Method and device for controlling the drive of a movable apparatus equipped with a steering eccentric drive wheel

Abstract

Embodiments of the present application provide a method of controlling a movable device, the method including determining position error information of the movable device based on a current position and a target position of the movable device, determining a diagonal drive angle and a steering drive angle of the movable device based on the position error information, determining a steering angle corresponding to each of at least one steering eccentric drive wheel of the movable device based on the diagonal drive angle and the steering drive angle of the movable device, and controlling the movable device to move to the target position based on the steering angle corresponding to each of the at least one steering eccentric drive wheel.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to Korean Patent Application No. 10-2025-0050900, filed with the Korean Intellectual Property Office on April 18, 2025, the entire disclosure of which is incorporated herein by reference. Technical Field

[0003] The present invention relates to a method and apparatus for controlling the drive of a mobile device equipped with a steering eccentric wheel. Background Technology

[0004] With the latest advancements in artificial intelligence and sensor technology, mobile robot systems are being widely used in various industrial and service sectors.

[0005] Existing mobile robot systems are mainly based on differential drive or fixed wheel structures, and some systems use special wheels such as omni-wheels or mecanum-wheels to achieve movement in all directions.

[0006] However, in the case of differential drive, although rotation can be achieved by utilizing the speed difference of each wheel, its turning radius is large, making it difficult to turn when stationary and difficult to precisely control the path.

[0007] In addition, although omnidirectional or Mecanum wheel systems can achieve omnidirectional movement, they are difficult to apply in outdoor environments or on uneven terrain due to limitations in friction, insufficient environmental adaptability, and complex mechanical structures.

[0008] To overcome this problem, a steering eccentric drive wheel structure that integrates steering and drive functions into a single-wheel system has recently been proposed. This structure designs the drive shaft in an eccentric arrangement, allowing for different centers of rotation, thereby achieving more flexible drive control.

[0009] In systems using this type of steering eccentric drive wheel structure, it is crucial to determine the drive angles (i.e., the steering drive angle and the diagonal drive angle) based on the determined wheel geometry and drive characteristics.

[0010] However, the steering angle of each wheel depends non-linearly on the eccentric position of the steering wheel, making the determination of the drive angle extremely complex. Furthermore, achieving stable drive performance in various environments is challenging due to the lack of a systematic drive strategy that considers rotational and lateral velocities during steering and diagonal driving. It should be understood that the term "consider" and its variations refer to taking into account data and / or context when making judgments, calculations, and decisions about actions.

[0011] Therefore, there is a need to develop a technology that can improve the control performance of mobile vehicles equipped with eccentric drive wheels based on drive control logic that fully considers both diagonal drive and steering drive. Summary of the Invention

[0012] The present invention aims to provide a drive control method for a mobile device, which can ensure stable drive performance by setting a steering limit range for the mobile device (setting different steering ranges according to the eccentric position), defining the diagonal drive angle and steering drive angle according to the steering model, and determining the steering angle of each wheel in the mobile device.

[0013] The technical effects expected to be achieved by the present invention are not limited to the embodiments described above. Those skilled in the art will readily understand from the disclosure of the present invention other technical effects not described above. One embodiment provides a method for controlling the drive of a mobile device equipped with eccentric steering wheels. The method includes: determining position error information of the mobile device based on or by referencing a current position and a target position of the mobile device; determining a diagonal drive angle and a steering drive angle of the mobile device based on the position error information; determining a steering angle corresponding to each of at least one eccentric steering wheels of the mobile device based on the diagonal drive angle and the steering drive angle; and controlling the drive of the mobile device by referencing the steering angle corresponding to each of the at least one eccentric steering wheels to move it to the target position.

[0014] Determining the positional error information of a mobile device may include: using an error model to determine the rotational angle error, lateral position error, and longitudinal position error of the mobile device based on the current position and the target position.

[0015] Determining the diagonal drive angle and steering drive angle of a mobile device may include: determining a first drive ratio based on the static importance corresponding to the diagonal drive and steering drive of the mobile device according to position error information; determining a second drive ratio based on the dynamic importance corresponding to the diagonal drive and steering drive of the mobile device by referring to the initial drive information of the mobile device determined according to the first drive ratio; and determining the diagonal drive angle and steering drive angle of the mobile device by referring to the second drive ratio.

[0016] Determining the first drive ratio based on static importance may include: determining the first diagonal drive ratio and the first steering drive ratio of the mobile device based on the ratio of the rotation angle error to the lateral position error of the mobile device.

[0017] Determining the second drive ratio based on dynamic importance may include: determining the second diagonal drive ratio and the second steering drive ratio of the mobile device based on the ratio of the lateral acceleration to the centripetal acceleration of the mobile device.

[0018] Based on the ratio of the maximum driving speed to the initial driving speed of the aforementioned mobile device, the second diagonal driving ratio and the second steering driving ratio can be determined.

