Moving device, control method and related apparatus

Abstract

The present application provides a moving device, a control method and a related apparatus. The moving device comprises a wheel assembly, a gradient measurement apparatus and a controller. The wheel assembly comprises a roller brake apparatus and at least one omnidirectional wheel. The gradient measurement apparatus is used for measuring slope information of the position of the moving device. The controller is electrically connected to the wheel assembly and the gradient measurement apparatus. The roller brake apparatus is used for locking or releasing rollers of the omnidirectional wheel. The controller is configured to: when determining, on the basis of the slope information, that the moving device is located on a slope, control, on the basis of a power-off instruction, the angle between the rotating axis of the wheel assembly and a slope direction to be smaller than a preset angle; and control the roller brake apparatus to lock the rollers of the at least one omnidirectional wheel, and then control the moving device to be powered off. In this way, the probability of slope sliding of the moving device after being powered off can be reduced.

Description

Mobile devices, control methods and related apparatus

[0001] This application claims priority to Chinese Patent Application No. 202410683911.2, filed on May 30, 2024, entitled "Mobile Device, Control Method and Related Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of general control technology, and in particular to a mobile device, control method and related apparatus. Background Technology

[0003] For mobile devices (such as lawnmowers) operating in dirt environments like lawns or forests, when temporarily powered off, they are generally not moved to a specific location except for charging, to avoid delaying subsequent operations. In such cases, they might be powered off directly at the current location. However, if this location is on a slope, directly powering off could cause the mobile device to slide down the slope, posing a safety hazard. Therefore, reducing the probability of sliding down a slope after powering off the mobile device is a pressing technical problem that needs to be solved in this field. Summary of the Invention

[0004] This application provides a mobile device, a control method, and related apparatus. When the mobile device is on a slope, the angle between the rotation axis of the wheel assembly of the mobile device and the slope direction is less than a preset angle, thereby reducing the probability of the mobile device sliding down the slope after power-off.

[0005] In a first aspect, this application provides a mobile device including a wheel assembly, a slope detection device, and a controller. The wheel assembly includes a roller brake and at least one omnidirectional wheel. The slope detection device is used to detect slope information of the location of the mobile device. The controller is electrically connected to the wheel assembly and the slope detection device. The roller brake is used to lock or release the rollers of the omnidirectional wheel. The controller is configured to, when it is determined that the mobile device is on a slope based on the slope information, control the angle between the rotation axis of the wheel assembly and the slope direction to be less than a preset angle based on a power-down command, and control the roller brake to lock the rollers of at least one omnidirectional wheel before controlling the mobile device to power down.

[0006] As can be seen from this application, when the mobile device is on a slope, the angle between the rotation axis of the control wheel assembly and the slope direction is less than a preset angle. After the control roller braking device locks the roller of at least one omnidirectional wheel, the mobile device is powered off. When the mobile device is on a slope, the probability of the mobile device moving head-to-tail is reduced by making the angle between the rotation axis of the control wheel assembly and the slope direction less than the preset angle. At this time, locking the roller of at least one omnidirectional wheel by the control roller braking device can reduce the probability of the mobile device moving laterally, thereby reducing the probability of the mobile device sliding down the slope after being powered off.

[0007] In one feasible example, the wheel assembly includes two omnidirectional wheels on the front and two tires on the rear. The controller controls the angle between the rotation axis of the wheel assembly and the slope direction to be less than a preset angle based on a power-down command. This includes: the controller controlling the rotation axes of the four wheels included in the wheel assembly to be parallel to the slope direction based on a power-down command.

[0008] In this application, the controller controls the rotation axes of the four wheels of the wheel assembly to be parallel to the direction of the slope based on the power-down command. This means that the mobile device is placed laterally on the slope, which reduces the probability of the mobile device moving back and forth and decreases the probability of the mobile device sliding down the slope after power-down.

[0009] In a feasible example, the deflection angle of each wheel in the wheel assembly is fixed, and the rotation axes of each wheel are parallel to each other. The controller controls the angle between the rotation axis of the wheel assembly and the slope direction to be less than a preset angle based on the power-down command. This includes: the controller controls the mobile device to rotate or move in place based on the power-down command, so that the angle between the rotation axis of each wheel in the wheel assembly and the slope direction is less than the preset angle.

