Figure 1 A schematic diagram of a scenario for the mobile control method provided in this application;

[0044] Figure 2 A flow chart of the mobile control method provided in this application;

[0045] Figure 3 A schematic diagram of the structure of the mobile control device provided in this application;

[0046] Figure 4 This is a schematic diagram of the structure of the electronic device provided in this application.

[0047] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0048] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0049] The mobile control method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the terminal 102 communicates with the server 104 and the controller 106 provided on the load-carrying mobile device through the network.

[0050] For example, the movement control method is applied to terminal 102. After receiving a trigger command, terminal 102 can control an image acquisition device installed on a load-carrying mobile device via controller 106 to collect environmental data corresponding to the current scene. It then retrieves multiple a priori paths from the data storage system of server 106 and compares the environmental data with the multiple a priori paths. When the environmental data corresponds to a priori path, the load-carrying mobile device 106 is controlled to move based on the a priori path. Furthermore, during the movement of the load-carrying mobile device, controller 106 controls the image acquisition device installed on the load-carrying mobile device to continuously collect new environmental data. When the new environmental data indicates a change in the scene in which the load-carrying mobile device is located, terminal 102 performs real-time movement path planning for the load-carrying mobile device and, based on a transition strategy, switches to controlling the movement of the load-carrying mobile device based on the real-time planned movement path. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablet computers, and portable wearable devices. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. Server 104 can be implemented as a standalone server or a server cluster consisting of multiple servers. The terminal 102 and the server 104 may be connected directly or indirectly via wired or wireless communication, such as via a network connection.

[0051] For another example, the movement control method is applied to the server 104. After receiving the trigger instruction, the terminal 102 can send the trigger instruction to the server 104. The server 104 can control the image acquisition device installed on the load-carrying mobile device through the controller 106 to collect environmental data corresponding to the current scene; then obtain multiple prior paths from the data storage system and compare the environmental data with the multiple prior paths. When the environmental data has a corresponding prior path, the load-carrying mobile device 106 is controlled to move based on the prior path; further, during the movement of the load-carrying mobile device, the controller 106 controls the image acquisition device installed on the load-carrying mobile device to continuously collect new environmental data; when the new environmental data indicates that the scene in which the load-carrying mobile device is located has changed, the server 104 performs real-time planning of the movement path of the load-carrying mobile device and, based on the transition strategy, switches to controlling the movement of the load-carrying mobile device based on the real-time planned movement path. It is understandable that the data storage system can be an independent storage device, or the data storage system can be located on the server 104, or the data storage system can be located on another terminal.

[0052] For another example, the mobile control method is applied to the controller 106. After receiving the trigger instruction, the terminal 102 can send the trigger instruction to the controller 106. The controller 106 can collect environmental data corresponding to the current scene by controlling the image acquisition device set on the load-bearing mobile device; then obtain multiple prior paths from the data storage system of the server 106, and compare the environmental data with the multiple prior paths. When the environmental data has a corresponding prior path, the load-bearing mobile device 106 is controlled to move based on the prior path; further, during the movement of the load-bearing mobile device, new environmental data is continuously collected by controlling the image acquisition device set on the load-bearing mobile device; when the new environmental data indicates that the scene in which the load-bearing mobile device is located has changed, the controller 106 performs real-time planning of the movement path of the load-bearing mobile device and, based on the transition strategy, switches to controlling the movement of the load-bearing mobile device based on the real-time planned movement path. It should be noted that the controller 106 can be understood as another terminal.

[0053] In one embodiment, a mobile control method is provided. This embodiment uses the mobile control method applied to a terminal as an example for illustration. It is understandable that the mobile control method can also be applied to a server or a controller, or to a system including a terminal, a server, and a controller, and is implemented through the interaction between the terminal and the server. Figure 2 As shown, the movement control method includes:

[0054] Step 202: In response to the trigger instruction, collect environmental data corresponding to the current scene.