[0019] Determining the diagonal drive angle and steering drive angle of the mobile device with reference to the second drive ratio may include: determining the diagonal drive angle of the mobile device by using the maximum lateral velocity determined based on the lateral error of the mobile device and the second oblique drive ratio, and determining the steering drive angle by using the maximum rotational velocity determined based on the rotational angle error of the mobile device and the second steering drive ratio.

[0020] Determining the steering angle corresponding to each of at least one eccentric steering drive wheel may include: determining a first wheel with a minimum steering drive range by referring to the eccentric position corresponding to each of at least one eccentric steering drive wheel.

[0021] Determining the steering angle corresponding to each of at least one steering eccentric drive wheel may include: determining the model steering drive angle corresponding to the model of the mobile device steering based on the steering drive angle within the maximum steering angle range of the first wheel, and determining the model diagonal drive angle corresponding to the steering model based on the diagonal drive angle within the angle range excluding the model steering drive angle within the maximum steering angle of the first wheel.

[0022] Determining the steering angle corresponding to each of at least one eccentric steering drive wheel may include: determining the steering angle corresponding to each of at least one eccentric steering drive wheel by referring to the model steering drive angle and the model diagonal drive angle.

[0023] Another embodiment provides an apparatus for controlling the drive of a mobile device equipped with a steering eccentric drive wheel, comprising: a memory configured to store a mobile device drive control program, and a processor configured to load the mobile device drive control program from the memory to execute the mobile device drive control program, and the processor being configured to: determine position error information of the mobile device by referring to the current position and a target position of the mobile device; determine a diagonal drive angle and a steering drive angle of the mobile device based on the position error information; determine a steering angle corresponding to each of at least one steering eccentric drive wheel of the mobile device based on the diagonal drive angle and the steering drive angle of the mobile device; and control the mobile device to move to the target position by referring to the steering angle corresponding to each of the at least one steering eccentric drive wheel.

[0024] The processor can be configured to use an error model to determine the rotational angle error, lateral position error, and longitudinal position error of the mobile device based on the current position and the target position.

[0025] The processor can be configured to: determine a first drive ratio based on the static importance corresponding to the diagonal drive and steering drive of the mobile device according to position error information; determine a second drive ratio based on the dynamic importance corresponding to the diagonal drive and steering drive of the mobile device by referring to the initial drive information of the mobile device determined according to the first drive ratio; and determine the diagonal drive angle and steering drive angle of the mobile device by referring to the second drive ratio.

[0026] The processor can be configured to determine a first diagonal drive ratio and a first steering drive ratio of the mobile device based on the ratio of the rotation angle error to the lateral position error of the mobile device.

[0027] The processor can be configured to determine a second diagonal drive ratio and a second steering drive ratio of the mobile device based on the ratio of the lateral acceleration to the centripetal acceleration of the mobile device.

[0028] The processor can be configured to: determine the diagonal drive angle of the mobile device by utilizing the maximum lateral velocity determined based on the lateral error of the mobile device and the second oblique drive ratio, and determine the steering drive angle by utilizing the maximum rotational velocity determined based on the rotational angle error of the mobile device and the second steering drive ratio.

[0029] The processor can be configured to determine a first wheel with the minimum steering drive range by referring to the corresponding eccentric position of each of at least one steering eccentric drive wheel.

[0030] The processor can be configured to: determine a model steering angle corresponding to the steering model of the mobile device based on a steering angle determined within the maximum steering angle range of the first wheel, and determine a model diagonal drive angle corresponding to the steering model based on a diagonal drive angle within the angle range of the maximum steering angle of the first wheel that does not include the model steering drive angle.

[0031] The processor can be configured to determine the steering angle corresponding to each of at least one steering eccentric drive wheel by referencing the model steering drive angle and the model diagonal drive angle.

[0032] Another embodiment provides a computer program stored on a computer-readable recording medium, which, when executed by a processor, has instructions corresponding to causing the processor to perform a drive control method for a mobile device, the method comprising: determining position error information of the mobile device by referring to a current position and a target position of the mobile device; determining a diagonal drive angle and a steering drive angle of the mobile device based on the position error information; determining a steering angle corresponding to each of at least one steering eccentric drive wheel of the mobile device based on the diagonal drive angle and the steering drive angle of the mobile device; and controlling the drive of the mobile device to move to the target position by referring to the corresponding steering angle of each of the at least one steering eccentric drive wheel.

[0033] According to one implementation, by taking into account static error factors (i.e., position error), dynamic error factors (i.e., acceleration error), and the kinematic elements of the mobile device, the ratio of steering drive ratio to diagonal drive ratio can be determined, thereby improving the control performance of the mobile device in the process of reaching the target position.

[0034] Furthermore, according to the implementation method, the steering angle limit in the steering model can be determined based on the maximum steering angle of the wheel with the minimum steering range. Therefore, compared with independent limits on the steering range corresponding to each of at least one steering eccentric drive wheel, a more computationally efficient drive control adapted to mobile devices can be achieved. Attached Figure Description

[0035] Figure 1 This is a block diagram illustrating a mobile device drive control device according to one embodiment.