[0010] In this application, by controlling the mobile device to rotate or move in place, the angle between the rotation axis of each wheel in the wheel assembly and the slope direction is made less than a preset angle, which reduces the probability of the mobile device moving back and forth and decreases the probability of the mobile device sliding down the slope after power-off.

[0011] In a feasible example, the deflection angle of each wheel in the wheel assembly is adjustable. The controller controls the angle between the rotation axis of the wheel assembly and the slope direction to be less than a preset angle based on the power-down command. This includes: the controller controls each wheel in the wheel assembly to deflect to a target angle based on the power-down command, so that the angle between the rotation axis of each wheel in the wheel assembly and the slope direction is less than the preset angle.

[0012] In this application, this can improve the efficiency of adjusting the rotation axis of each wheel to an angle with the slope direction that is less than a preset angle.

[0013] In one feasible example, the mobile device also includes an inertial measurement unit, and the controller is electrically connected to the inertial measurement unit; the controller is also configured to control the inertial measurement unit to detect the displacement of the mobile device after the roller braking device locks the roller of at least one omnidirectional wheel when the angle between the rotation axis of the wheel assembly and the slope direction is less than a preset angle.

[0014] In this application, detecting the displacement of the mobile device before power-off using an inertial measurement unit can further ensure that the probability of the mobile device sliding downhill after power-off is low.

[0015] In a feasible example, if it is determined that the mobile device has been displaced within a preset time period based on the displacement situation, the controller controls the roller braking device to release the roller of at least one omnidirectional wheel and controls the mobile device to move to flat ground before powering it off.

[0016] In this application, the mobile device is moved to a safe position in a timely manner after displacement before power-off, so as to avoid the mobile device sliding down the slope and thus reduce the probability of the mobile device sliding down the slope after power-off.

[0017] In a feasible example, if it is determined that the mobile device will be displaced within a preset time period based on the displacement situation, then when the displacement distance of the mobile device is not less than the preset distance, the controller controls the roller braking device to release the roller of at least one omnidirectional wheel, and controls the mobile device to move to flat ground and then power off.

[0018] In this application, if the mobile device undergoes a long-distance displacement before being powered off, it is determined that the mobile device has a high risk of sliding down a slope. In this case, controlling the mobile device to move to flat ground before powering off can prevent the mobile device from sliding down a slope, thereby reducing the probability of the mobile device sliding down a slope after being powered off.

[0019] In one feasible example, the mobile device also includes a rain sensor, and the controller is electrically connected to the rain sensor; the controller is also configured to, after the mobile device is powered off, control the rain sensor to detect whether the mobile device is in a rainy environment, and when the mobile device is detected to be in a rainy environment, control the mobile device to power on, control the roller brake to release the roller of at least one omnidirectional wheel, and control the mobile device to move to flat ground or a preset position.

[0020] In this application, mobile devices are removed from the ground in rainy conditions to prevent them from slipping on wet ground and thus reducing the probability of them sliding downhill after being powered off.

[0021] Secondly, this application provides another mobile device, which includes a mobile component, a slope detection device, and a controller. The slope detection device is used to detect slope information of the location of the mobile device. The controller is electrically connected to the mobile component and the slope detection device respectively. The controller is configured to control the angle between the lateral axis of the mobile component and the slope direction to be less than a preset angle based on a power-down command when it is determined that the mobile device is on a slope according to the slope information, and control the mobile device to power down.

[0022] Thirdly, this application provides a control method for a mobile device, the method comprising: receiving a power-down command; and, when the mobile device is on a slope, controlling the angle between the lateral axis of the mobile component of the mobile device and the slope direction to be less than a preset angle according to the power-down command.

[0023] Fourthly, this application provides a control device for a mobile device, the device comprising: a receiving unit for receiving a power-down command; and a control unit for controlling, when the mobile device is on a slope, to make the angle between the lateral axis of the mobile component of the mobile device and the slope direction less than a preset angle according to the power-down command.

[0024] Fifthly, this application provides an electronic device including a processor, a memory, and a communication interface. The processor, memory, and communication interface are interconnected and perform communication with each other. The memory stores executable program code, the communication interface is used for wireless communication, and the processor is used to retrieve the executable program code stored in the memory and execute some or all of the steps described in any of the methods in the third aspect.