[0055] The trigger instruction refers to an instruction to collect scene data of the scene in which the load-carrying mobile device is currently located.

[0056] A load-carrying mobile device refers to an automated mechanical equipment that can carry and move loads such as goods and people, such as automatic guided vehicles, intelligent robots, and intelligent wheelchairs.

[0057] Among them, the trigger instruction can be issued by the user of the load-carrying mobile device through the human-computer interaction interface of the terminal. The human-computer interaction interface of the terminal can specifically display the platform interface pre-specified by the service provider for controlling the movement of the load-carrying mobile device. After the user enters or selects the end position that the load-carrying mobile device needs to go to in the designated platform interface, the trigger instruction can be issued by clicking a virtual button. It should be noted that the virtual button is used to instruct the control of the load-carrying mobile device to move to the above-mentioned end position.

[0058] In this embodiment, after receiving the trigger instruction, the terminal can generate an acquisition control instruction and send it to a controller set on the load-carrying mobile device. The controller then generates an image acquisition instruction and sends it to the image acquisition device set on the load-carrying mobile device to collect environmental data.

[0059] Image acquisition equipment refers to equipment capable of perceiving scene features and capturing images or videos. For example, it can be at least one of a laser radar (LiDAR), a camera, an ultrasonic sensor, an infrared sensor, or an inertial measurement unit (IMU) mounted on a load-carrying mobile device. The laser radar is used for precise distance measurement and to create a point cloud map of the current scene; the camera is used to capture scene images of the current scene to identify obstacles, static structures, dynamic objects, and terrain features; the ultrasonic sensor is used to detect obstacles at close range; the infrared sensor is used for environmental perception at night or in low-light conditions; and the IMU is used to provide feedback on the motion state and posture of dynamic objects.

[0060] Environmental data may include, for example, the location of obstacles and the distance between the obstacles and the load-carrying mobile device in the current scene, the density and movement status of surrounding static structures (such as walls, furniture, etc.), dynamic objects (such as pedestrians, other vehicles), terrain features (such as slope, ground material) and lighting conditions, etc.

[0061] Step 204: When the environmental data has a corresponding priori path, the load-moving device is controlled to move based on the priori path.

[0062] A priori path refers to known environmental path information pre-stored in a data storage system. It is typically based on the static structure of the environment and historical path data, serving as a reference route or navigation template for a mobile load carrier. A priori path may be formed from an indoor map, a loop trajectory, or a previously successful navigation path. A priori path can consist of a sequence of key locations, such as a starting point, multiple en route locations, and a final destination.

[0063] As an example, the terminal can obtain the current initial position information of the load-carrying mobile device captured by the image acquisition device and the terminal position information input by the user from the controller, and then obtain the relevant information of multiple pre-stored prior paths from the data storage system of the server. The terminal can then match the current initial position information of the load-carrying mobile device and the terminal position information input by the user with the starting position information, multiple path position information and terminal position information of each prior path. The matching method can, for example, use distance measurement, similarity scoring or feature matching algorithm (such as dynamic time warping DTW, least squares matching, etc.) to select the prior path that best matches the initial position information and terminal position information of the load-carrying mobile device.

[0064] Subsequently, the terminal generates corresponding movement control instructions based on the most consistent prior path and sends them to the controller. The controller generates corresponding adjustment instructions based on the movement control instructions and sends them to different motors on the load-bearing mobile device to adjust the steering, speed and motion trajectory of the load-bearing mobile device to ensure that the load-bearing mobile device moves smoothly along the selected prior path.

[0065] Step 206: Continuously collect new environmental data while the load-moving device is moving.

[0066] As an example, after generating a movement control instruction, the terminal can generate an acquisition control instruction at a preset frequency and send it to a controller set on the load-carrying mobile device. The controller then generates an image acquisition instruction and sends it to an image acquisition device set on the load-carrying mobile device to collect environmental data at a preset frequency.