[0036] Figure 2 This is a conceptual block diagram illustrating the functionality of a mobile device driver control program according to one embodiment.

[0037] Figure 3 This is a flowchart illustrating a driving method for controlling a movable device including a steering eccentric drive wheel, according to one embodiment.

[0038] Figure 4 This illustrates an example of determining position error information according to one implementation method.

[0039] Figure 5A and Figure 5B This illustrates an example of determining the maximum steering angle of a steering model by referring to the eccentric position of a steering eccentric drive wheel included in a mobile device, according to one embodiment.

[0040] Figure 6 This illustrates an example of determining a first drive ratio and a second drive ratio according to one implementation.

[0041] Figure 7A , Figure 7B and Figure 7C This illustrates an example of drive control of a mobile device using a reference model diagonal drive angle and a model steering drive angle, according to one embodiment. Detailed Implementation

[0042] The advantages and features of the present invention, as well as the methods for achieving these advantages and features, will become apparent from the embodiments described below in conjunction with the accompanying drawings. However, the invention is not limited to these embodiments and may be practiced in various other forms or examples. These embodiments are provided to make the present invention exhaustive and to fully convey the scope of the invention to those skilled in the art. The scope of the invention is defined by the appended claims.

[0043] In the following description of embodiments of the present invention, detailed descriptions of known configurations or functions will be omitted where such descriptions would obscure the subject matter of the invention. Furthermore, the terminology described below is defined in consideration of the functions of the embodiments of the present invention and may vary according to the intentions or habits of the user or operator. Therefore, the definitions of the terminology should be consistent with the entire contents of this specification.

[0044] Figure 1 This is a block diagram illustrating a mobile device drive control device according to one embodiment.

[0045] refer to Figure 1 The mobile device drive control device 100 may include a processor 110, an input / output device 120, and a memory 130.

[0046] The processor 110 can typically control the operation of the movable device drive control device 100.

[0047] The processor 110 can use the input / output device 120 to receive location information, which includes coordinates corresponding to the current location of the mobile device and coordinates corresponding to the target location (or target point).

[0048] In addition, the processor 110 can use the input / output device 120 to receive drive information including the current speed and acceleration of the mobile device.

[0049] In this specification, for better understanding and ease of description, at least one of the location information and drive information is described as being input via the input / output device 120, but the invention is not limited thereto. That is, according to one embodiment, the mobile device drive control device 100 may include a transceiver (or transmitter and receiver) (not shown), and the mobile device drive control device 100 may use the transceiver (or transmitter and receiver) (not shown) to receive at least one of the location information or drive information, and at least one of the location information or drive information may be collected or generated within the mobile device drive control device 100.

[0050] The processor 110 can determine the diagonal drive angle and steering drive angle of the mobile device based on position error information determined by referring to the current position and target position of the mobile device, and can control the drive of the mobile device by referring to the steering angle corresponding to each of at least one steering eccentric drive wheel included in the mobile device, which is determined based on the diagonal drive angle and steering drive angle of the mobile device.

[0051] Input / output device 120 may include one or more input devices and / or one or more output devices. For example, input devices may include microphones, keyboards, mice, touchscreens, etc., and output devices may include displays, speakers, etc.

[0052] The memory 130 can store the mobile device driver control program 200 and the information required to execute the mobile device driver control program 200.

[0053] In this specification, the mobile device drive control program 200 may include the following software commands: determining the diagonal drive angle and steering drive angle of the mobile device based on position error information determined by referring to the current position and target position of the mobile device; and controlling the drive of the mobile device based on the diagonal drive angle and steering drive angle of the mobile device, referring to the steering angle corresponding to each of at least one steering eccentric wheel included in the mobile device.

[0054] The processor 110 can load the mobile device driver control program 200 from the memory 130 and the information required to execute the mobile device driver control program 200 in order to execute the mobile device driver control program 200.

[0055] The processor 110 can determine the position error information of the mobile device by referring to the current position and the target position of the mobile device, determine the diagonal drive angle and steering drive angle of the mobile device based on the position error information, determine the steering angle corresponding to each of the at least one steering eccentric drive wheel included in the mobile device based on the diagonal drive angle and steering drive angle of the mobile device, and control the drive of the mobile device to move it to the target position by referring to the steering angle corresponding to each of the at least one steering eccentric drive wheel.

[0056] In one implementation, a mobile device including a steering eccentric drive wheel can represent an autonomous robot capable of free diagonal driving and steering because it has an eccentric structure with the drive shaft located away from the center of the wheel.

[0057] The following will be referenced Figure 2 The functions and / or operations of the mobile device driver control program 200 are described in detail.

[0058] Figure 2This is a conceptual block diagram illustrating the functionality of a mobile device driver control program according to one embodiment.