[0025] In a sixth aspect, this application provides a computer-readable storage medium storing electronic data, which, when executed by a processor, is used to perform the electronic data to implement some or all of the steps described in the third aspect of this application.

[0026] In a seventh aspect, this application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the third aspect of this application. The computer program product may be a software installation package. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 is a schematic diagram of the structure of a mobile device provided in an embodiment of this application;

[0029] Figure 2 is a structural schematic of a mobile device in a ramp state according to an embodiment of this application;

[0030] Figure 3 is a structural schematic diagram of a dual omnidirectional wheel mobile device provided in an embodiment of this application;

[0031] Figure 4 is a schematic diagram of the structure of another mobile device provided in an embodiment of this application;

[0032] Figure 5 is a flowchart illustrating another mobile device control method provided in an embodiment of this application;

[0033] Figure 6 is a functional unit block diagram of a control device for a mobile device provided in an embodiment of this application;

[0034] Figure 7 is a functional unit block diagram of another mobile device control device provided in an embodiment of this application;

[0035] Figure 8 is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0036] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0037] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps is not limited to the steps listed, but may optionally include steps not listed, or may optionally include other steps inherent to these processes, methods, products, or apparatuses.

[0038] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0039] Please refer to Figure 1. Figure 1 is a schematic diagram of a device movement structure provided in an embodiment of this application. As shown in Figure 1, the mobile device 100 includes a wheel assembly 110, a controller 120 and a slope detection device 130. The controller 120 is electrically connected to the wheel assembly 110 and the slope detection device 130 respectively.

[0040] In one feasible embodiment, the wheel assembly 110 includes a roller brake 101 and at least one omnidirectional wheel 102. Each omnidirectional wheel 102 includes a plurality of laterally mounted rollers for enabling lateral rolling of the omnidirectional wheel 102. The roller brake 101 is used to lock or release the rollers on each omnidirectional wheel 102. When the roller brake 101 locks the rollers on each omnidirectional wheel 102, the omnidirectional wheel 102 cannot roll laterally.

[0041] In one feasible embodiment, the slope detection device 130 is used to detect slope information of the location of the mobile device, which may include slope direction and slope information.

[0042] In one feasible embodiment, the controller 120 is configured to, upon determining that the mobile device 100 is on a slope based on slope information, control the angle between the rotation axis of the wheel assembly 110 and the slope direction to be less than a preset angle based on a power-down command, and control the roller brake device 101 to lock the rollers of at least one omnidirectional wheel 102 before controlling the mobile device 100 to power down. Controlling the mobile device 100 to power down typically refers to putting the power system of the mobile device 100 into a shutdown or sleep state through a series of operations to save energy and ensure the safety of the mobile device 100.

[0043] The determination that the mobile device 100 is on a slope can be based on the slope information, such as the gradient information. For example, if the gradient of the location of the mobile device 100 is greater than a preset gradient, the mobile device 100 is considered to be on a slope. The rotation axis of the wheel assembly 110 refers to the rotation axis corresponding to each wheel of the wheel assembly 110.

[0044] In a feasible embodiment, when the angle between the rotation axis of the control wheel assembly 110 and the slope direction is less than a preset angle, the forward and backward rolling of the tires of the mobile device 100 can be avoided as much as possible. For example, please refer to FIG2, which is a structural schematic diagram of a mobile device in a slope state provided in an embodiment of this application. As shown in FIG2, before the mobile device 100 is powered down on the slope 200, the angle 203 between the rotation axis 201 of the control wheel assembly and the slope direction 202, as shown in FIG2, needs to be less than a preset angle.

[0045] As is known, since the current wheel assembly 110 includes at least one omnidirectional wheel 102, and each omnidirectional wheel 102 includes a roller that can achieve lateral rolling, in the current scenario, it is also necessary to control the roller braking device 101 to lock the roller of each omnidirectional wheel 102 to prevent the mobile device from causing the omnidirectional wheel to roll laterally based on gravity.

[0046] Understandably, the slope of the ground has some influence on the preset angle. Generally, the steeper the ground slope, the smaller the preset angle. The preset angle can be based on empirical values, such as those obtained through testing using historical docking data of mobile devices. The angle between the slope direction and the horizontal plane should correspond to the ground slope.