[0067] Step 208: When the new environmental data indicates that the scene in which the load-carrying mobile device is located has changed, the moving path of the load-carrying mobile device is planned in real time, and based on the transition strategy, the movement of the load-carrying mobile device is switched to the moving path based on the real-time planning.

[0068] In this embodiment, the terminal can, for example, continuously determine the positions of obstacles in the two sets of environmental data, the distance information between the obstacles and the load-carrying mobile device, the movement status of surrounding static structures (such as walls, furniture, etc.), dynamic objects (such as pedestrians, other vehicles), terrain features (such as slope, ground material) and lighting conditions, etc., through the continuous collection of new environmental data, so as to perform scene difference analysis.

[0069] The transition strategy is designed to smooth the transition path switching process. When the terminal determines that the scene in which the load-carrying mobile device is located has changed, the terminal does not immediately jump to control the movement of the load-carrying mobile device according to the new path planned in real time. Instead, it adopts a gradual switching method to gradually transition to the new path based on real-time planning to control the movement of the load-carrying mobile device, thereby ensuring a smooth transition of the load-carrying mobile device during environmental changes, ensuring the continuity and stability of the load-carrying mobile device during movement, and ensuring that the load of the load-carrying mobile device is safer and more stable.

[0070] It should be noted that any path planning method can be used in the process of real-time planning of the moving path of the load-bearing mobile device based on the new environmental data, as long as the load-bearing mobile device can be guaranteed not to collide during the movement of the load-bearing mobile device according to the real-time planned moving path.

[0071] For example, the terminal may use the D Lite algorithm to continuously perform real-time planning of the moving path at a fixed frequency.

[0072] The above-mentioned mobile control method can collect environmental information of the load-bearing mobile device and directly match the environmental information with the prior path, so that an existing path can be quickly selected to support the initial mobile control of the load-bearing mobile device, reducing the real-time calculation burden and improving the response speed. In addition, it can continuously collect environmental data during the movement of the load-bearing mobile device, so that changes in the environment can be captured in time. When the environment changes, the path can be planned in real time according to the actual environment, and the existing path can be switched to the real-time planned path to support the mobile control of the load-bearing mobile device, thereby avoiding the load-bearing mobile device from falling into obstacles or deviating from the target, so that the load-bearing mobile device can flexibly respond to emergencies in dynamic and complex environments, ensuring safety; and a transition strategy is adopted in the path switching process to ensure the smooth transition of the load-bearing mobile device during environmental changes, avoid abrupt movements, ensure the continuity and stability of the load-bearing mobile device during movement, and also ensure that the load of the load-bearing mobile device is safer and more stable.

[0073] In some optional embodiments, the environmental data includes initial position information corresponding to the load-carrying moving device;

[0074] After step 202, the method further includes:

[0075] Obtaining the terminal position information of the load-carrying moving device;

[0076] Comparing the initial position information and the terminal position information corresponding to the load-carrying mobile device with the path position information and the terminal position information corresponding to the plurality of pre-stored prior paths for similarity;

[0077] Based on the results of the similarity comparison, the prior path corresponding to the environmental data is determined.

[0078] The terminal location information is used to indicate the location where the load-carrying mobile device needs to go. As an example, the terminal location information can be input by the user of the load-carrying mobile device through the human-computer interaction interface of the terminal. The user determines the terminal location information of the load-carrying mobile device by entering or selecting the location where the load-carrying mobile device needs to go in the specified platform interface.

[0079] The prior path includes the path location information corresponding to several locations passed through and the end location information corresponding to the final destination.