[0059] refer to Figure 2 The mobile device drive control program 200 may include a position error information determiner 210, a drive angle determiner 220, a steering angle determiner 230, and a drive controller 240.

[0060] Figure 2 The position error information determiner 210, drive angle determiner 220, steering angle determiner 230, and drive controller 240 shown may be conceptually divided elements based on the functions of the mobile device drive control program 200 to describe the functions of the mobile device drive control program 200, and the invention is not limited thereto. According to embodiments, the functions of the position error information determiner 210, drive angle determiner 220, steering angle determiner 230, and drive controller 240 may be combined or separated, and may be implemented as a series of instructions contained in a single program.

[0061] First, the position error information determiner 210 can determine the position error information of the mobile device by referring to the current position and the target position of the mobile device.

[0062] According to one implementation, the position error information may indicate the directional and distance differences between the current position and the target position based on the center of the mobile device, and may include, for example, lateral error, longitudinal error and rotation angle error.

[0063] Specifically, the position error information determiner 210 can use an error model to determine the rotation angle error, lateral position error, and longitudinal position error of the mobile device based on the current position and the target position.

[0064] Here, the error model can refer to a model for determining (e.g., calculating or otherwise acquiring) the driving error based on the difference between the target driving state (target position, target velocity, target acceleration, target attitude, etc.) of the mobile device and the current driving state (current position, current velocity, current acceleration, current attitude, etc.).

[0065] Next, the drive angle determiner 220 can determine the diagonal drive angle and steering drive angle of the mobile device based on the position error information.

[0066] Here, the diagonal drive angle can refer to the angle corresponding to the diagonal drive based on the center of the mobile device.

[0067] In addition, the steering drive angle can refer to the angle corresponding to rotation (or turning) based on the center of the mobile device.

[0068] Specifically, the drive angle determiner 220 can determine the drive ratio corresponding to the diagonal drive and steering drive of the mobile device.

[0069] According to one embodiment, the drive ratio can be expressed as the ratio between diagonal drive and steering drive determined for moving to a target position, and may include, for example, a first drive ratio determined based on statically determined position information and a second drive ratio determined based on dynamically determined drive information.

[0070] More specifically, the drive angle determiner 220 can determine a first drive ratio based on the position error information and the static importance corresponding to the diagonal drive and steering drive of the mobile device.

[0071] For example, the drive angle determiner 220 determines the first diagonal driving ratio and the first turning driving ratio of the mobile device based on the ratio of the rotation angle error and the lateral position error of the mobile device.

[0072] Furthermore, the drive angle determiner 220 can determine the second drive ratio based on the dynamic importance corresponding to the diagonal drive and steering drive of the mobile device by referring to the initial drive information of the mobile device determined according to the first drive ratio.

[0073] For example, the drive angle determiner 220 can determine the second diagonal drive ratio and the second steering drive ratio of the mobile device based on the ratio of the lateral acceleration to the centripetal acceleration of the mobile device.

[0074] Meanwhile, according to one embodiment, the first drive ratio and the second drive ratio can be normalized based on a first normalization constant and a second normalization constant, respectively, and the first normalization constant can be characterized as being greater than or equal to the second normalization constant.

[0075] Specifically, according to one implementation, a second diagonal drive ratio and a second steering drive ratio can be determined based on a second normalization constant corresponding to the ratio of the maximum drive speed to the initial drive speed of the mobile device.

[0076] Details regarding the first drive ratio and the second drive ratio will be provided later. Figure 6 As described in the text.

[0077] In addition, the drive angle determiner 220 can determine the diagonal drive angle and steering drive angle of the mobile device by referring to the second drive ratio.

[0078] More specifically, the drive angle determiner 220 can determine the diagonal drive angle of the mobile device by utilizing the maximum lateral velocity determined based on the lateral error of the mobile device and the second diagonal drive ratio.

[0079] For example, the drive angle determiner 220 can determine the maximum lateral velocity based on the maximum gain value corresponding to the lateral position error determined by the error model, and the maximum lateral velocity As shown in Formula 1.

[0080]

[0081] in, Represents the second oblique drive ratio. This represents the maximum gain value corresponding to the lateral position error (this gain value is the upper limit of the control coefficient, which determines the degree to which the error between the current position and the target position is converted into lateral velocity). This represents the lateral position error.

[0082] Furthermore, the drive angle determiner 220 can determine the diagonal drive angle of the mobile device based on the maximum lateral velocity and taking into account the structural characteristics of the mobile device. As shown in Formula 2.

[0083]

[0084] in, This represents the kinematic functions determined based on the structure and geometry of the mobile device.

[0085] More specifically, the drive angle determiner 220 can determine the steering drive angle of the mobile device using the maximum rotational speed determined based on the rotational angle error of the mobile device and the second steering drive ratio.

[0086] For example, the drive angle determiner 220 can determine the maximum rotational speed based on the maximum gain value corresponding to the rotational angle error determined by the error model, and the maximum rotational speed As shown in Formula 3.