[0047] As can be seen from this application, when the mobile device is on a slope, the angle between the rotation axis of the control wheel assembly and the slope direction is less than a preset angle, and the control roller braking device locks the roller of at least one omnidirectional wheel before powering down the mobile device. This reduces the probability of the mobile device sliding down the slope after powering down.

[0048] In one feasible embodiment, the wheel assembly includes two omnidirectional wheels on the front side and two tires on the rear side. The controller controls the angle between the rotation axis of the wheel assembly and the slope direction to be less than a preset angle based on a power-down command. This includes: the controller controlling the rotation axes of the four wheels included in the wheel assembly to be parallel to the slope direction based on a power-down command.

[0049] The rotation of the mobile device is achieved by the lateral rolling of the two front omnidirectional wheels, while the two rear tires can refer to rubber wheels. For example, please refer to Figure 3, which is a structural schematic diagram of a dual omnidirectional wheel mobile device provided in an embodiment of this application. As shown in Figure 3, the wheel assembly of the mobile device may include two front omnidirectional wheels 102 and two rear tires 302. Each of the two front omnidirectional wheels 102 includes multiple rollers 303, enabling lateral rolling of the omnidirectional wheels. Steering of the mobile device can also be achieved through two-wheel differential or four-wheel differential, and stationary rotation of the mobile device can be achieved through the rotation of the four wheels in different directions. The rotation axes of the wheel assembly include the rotation axes 201 of the two omnidirectional wheels 102 and the two tires 302 shown in the figure. The controller controls the rotation axes of the four wheels included in the wheel assembly to be parallel to the slope direction based on the power-down command, meaning that the mobile device is placed laterally on the slope, reducing the probability of the mobile device moving forward or backward and decreasing the probability of the mobile device rolling downhill after power-down.

[0050] In one feasible embodiment, the deflection angle of each wheel in the wheel assembly is fixed, and the rotation axes of each wheel are parallel to each other. The controller controls the angle between the rotation axis of the wheel assembly and the slope direction to be less than a preset angle based on the power-down command. This includes: the controller controls the mobile device to rotate or move in place based on the power-down command, so that the angle between the rotation axis of each wheel in the wheel assembly and the slope direction is less than the preset angle.

[0051] The mobile device can rotate in place based on the rotation of each wheel in different directions. Since the rotation axes of the wheels are parallel, the mobile device can steer by differential speeds between the wheels, such as through two-wheel or four-wheel differential speeds. Furthermore, since the deflection angle of each wheel is fixed, the above method is used to control the mobile device's rotation or movement in place, ensuring that the angle between the rotation axis of each wheel and the slope direction is less than a preset angle.

[0052] In this application, by controlling the mobile device to rotate or move in place, the angle between the rotation axis of each wheel in the wheel assembly and the slope direction is made less than a preset angle, which reduces the probability of the mobile device moving back and forth and decreases the probability of the mobile device sliding down the slope after power-off.

[0053] In one feasible embodiment, the deflection angle of each wheel in the wheel assembly is adjustable. The controller controls the angle between the rotation axis of the wheel assembly and the slope direction to be less than a preset angle based on a power-down command. This includes: the controller controls each wheel in the wheel assembly to deflect to a target angle based on a power-down command, so that the angle between the rotation axis of each wheel in the wheel assembly and the slope direction is less than the preset angle.

[0054] If the deflection angle of each wheel is adjustable, then by adjusting the deflection angle of each wheel according to the angle between its rotation axis and the slope direction, the angle between the rotation axis of each wheel in the wheel assembly and the slope direction can be made smaller than a preset angle. This improves the efficiency of adjusting the rotation axis of each wheel to a angle smaller than a preset angle with respect to the slope direction.

[0055] Simultaneously, the mobile device can be first controlled to rotate or move in place, so that the angle between the lateral axis of the mobile device and the slope direction is less than a preset angle. In other words, the mobile device is controlled to rotate or move in place, making its body perpendicular or nearly perpendicular to the slope direction. Then, the rotation axes of each wheel are adjusted so that the angle between them and the slope direction is less than a preset angle. This ensures that the angles between the lateral axis of the mobile device and the rotation axes of each wheel and the slope direction are both less than the preset angle, further reducing the probability of the mobile device sliding down the slope after power-off.