[0080] As an example, the terminal can calculate the distance between the initial position information corresponding to the load-bearing mobile device and any path position information corresponding to any prior path, and calculate the distance between the terminal position information corresponding to the load-bearing mobile device and the terminal position information corresponding to the prior path. When the distance between the initial position information corresponding to the load-bearing mobile device and any path position information corresponding to any prior path does not exceed the preset distance, and the distance between the terminal position information corresponding to the load-bearing mobile device and the terminal position information of the prior path corresponding to the path position information or any other path position information also does not exceed the preset distance, it is determined that the environmental data has a corresponding prior path; otherwise, it is determined that the environmental data does not have a corresponding prior path.

[0081] It should be noted that when there is no corresponding prior path in the environmental data, the terminal can directly plan the movement path of the load-carrying mobile device in real time, and control the movement of the load-carrying mobile device based on the real-time planned movement path.

[0082] The above-mentioned mobile control method can perform similarity comparison based on the actual position and target position of the load-carrying mobile device and multiple pre-stored prior paths, so as to quickly determine the prior path with the highest similarity to the movement process of the load-carrying mobile device, so that the load-carrying mobile device can move according to a reasonable and continuous existing path, reduce the calculation time of real-time path planning, and improve operational efficiency.

[0083] In some optional embodiments, step 204 includes:

[0084] Continuously collect angular velocity and displacement information of load-carrying mobile devices;

[0085] Based on the angular velocity and displacement information, obtaining predicted angular velocity and predicted displacement information of the load-moving device within a first preset time period;

[0086] Obtain energy consumption parameter information of load-carrying mobile devices;

[0087] The movement of the load-carrying moving device is controlled based on the predicted angular velocity, predicted displacement information, energy consumption parameter information, and multiple path position information and end point position information corresponding to the prior path.

[0088] As an example, the terminal can continuously monitor and record the angular velocity and displacement information of the load-carrying mobile device through sensors (such as gyroscopes and accelerometers) provided on the load-carrying mobile device. Furthermore, according to a preset frequency, the terminal can further predict the angular velocity and displacement information of the load-carrying mobile device based on the angular velocity and displacement information of the load-carrying mobile device after a first preset time period by using methods such as Kalman filtering and machine learning models. The preset frequency can be, for example, 2 seconds / time, and the first preset time period can be, for example, 0.5 seconds.

[0089] Energy consumption parameter information refers to data related to energy usage of the load-carrying mobile device, such as battery power consumption, motor energy consumption, energy efficiency, power usage, etc.

[0090] Furthermore, the terminal can guide and control the movement of the load-carrying mobile device based on the angular velocity and displacement information of the load-carrying mobile device, the predicted angular velocity and predicted displacement information of the load-carrying mobile device after the first preset time period, and the energy consumption parameter information of the load-carrying mobile device, such as adjusting the speed, steering, path deviation, etc., so that it moves along the optimal or matching path and finally reaches the required location.

[0091] As an example, the terminal may assign a weight of 60% to the load-carrying mobile device for following the prior path, a weight of 10% to saving energy consumption, and a weight of 30% to factors affecting stability such as adjusting speed and steering.

[0092] The above-mentioned mobile control method can adjust the control strategy in advance and optimize the path driving by predicting the movement state of the load-bearing mobile device after the first preset time period in the future, thereby preventing the actual moving path of the load-bearing mobile device from deviating from the corresponding prior path; and combined with the energy consumption parameter information, it can optimize power usage, so that the load-bearing mobile device can reduce unnecessary energy consumption while ensuring the operating effect.

[0093] In some optional embodiments, step 204 further includes:

[0094] Continuously collect angular velocity and displacement information of load-carrying mobile devices;

[0095] Based on the angular velocity and displacement information, the predicted position information of the load-carrying mobile device is obtained;

[0096] Based on the predicted position information, multiple path position information and terminal position information corresponding to the prior path, differential positioning compensation is performed on the load-carrying mobile device so that the actual moving path of the load-carrying mobile device conforms to the corresponding prior path.