[0087]

[0088] in, Represents the second steering drive ratio. This represents the maximum gain value corresponding to the rotation angle error. This value is the upper limit of the control coefficient and determines the extent to which the error between the current attitude and the target attitude is converted into angular velocity. This represents the rotation angle error.

[0089] Furthermore, the drive angle determiner 220 can determine the steering drive angle of the mobile device based on the maximum rotational speed and taking into account the structural characteristics of the mobile device, and the steering drive angle As shown in Formula 4.

[0090]

[0091] in, This represents the kinematic functions determined based on the structure and geometry of the mobile device.

[0092] Therefore, in this invention, by considering static error factors (i.e., position error), dynamic error factors (i.e., acceleration error), and kinematic elements of the mobile device while determining the steering drive ratio and diagonal drive ratio, a unique effect of enhanced control can be achieved during the process of the mobile device reaching the target position.

[0093] Next, the steering angle determiner 230 can determine the steering angle corresponding to each of the at least one steering eccentric drive wheel included in the mobile device based on the diagonal drive angle and steering drive angle of the mobile device.

[0094] Specifically, the steering angle determiner 230 can determine the first wheel with the minimum steering drive range by referring to the corresponding eccentric position of each of at least one steering eccentric drive wheel.

[0095] More specifically, the steering angle determiner 230 may determine the maximum steering angle of the mobile device as the maximum steering angle of the first wheel with the minimum steering drive range among at least one steering eccentric drive wheel, based on the maximum collision range determined according to the eccentric position (e.g., the maximum range of collision between the mobile device body and the wheel).

[0096] This ensures that the other wheel does not exceed the collision range based on the maximum steering angle of the mobile device.

[0097] Furthermore, the steering angle determiner 230 can determine the model steering angle corresponding to the steering model of the mobile device based on the steering angle within the maximum steering angle range of the first wheel of the mobile device.

[0098] Here, the steering model of the mobile device can be a model that receives the steering drive angle and diagonal drive angle of the mobile device and determines the drive command corresponding to the steering angle of each wheel.

[0099] The steering model can consist of a center wheel corresponding to the diagonal drive angle of the model and a front wheel corresponding to the steering drive angle and diagonal drive angle of the model.

[0100] According to one implementation, the model steering angle can be determined by the front wheels of the steering model, and can indicate the steering angle of the mobile device included in the maximum steering angle range.

[0101] Next, the steering angle determiner 230 can determine the model diagonal drive angle corresponding to the steering model based on the diagonal drive angle of the mobile device within the angle range of the maximum steering angle of the first wheel, excluding the model steering drive angle.

[0102] According to one embodiment, the model diagonal drive angle can be determined by the center wheel of the steering model, and can represent the diagonal drive angle of the mobile device that includes an angle range excluding the model steering drive angle in the maximum steering angle.

[0103] Next, the steering angle determiner 230 can determine the steering angle corresponding to each of at least one steering eccentric drive wheel by referring to the model steering drive angle and the model diagonal drive angle.

[0104] In this invention, within different steering ranges of at least one steering eccentric wheel, the steering angle with the smallest range can be set as the maximum steering angle of the steering model, and then the steering angle of the steering eccentric drive wheel can be determined using the steering model.

[0105] In other words, the steering angle limit in the steering model can be determined based on the maximum steering angle of the wheel with the minimum steering range. Therefore, compared with independently limiting the steering range of at least one steering eccentric drive wheel, a unique effect can be achieved: enabling computationally efficient drive control adapted to mobile devices.

[0106] Next, the drive controller 240 can control the drive of the mobile device by referring to the steering angle of each of the at least one steering eccentric drive wheels, so as to move it to the target position.

[0107] For example, based on the case where the model diagonal drive angle is 0, the drive controller 240 can control the steering drive of the mobile device by referring to the steering angles corresponding to each of at least one steering eccentric drive wheel, determined based on the model steering drive angle. It should be understood that in some implementations, the comparison results are not precise; for example, the test / determine / calculate applies to values ​​that are essentially equal to 0.

[0108] For example, when the model steering drive angle is 0, the drive controller 240 can control the diagonal drive of the mobile device by referring to the steering angle of each of the at least one steering eccentric drive wheels determined based on the model steering drive angle.

[0109] For example, when both the model steering drive angle and the model diagonal drive angle are not 0, the drive controller 240 can control the diagonal drive and steering drive of the mobile device by referring to the steering angle of each of at least one steering eccentric drive wheel determined based on the model diagonal drive angle and the model steering drive angle.

[0110] Figure 3 This is a flowchart illustrating a driving method for controlling a movable device including a steering eccentric drive wheel, according to one embodiment.

[0111] refer to Figure 3The position error information determiner 210 can determine the position error information of the mobile device by referring to the current position and the target position of the mobile device (S310).

[0112] Next, the drive angle determiner 220 can determine the diagonal drive angle and steering drive angle of the mobile device based on the position error information (S320).