[0056] In one feasible embodiment, the mobile device further includes an inertial measurement unit, and the controller is electrically connected to the inertial measurement unit; the controller is also configured to control the inertial measurement unit to detect the displacement of the mobile device after the roller braking device locks the roller of at least one omnidirectional wheel when the angle between the rotation axis of the wheel assembly and the slope direction is less than a preset angle.

[0057] In this scenario, when the angle between the rotation axis of the wheel assembly and the slope direction is less than a preset angle, and the roller braking device locks at least one omnidirectional wheel's roller, to further reduce the probability of the mobile device slipping off the slope, an inertial measurement unit (IMU) can be used to detect whether the mobile device has shifted. For example, if the IMU detects that the mobile device has not shifted within a preset time period, it further indicates that the probability of the mobile device slipping off the slope is very low. In this case, directly powering off the mobile device can reduce the probability of it slipping off the slope after powering off.

[0058] Furthermore, if the inertial measurement unit detects displacement of the mobile device, it can alert the user, for example, by sending a notification message to the user's corresponding terminal device. After being alerted, the user can also remotely control the mobile device, for example, by moving it to a safe location.

[0059] In this application, detecting the displacement of the mobile device before power-off using an inertial measurement unit can further ensure that the probability of the mobile device sliding downhill after power-off is low.

[0060] In one feasible embodiment, if it is determined that the mobile device has been displaced within a preset time period based on the displacement situation, the controller controls the roller braking device to release the roller of at least one omnidirectional wheel, and controls the mobile device to move to flat ground before powering it off.

[0061] If the mobile device is detected to have shifted within a preset time period, it indicates a risk of slippage at its current location, and the device should not be parked there. Therefore, the mobile device needs to be moved to a safer location. For example, first, the roller brake device can be controlled to release the rollers of at least one omnidirectional wheel, and then the mobile device can be moved to level ground before being powered off. Understandably, this level ground can be determined based on slope information detected by the slope detection device. For instance, it can be determined based on the slope information; if the slope at the current location is not greater than a preset slope, then the current location is determined to be level ground.

[0062] In this application, the mobile device is moved to a safe position in a timely manner after displacement before power-off, so as to avoid the mobile device sliding down the slope and thus reduce the probability of the mobile device sliding down the slope after power-off.

[0063] In one feasible embodiment, if it is determined that the mobile device has been displaced within a preset time period based on the displacement situation, then when the displacement distance of the mobile device is not less than the preset distance, the controller controls the roller braking device to release the roller of at least one omnidirectional wheel, and controls the mobile device to move to flat ground and then power off.

[0064] If the mobile device is detected to have moved within a preset time period, the magnitude of that displacement needs to be determined. If the displacement distance is less than the preset distance, it indicates that the mobile device moved a short distance and then stopped. This could be due to the inertia of the previous rotation or movement, or other reasons, after the mobile device had just adjusted its wheels. Since only a small displacement occurred and stopped promptly, it can be preliminarily determined that the probability of further displacement of the mobile device under the current circumstances is low, and power can be switched off directly.

[0065] However, if the displacement distance of the mobile device exceeds the preset distance, it may be due to a steep slope or other reasons causing a long-distance displacement. This includes two scenarios: either the mobile device continues to displace, or it stops displacing after a long distance. Both scenarios pose a high risk of slippage, and the probability of further displacement is high. In these cases, it is necessary to move the mobile device to a safe location. This involves first controlling the roller brake device to release at least one omnidirectional roller, then moving the mobile device to level ground before powering it off.

[0066] In this application, if the mobile device undergoes a long-distance displacement before being powered off, it is determined that the mobile device has a high risk of sliding down a slope. In this case, controlling the mobile device to move to flat ground before powering off can prevent the mobile device from sliding down a slope, thereby reducing the probability of the mobile device sliding down a slope after being powered off.

[0067] In one feasible embodiment, the mobile device further includes a rain sensor, and the controller is electrically connected to the rain sensor; the controller is also configured to, after the mobile device is powered off, control the rain sensor to detect whether the mobile device is in a rainy environment. Upon detecting that the mobile device is in a rainy environment, the controller powers on the mobile device, controls the roller brake to release the roller of at least one omnidirectional wheel, and controls the mobile device to move to flat ground or a preset position.