[0097] Among them, the terminal can predict the specific position of the load-carrying mobile device at a certain moment in the future based on the current angular velocity and displacement information of the load-carrying mobile device, and then calculate the error between the predicted position information and the path position information and the end point position information on the prior path to obtain the position error and angle error. The angular velocity and moving distance of the load-carrying mobile device can be further adjusted based on the position error and angle error, so that the actual moving path of the load-carrying mobile device is as consistent as possible with the corresponding prior path.

[0098] It should be noted that the angular velocity of the load-carrying mobile device can be collected by an inertial measurement unit (IMU) mounted on the load-carrying mobile device, and the displacement information of the load-carrying mobile device can be collected by an odometer mounted on the load-carrying mobile device. However, due to the zero-bias drift of the IMU, the odometer can accumulate errors due to wheel slippage of the load-carrying mobile device or uneven ground conditions, and traditional dead reckoning can produce significant deviations over time. In this embodiment, the terminal can use a particle filter combined with a system resampling method to reduce the accumulated error of the odometer, thereby improving the positioning accuracy of the load-carrying mobile device.

[0099] The above-mentioned mobile control method can reduce the deviation caused by environmental interference and sensor errors through real-time prediction and differential compensation, ensuring that the actual moving path of the load-bearing mobile device is more consistent with the prior path, but it cannot significantly improve the navigation accuracy, path tracking capability and overall autonomy and safety of the load-bearing mobile device.

[0100] In some optional embodiments, after step 206, the following steps are further included:

[0101] Based on the continuously collected new environmental data, the load-carrying mobile device is continuously judged in which scene it is located;

[0102] When the change between the current scene of the load-carrying mobile device and the scene of the previous moment meets the preset scene change requirements, it is determined that the scene of the load-carrying mobile device has changed.

[0103] As an example, the terminal may determine whether the scene in which the load-carrying mobile device is located is a narrow scene or an open scene based on the static structures around the load-carrying mobile device contained in the environmental data at another preset frequency.

[0104] The preset scene change requirement is used, for example, to indicate that the scene in which the load-carrying mobile device is located changes from a narrow scene to an open scene.

[0105] When the terminal's latest judgment result is that the scene in which the load-carrying mobile device is located is an open scene, and the result of the previous judgment is that the scene in which the load-carrying mobile device is located is a narrow scene, it can be considered that the change between the current scene in which the load-carrying mobile device is located and the scene in which it was located at the previous moment meets the preset scene change requirements. At this time, it can be determined that the scene in which the load-carrying mobile device is located has changed.

[0106] The above-mentioned mobile control method can continuously collect environmental information around the load-carrying mobile device, so as to judge whether the scene in which the load-carrying mobile device is located has changed, so that the load-carrying mobile device can adjust its behavior according to the real-time changes in the environment, so as to improve the flexibility and adaptability of the mobile operation of the load-carrying mobile device.

[0107] In some optional embodiments, step 208 includes:

[0108] Obtaining the real-time location information of the load-carrying mobile device and the starting point location information of the real-time planned moving path;

[0109] Based on the real-time position information and the starting position information, a cubic spline curve is used to control the load-moving device to move from the real-time position to the starting position of the real-time planned moving path.

[0110] The cubic spline curve is a smooth interpolation method that inserts a continuous smooth curve between the real-time position information of the load-carrying mobile device and the starting position information of the real-time planned movement path, and can ensure the smoothness and controllability of the actual movement path of the load-carrying mobile device by constraining the continuity of the curvature of the curve.

[0111] The above-mentioned movement control method adopts a cubic spline curve, which can ensure the smoothness and continuity of the actual movement route of the load-carrying mobile device, avoid sudden turning or acceleration and deceleration of the load-carrying mobile device, reduce vibration and inertial impact, thereby ensuring the continuous change of the speed and acceleration of the load-carrying mobile device, reducing mechanical wear and energy waste, and making the movement of the load-carrying mobile device smoother and more efficient, thereby improving the stability and comfort of the movement control of the load-carrying mobile device.