[0113] Next, the steering angle determiner 230 can determine the steering angle corresponding to each of at least one steering eccentric drive wheel of the mobile device based on the diagonal drive angle and steering drive angle of the mobile device (S330).

[0114] Next, the drive controller 240 can control the drive of the mobile device by referring to the steering angle of each of the at least one steering eccentric drive wheels, so as to move it to the target position (S340).

[0115] Figure 4 This illustrates an example of determining position error information according to one implementation method.

[0116] refer to Figure 4 The mobile device drive control device 100 can determine the position error information of the mobile device by inputting the current position 401 and the target position 402 of the mobile device into the error model.

[0117] Specifically, the mobile device drive control device 100 can use an error model to determine the longitudinal position error. 411, Lateral position error 412 and rotation angle error 413.

[0118] In this way, the present invention enables a mobile device to generate steering commands to converge to a target position.

[0119] Figure 5A and Figure 5B This illustrates an example of determining the maximum steering angle of a steering model by referring to the eccentric position of a steering eccentric drive wheel included in a mobile device, according to one embodiment.

[0120] Figure 5A The main body of the mobile device and the eccentric steering drive wheel are shown. Figure 5B A steering model for mobile devices is shown.

[0121] refer to Figure 5A The mobile device drive control unit 100 can determine the first wheel with the minimum steering drive range by referring to the corresponding eccentric position of each of at least one steering eccentric drive wheel.

[0122] Specifically, the mobile device drive control device 100 can determine the first wheel with the minimum steering drive range by taking into account the maximum collision range 501 between the mobile device body and each steering eccentric drive wheel.

[0123] refer to Figure 5B The mobile device drive control device 100 can determine the maximum steering angle of the first wheel as the maximum steering angle of the steering model. 502. Within the range of the maximum steering angle of 502, the model steering drive angle can be determined first, and then the model diagonal drive angle can be determined.

[0124] Therefore, the steering angle limit in the steering model can be determined based on the maximum steering angle of the wheel with the minimum steering range, so that the main body of the mobile device can avoid collisions with other wheels based on the maximum steering angle of the steering model.

[0125] Furthermore, compared to individually limiting the steering range of each of the at least one steering eccentric drive wheels, the present invention enables more computationally efficient drive control of mobile devices.

[0126] Figure 6 This illustrates an example of determining a first drive ratio and a second drive ratio according to one implementation.

[0127] refer to Figure 6 The mobile device drive control device 100 can determine a first drive ratio based on the ratio of the rotation angle error to the lateral position error of the mobile device.

[0128] According to one embodiment, the first drive ratio includes a first diagonal drive ratio 611 and a first steering drive ratio 612 as shown in the following formula 5.

[0129]

[0130]

[0131] in, Represents the first diagonal drive ratio. Represents the first steering drive ratio. This represents the first normalization constant (i.e., 1). Represents lateral error. Represents the rotation angle error, and and These represent the normalized ratios of rotation angle error and lateral error, respectively.

[0132] In one embodiment, when the lateral error becomes larger than the rotation angle error, the first diagonal drive ratio 611 will increase, so the diagonal drive angle will increase.

[0133] Furthermore, according to one embodiment, when the rotation angle error becomes larger than the lateral error, the first steering drive ratio 612 increases, so the steering angle increases.

[0134] Next, the mobile device drive control device 100 can determine the second drive ratio of the mobile device based on the ratio of the lateral acceleration to the centripetal acceleration of the mobile device.

[0135] According to one embodiment, the second drive ratio includes a second diagonal drive ratio 621 and a second steering drive ratio 622 as shown in the following formula 6.

[0136]

[0137]

[0138]

[0139]

[0140] in, Represents the second diagonal drive ratio. Represents the second steering drive ratio. and Represents the second normalization constant. Represents lateral acceleration. Represents centripetal acceleration. and These represent the normalized ratios of lateral acceleration and centripetal acceleration, respectively. Represents the maximum drive speed of a mobile device, and This represents the initial drive speed of the mobile device.

[0141] also, Corresponding to The left side of the area is associated with the steering drive area. In other words, as the drive speed decreases, the steering drive area, rather than the diagonal drive area, is ensured, thereby reducing the turning radius.

[0142] In other words, in one implementation, as the centripetal acceleration increases relative to the lateral acceleration, the second steering drive ratio 622 increases, resulting in a larger steering drive angle.

[0143] also, Corresponding to The right side of the area is associated with the diagonal drive area. In other words, as the drive speed increases, the diagonal drive area, rather than the steering drive area, is ensured, thereby improving the stability of drive control.

[0144] In other words, in one implementation, as the lateral acceleration increases relative to the centripetal acceleration, the second diagonal drive ratio 621 increases, resulting in a larger diagonal drive angle.

[0145] Meanwhile, reference Figure 6 It can be confirmed that the second drive ratio has a dependent relationship with the first drive ratio and is less than or equal to the first drive ratio.