[0068] Specifically, when a mobile device is powered off on a slope and its rain sensor detects that it is in a rainy environment, to prevent the device from slipping due to wet ground, it needs to be moved from its current location to a pre-set location such as flat ground or a charging station. Understandably, when moving the mobile device away from its current location, since it is currently powered off and at least one omnidirectional wheel is locked, the device needs to be powered on first, and the roller brake device needs to release the roller of at least one omnidirectional wheel before the device can be moved away. Furthermore, the decision to move the mobile device to flat ground or a pre-set location can be determined based on the amount of rainfall. If the rainfall is heavy, the device can be moved to a pre-set location such as a charging station; if the rainfall is light, moving it to flat ground is sufficient. In this case, the pre-set location should refer to a location where the device can avoid getting wet.

[0069] Understandably, once it is determined that the mobile device is in a rainy environment, the user can be notified, and the user can also control the mobile device to move to flat ground or a preset location via remote control commands.

[0070] In this application, mobile devices are removed from the ground in rainy conditions to prevent them from slipping on wet ground and thus reducing the probability of them sliding downhill after being powered off.

[0071] Furthermore, if the slope information determines that the mobile device is on flat ground, there is no need to consider whether the mobile device is slipping. In this case, the mobile device can be powered down directly without needing to control the roller braking device to lock at least one omnidirectional wheel. Moreover, regardless of whether the mobile device is on a slope or flat ground, if a remote control command is received from the terminal device before the mobile device receives the power-down command, the mobile device must be moved according to the remote control command. After completing the movement corresponding to the remote control command, the power-down operation as shown in the above embodiment is performed on the mobile device based on the power-down command sent by the terminal device. The terminal device refers to the user's terminal device that controls the mobile device, such as a desktop computer, laptop, tablet, or smartphone.

[0072] The following is a detailed explanation of how to control the braking of the rollers of the multiple omnidirectional wheels included in the mobile device:

[0073] In one feasible embodiment, the roller braking device in the mobile device includes an elastic element, a brake pad, and a power element. The two ends of the elastic pad are connected to the hub of the omnidirectional wheel and the brake pad, respectively. Under the elastic force of the elastic element, the brake pad presses against the roller to achieve braking. The power element is drively connected to the brake pad and is used to drive the brake pad away from the roller, causing the roller to stop braking. Exemplarily, the power element may include a motor, a lead screw, and a connecting rod. The connecting rod is connected to the lead screw and the brake pad, respectively. The motor drives the lead screw to move axially along the omnidirectional wheel, and the lead screw pulls the brake pad away from the roller through the connecting rod.

[0074] In addition, this application embodiment also provides another mobile device. Please refer to FIG4. FIG4 is a schematic diagram of the structure of another mobile device provided in this application embodiment. As shown in FIG4, the mobile device 100 includes a mobile component 140, a controller 120 and a slope detection device 130.

[0075] The moving component 140 may include the wheel assembly 110, or other components that enable the moving device 100 to move, such as moving the moving device via tracks.

[0076] Similarly, when the controller 120 determines that the mobile device is on a slope based on the slope information, it controls the angle between the horizontal axis of the mobile component and the slope direction to be less than a preset angle based on the power-down command, and controls the mobile device to power down.

[0077] Based on this, this application provides a control method for a mobile device. Please refer to Figure 5, which is a flowchart illustrating a control method for a mobile device provided in this application. This method is applied to the aforementioned controller. As shown in Figure 5, the method includes the following steps:

[0078] Step S501: The controller receives a power-down command.

[0079] The power-down command can be sent by the user's terminal device or generated based on program settings after the mobile device reaches a certain condition, such as the mobile device operating for five hours.

[0080] In step S502, when the mobile device is on a slope, the controller controls the angle between the lateral axis of the mobile device's moving component and the slope direction to be less than a preset angle according to the power-down command.

[0081] In one feasible embodiment, controlling the angle between the lateral axis of the moving component of the mobile device and the slope direction to be less than a preset angle according to the power-down command includes: controlling the rotation axes of the four wheels included in the moving component of the mobile device to be parallel to the slope direction according to the power-down command.

[0082] In one feasible embodiment, controlling the angle between the lateral axis of the mobile device's moving component and the slope direction to be less than a preset angle according to the power-down command includes: controlling the mobile device to rotate or move in place according to the power-down command, so that the angle between the rotation axis of each wheel in the moving component and the slope direction is less than the preset angle.