[0112] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0113] Based on the same inventive concept, embodiments of the present application also provide a mobile control device for implementing the aforementioned mobile control method. The implementation solution provided by the mobile control device is similar to the implementation solution described in the aforementioned mobile control method. Therefore, the specific limitations in one or more device embodiments provided below can be found in the above-mentioned limitations on the mobile control method and will not be repeated here.

[0114] In one embodiment, Figure 3 As shown, a mobile control device 300 is provided, comprising:

[0115] The first acquisition module 302 is configured to acquire environmental data corresponding to the current scene in response to a trigger instruction;

[0116] A first control module 304 is configured to control the movement of the load-moving device based on the a priori path when the environmental data has a corresponding a priori path;

[0117] The second collection module 306 is used to continuously collect new environmental data during the movement of the load-carrying mobile device;

[0118] The second control module 308 is used to plan the moving path of the load-carrying mobile device in real time when new environmental data indicates that the scene in which the load-carrying mobile device is located has changed, and based on the transition strategy, switch to controlling the movement of the load-carrying mobile device based on the moving path planned in real time.

[0119] In some optional embodiments, the environmental data includes initial position information corresponding to the load-carrying moving device;

[0120] The first acquisition module 302 is further configured to:

[0121] Obtaining the terminal position information of the load-carrying moving device;

[0122] Comparing the initial position information and the terminal position information corresponding to the load-carrying mobile device with the path position information and the terminal position information corresponding to the plurality of pre-stored prior paths for similarity;

[0123] Based on the results of the similarity comparison, the prior path corresponding to the environmental data is determined.

[0124] In some optional embodiments, the first control module 304 is further configured to:

[0125] Continuously collect angular velocity and displacement information of load-carrying mobile devices;

[0126] Based on the angular velocity and displacement information, obtaining predicted angular velocity and predicted displacement information of the load-moving device within a first preset time period;

[0127] Obtain energy consumption parameter information of load-carrying mobile devices;

[0128] The movement of the load-carrying moving device is controlled based on the predicted angular velocity, predicted displacement information, energy consumption parameter information, and multiple path position information and end point position information corresponding to the prior path.

[0129] In some optional embodiments, the first control module 304 is further configured to:

[0130] Continuously collect angular velocity and displacement information of load-carrying mobile devices;

[0131] Based on the angular velocity and displacement information, the predicted position information of the load-carrying mobile device is obtained;

[0132] Based on the predicted position information, multiple path position information and terminal position information corresponding to the prior path, differential positioning compensation is performed on the load-carrying mobile device so that the actual moving path of the load-carrying mobile device conforms to the corresponding prior path.

[0133] In some optional embodiments, the second acquisition module 306 is further configured to:

[0134] Based on the continuously collected new environmental data, the load-carrying mobile device is continuously judged in which scene it is located;

[0135] When the change between the current scene of the load-carrying mobile device and the scene of the previous moment meets the preset scene change requirements, it is determined that the scene of the load-carrying mobile device has changed.

[0136] In some optional embodiments, the second control module 308 is further configured to:

[0137] Obtaining the real-time location information of the load-carrying mobile device and the starting point location information of the real-time planned moving path;

[0138] Based on the real-time position information and the starting position information, a cubic spline curve is used to control the load-moving device to move from the real-time position to the starting position of the real-time planned moving path.

[0139] Each module in the above-mentioned apparatus may be implemented in whole or in part by software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0140] Figure 4 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 4 As shown, the electronic device 40 provided in this embodiment includes: at least one processor 401 and a memory 402. Optionally, the device 40 further includes a communication component 403. The processor 401, the memory 402 and the communication component 403 are connected via a bus 404.

[0141] In a specific implementation process, at least one processor 401 executes the computer-executable instructions stored in the memory 402, so that the at least one processor 401 performs the above method.

[0142] The specific implementation process of the processor 401 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0143] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules in the processor.