[0146] Figure 7A , Figure 7B and Figure 7C This illustrates an example of drive control of a mobile device using a reference model diagonal drive angle and a model steering drive angle, according to one embodiment.

[0147] refer to Figure 7A , Figure 7B and Figure 7C The mobile device drive control device 100 can control the drive of the mobile device by referring to and using the steering angles corresponding to at least one steering eccentric drive wheel determined by the steering model, so as to move the mobile device to the target position.

[0148] refer to Figure 7A Based on the case where the diagonal drive angle of the model is 0, the movable device drive control device 100 can refer to the model-based steering drive angle. The steering drive of the mobile device is controlled by determining the steering angle of each corresponding one of the at least one steering eccentric drive wheels.

[0149] refer to Figure 7B Given that the model steering angle and the model diagonal drive angle are not zero, the mobile device drive control device 100 can refer to the model steering drive angle. and model diagonal driving angle The drive of the mobile device is controlled by determining the steering angle of each corresponding one of the at least one steering eccentric drive wheels.

[0150] refer to Figure 7C Based on the case where the model steering angle is 0, the mobile device drive control device 100 can control the drive of the mobile device by referring to the steering angle of each corresponding steering eccentric drive wheel determined based on the model diagonal drive angle β.

[0151] The combinations of modules in the block diagrams and operations in the flowcharts appended to this invention can also be executed by computer program instructions. These computer program instructions can be embedded in the encoding processor of a general-purpose computer, special-purpose computer, or other programmable data processing device, so that when these instructions are executed by the encoding processor of the computer or other programmable data processing device, methods for performing the functions described in the modules in the block diagrams or operations in the flowcharts can be created. These computer program instructions can also be stored in a computer-usable or computer-readable storage medium capable of directing the computer or other programmable data processing device to perform its functions in a specific manner; therefore, the instructions stored in the computer-usable or computer-readable storage medium can also produce products including methods for performing the functions described in the modules in the block diagrams or operations in the flowcharts. The computer program instructions can also be mounted on a computer or other programmable data processing device, which can perform a series of operations to create a computer-executable process, and cause the computer or other programmable data processing device to run instructions for performing the functions described in the modules in the block diagrams and operations in the flowcharts, which can also provide operations for performing the functions described in the modules in the block diagrams and operations in the flowcharts.

[0152] Furthermore, each module or operation may represent a unit, code segment, or code section containing one or more executable instructions for performing a specific logical function. It should also be noted that in some alternative implementations, the functions mentioned in a module or operation may not occur sequentially. For example, two consecutively displayed modules or operations may actually execute substantially simultaneously, or these modules or operations may sometimes execute in reverse order, depending on the function they serve.

[0153] The above description is only for illustrating the technical concept of the present invention. Those skilled in the art can make various modifications and changes without departing from the essential characteristics of the present invention. Therefore, the exemplary embodiments disclosed in this invention are not intended to limit the technical concept of the invention, but are used to explain them, and the scope of the technical concept of the invention is not limited by these exemplary embodiments. The scope of protection of this invention should be interpreted by the appended claims, and all technical concepts within the equivalent scope should be understood to be included within the scope of this invention.

Claims

1. A method for controlling a mobile device, the method comprising the following steps: The location error information of the mobile device is determined based on the current location and the target location of the mobile device; The diagonal drive angle and steering drive angle of the mobile device are determined based on the position error information. Based on the diagonal drive angle and steering drive angle of the mobile device, determine the steering angle corresponding to each of at least one steering eccentric drive wheel of the mobile device; as well as Based on the steering angle corresponding to each of at least one steering eccentric drive wheel, the movable device is controlled to move to the target position.

2. The method according to claim 1, wherein, The steps for determining the location error information of the mobile device include: Using an error model, the rotation angle error, lateral position error, and longitudinal position error of the mobile device are determined based on the current position and the target position.

3. The method according to claim 1, wherein, The steps for determining the diagonal drive angle and steering drive angle of the mobile device include: Based on the position error information, a first drive ratio is determined according to the static importance corresponding to the diagonal drive and steering drive of the mobile device; Based on the initial drive information of the mobile device determined according to the first drive ratio, a second drive ratio is determined based on the dynamic importance corresponding to the diagonal drive and steering drive of the mobile device; and The diagonal drive angle and steering drive angle of the mobile device are determined based on the second drive ratio.

4. The method according to claim 3, wherein, The steps for determining the first driving ratio based on static importance include: Based on the ratio of the rotation angle error to the lateral position error of the mobile device, the first diagonal drive ratio and the first steering drive ratio of the mobile device are determined.

5. The method according to claim 3, wherein, The steps for determining the second driving ratio based on dynamic importance include: Based on the ratio of the lateral acceleration to the centripetal acceleration of the mobile device, the second diagonal drive ratio and the second steering drive ratio of the mobile device are determined.

6. The method according to claim 5, wherein The second diagonal drive ratio and the second steering drive ratio are determined based on the ratio of the maximum drive speed to the initial drive speed of the mobile device.