[0144] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0145] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0146] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0147] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0148] The present application also provides a mobile control device, including a mobile control device body and the above-mentioned controller 106, and the controller is used to control the movement of the load-carrying mobile device body using the above-mentioned method.

[0149] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0150] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0151] The division of units is merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0152] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0153] In addition, each functional unit in each embodiment of the present invention 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.

[0154] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0155] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0156] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A mobile control method, characterized in that: Applied to a load-moving device, the method comprises: In response to a trigger instruction, collecting environmental data corresponding to the current scene; When the environmental data has a corresponding a priori path, controlling the load-moving device to move based on the a priori path; During the movement of the load-carrying mobile device, new environmental data is continuously collected; When new environmental data indicates that the scene in which the load-carrying mobile device is located has changed, the moving path of the load-carrying mobile device is planned in real time, and based on the transition strategy, the movement of the load-carrying mobile device is controlled by switching to the moving path based on the real-time planning.

2. The method according to claim 1, characterized in that The environmental data includes initial position information corresponding to the load-moving device; After collecting the environmental data corresponding to the current scene, the method further includes: Obtaining the terminal position information of the load-carrying mobile device; Performing a similarity comparison between the initial position information and the terminal position information corresponding to the load-moving device and the path position information and the terminal position information corresponding to a plurality of pre-stored prior paths; Based on the result of the similarity comparison, the prior path corresponding to the environmental data is determined.

3. The method according to claim 1, characterized in that The controlling the movement of the load-moving device based on the prior path includes: Continuously collecting angular velocity and displacement information of the load-carrying mobile device; Based on the angular velocity and the displacement information, obtaining predicted angular velocity and predicted displacement information of the load-moving device within a first preset time period; Obtaining energy consumption parameter information of the load-carrying moving device; The movement of the load-carrying moving device is controlled based on the predicted angular velocity, the predicted displacement information, the energy consumption parameter information, and the multiple path position information and terminal position information corresponding to the prior path.

4. The method according to claim 1, wherein The controlling the movement of the load moving device based on the prior path further includes: Continuously collecting angular velocity and displacement information of the load-carrying mobile device; obtaining predicted position information of the load-moving device based on the angular velocity and the displacement information; Based on the predicted position information, multiple path position information and terminal position information corresponding to the prior path, differential positioning compensation is performed on the load-carrying mobile device so that the actual moving path of the load-carrying mobile device conforms to the corresponding prior path.

5. The method according to claim 1, wherein After continuously collecting new environmental data during the movement of the load-carrying mobile device, the method further includes: Continuously determining the scene in which the load-carrying mobile device is located based on continuously collected new environmental data; When the change between the current scene of the load-carrying mobile device and the scene at the previous moment meets the preset scene change requirements, it is determined that the scene of the load-carrying mobile device has changed.

6. The method according to claim 1, characterized in that The method of switching to controlling the movement of the load-moving device based on a real-time planned movement path based on a transition strategy includes: Obtaining real-time position information of the load-carrying mobile device and the starting position information of the real-time planned moving path; Based on the real-time position information and the starting position information, a cubic spline curve is used to control the load-moving device to move from the real-time position to the starting position of the real-time planned moving path.

7. A mobile control device, characterized in that: include: A first acquisition module, configured to acquire environmental data corresponding to the current scene in response to a trigger instruction; A first control module is configured to control the movement of the load-moving device based on a priori path when the environmental data has a corresponding priori path; A second collection module is used to continuously collect new environmental data during the movement of the load-carrying mobile device; The second control module is used to plan the moving path of the load-carrying mobile device in real time when new environmental data indicates that the scene in which the load-carrying mobile device is located has changed, and based on a transition strategy, switch to controlling the movement of the load-carrying mobile device based on the moving path planned in real time.

8. A load-moving device, characterized in that: It includes a load-moving device body and a controller; The controller is used to control the movement of the load-moving device body by adopting the method described in any one of claims 1 to 6.

9. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

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