7. The method according to claim 3, wherein, The steps for determining the diagonal drive angle and steering drive angle of the mobile device include: The diagonal drive angle of the mobile device is determined based on the maximum lateral velocity determined according to the lateral error of the mobile device and the second diagonal drive ratio; and The steering drive angle is determined based on the maximum rotational speed determined according to the rotational angle error of the mobile device and the second steering drive ratio.

8. The method according to claim 1, wherein, The steps for determining the steering angle corresponding to each of at least one eccentric steering drive wheel include: The first wheel with the minimum steering drive range is determined based on the eccentric position corresponding to each of at least one steering eccentric drive wheel.

9. The method according to claim 8, wherein, The steps for determining the steering angle corresponding to each of at least one eccentric steering drive wheel include: Based on the steering drive angle within the maximum steering angle range of the first wheel, determine the model steering drive angle corresponding to the steering model of the mobile device; and The model diagonal drive angle corresponding to the steering model is determined based on the diagonal drive angle within the angle range that does not include the model steering drive angle in the maximum steering angle of the first wheel.

10. The method of claim 9, wherein The steps for determining the steering angle corresponding to each of at least one eccentric steering drive wheel include: Based on the model steering drive angle and the model diagonal drive angle, determine the steering angle corresponding to each of at least one steering eccentric drive wheel.

11. An apparatus for controlling a mobile device, the apparatus comprising: At least one processor; as well as A memory configured to store instructions for a mobile device driver control program, which, when executed by the processor, cause the processor to perform the following operations: The location error information of the mobile device is determined based on the current location and the target location of the mobile device; The diagonal drive angle and steering drive angle of the mobile device are determined based on the position error information. Based on the diagonal drive angle and steering drive angle of the mobile device, determine the steering angle corresponding to each of at least one steering eccentric drive wheel of the mobile device; as well as The movable device is controlled to move to the target position based on the steering angle corresponding to each of at least one steering eccentric drive wheel.

12. The apparatus according to claim 11, wherein, The instruction also causes the processor to perform the following operations: Using an error model, the rotation angle error, lateral position error, and longitudinal position error of the mobile device are determined based on the current position and the target position.

13. The apparatus according to claim 11, wherein, The instruction also causes the processor to perform the following operations: Based on the position error information, a first drive ratio is determined according to the static importance corresponding to the diagonal drive and steering drive of the mobile device; Based on the initial driving information of the mobile device determined based on the first driving ratio, the second driving ratio is determined based on the dynamic importance corresponding to the diagonal driving and steering driving of the mobile device. as well as The diagonal drive angle and steering drive angle of the mobile device are determined based on the second drive ratio.

14. The apparatus according to claim 13, wherein, The instruction also causes the processor to perform the following operations: Based on the ratio of the rotation angle error to the lateral position error of the mobile device, the first diagonal drive ratio and the first steering drive ratio of the mobile device are determined.

15. The apparatus according to claim 13, wherein, The instruction also causes the processor to perform the following operations: The second diagonal drive ratio and the second steering drive ratio of the mobile device are determined based on the ratio of lateral acceleration to centripetal acceleration of the mobile device.

16. The apparatus of claim 13, wherein the instructions further cause the processor to perform the following operations: The diagonal drive angle of the mobile device is determined based on the maximum lateral velocity determined according to the lateral error of the mobile device and the second diagonal drive ratio; and The steering drive angle is determined based on the maximum rotational speed determined according to the rotational angle error of the mobile device and the second steering drive ratio.

17. The apparatus according to claim 11, wherein, The instruction also causes the processor to perform the following operations: The first wheel with the minimum steering drive range is determined based on the eccentric position corresponding to each of at least one steering eccentric drive wheel.

18. The apparatus according to claim 17, wherein, The instruction also causes the processor to perform the following operations: Based on the steering drive angle determined within the maximum steering angle range of the first wheel, the model steering drive angle corresponding to the steering model of the mobile device is determined; as well as The model diagonal drive angle corresponding to the steering model is determined based on the diagonal drive angle within the angle range that does not include the model steering drive angle in the maximum steering angle of the first wheel.

19. The apparatus according to claim 18, wherein, The instructions also cause the processor to perform the following operations. Based on the model steering drive angle and the model diagonal drive angle, determine the steering angle corresponding to each of at least one steering eccentric drive wheel.

20. A non-transitory computer-readable medium storing instructions for controlling a mobile device, wherein when the instructions are executed by a processor, the non-transitory computer-readable medium causes the processor to perform the following operations: The location error information of the mobile device is determined based on the current location and the target location of the mobile device; The diagonal drive angle and steering drive angle of the mobile device are determined based on the position error information. Based on the diagonal drive angle and steering drive angle of the mobile device, determine the steering angle corresponding to each of at least one steering eccentric drive wheel of the mobile device; and The movable device is controlled to move to the target position based on the steering angle corresponding to each of at least one steering eccentric drive wheel.

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