[0083] In one feasible embodiment, controlling the angle between the lateral axis of the moving component of the mobile device and the slope direction to be less than a preset angle according to the power-down command includes: controlling each wheel in the wheel assembly to deflect to a target angle according to the power-down command, so that the angle between the rotation axis of each wheel in the wheel assembly and the slope direction is less than the preset angle.

[0084] In one feasible embodiment, after the angle between the lateral axis of the moving component of the mobile device and the slope direction is less than a preset angle, the inertial measurement unit is controlled to detect the displacement of the mobile device.

[0085] In one feasible embodiment, if it is determined that the mobile device has been displaced within a preset time period based on the displacement situation, the mobile device is controlled to move to flat ground and then powered off.

[0086] In one feasible embodiment, if it is determined that the mobile device has been displaced within a preset time period based on the displacement situation, then when the displacement distance of the mobile device is not less than the preset distance, the mobile device is controlled to move to flat ground and then powered off.

[0087] In one feasible embodiment, after the mobile device is powered off, it is determined whether the mobile device is in a rainy environment. If it is determined that the mobile device is in a rainy environment, the mobile device is powered on and moved to flat ground or a preset location.

[0088] It is understood that the specific implementation process of the above method can be found in the specific functional description of the mobile device shown in Figure 1, and will not be described here.

[0089] Similar to the embodiments shown above, please refer to FIG6. FIG6 is a functional unit block diagram of a control device for a mobile device provided in an embodiment of this application. The control device for the mobile device may be the controller or a part of the controller described above. As shown in FIG6, the control device 60 of the mobile device includes:

[0090] The receiving unit 601 is used to receive power-down commands;

[0091] Control unit 602 is used to control the angle between the lateral axis of the mobile device and the slope direction to be less than a preset angle according to a power-down command when the mobile device is on a slope.

[0092] In one feasible embodiment, in order to control the angle between the lateral axis of the moving component of the mobile device and the slope direction to be less than a preset angle according to the power-down command, the control unit 602 can be used to: control the rotation axes of the four wheels included in the moving component of the mobile device to be parallel to the slope direction according to the power-down command.

[0093] In one feasible embodiment, in order to control the angle between the lateral axis of the moving component of the mobile device and the slope direction to be less than a preset angle according to the power-down command, the control unit 602 can be used to: control the mobile device to rotate or move in place according to the power-down command, so that the angle between the rotation axis of each wheel in the moving component and the slope direction is less than the preset angle.

[0094] In one feasible embodiment, in controlling the angle between the lateral axis of the moving component of the mobile device and the slope direction to be less than a preset angle according to the power-down command, the control unit 602 can be used to: control each wheel in the wheel assembly to deflect to a target angle according to the power-down command, so that the angle between the rotation axis of each wheel in the wheel assembly and the slope direction is less than the preset angle.

[0095] In one feasible embodiment, the control unit 602 is further configured to control the inertial measurement unit to detect the displacement of the mobile device after the angle between the lateral axis of the moving component of the mobile device and the slope direction is less than a preset angle.

[0096] In one feasible embodiment, the control unit 602 is further configured to control the mobile device to move to flat ground and then power off if it is determined from the displacement situation that the mobile device has been displaced within a preset time period.

[0097] In one feasible embodiment, the control unit 602 is further configured to, if it is determined from the displacement situation that the mobile device has been displaced within a preset time period, control the mobile device to move to flat ground and then power it off when the displacement distance of the mobile device is not less than the preset distance.

[0098] In one feasible embodiment, the control unit 602 is further configured to determine whether the mobile device is in a rainy environment after the control mobile device is powered off, and when it is determined that the mobile device is in a rainy environment, to power on the mobile device and to move the mobile device to flat ground or a preset location.

[0099] It is understood that the specific functions of the control device of the aforementioned mobile device can be found in the specific function description of the mobile device shown in Figure 1, and will not be repeated here.

[0100] In the case of using integrated units, as shown in FIG7, FIG7 is a functional unit block diagram of another mobile device control device 60 provided in an embodiment of the present application. In FIG7, the mobile device control device 60 includes a processing module 712 and a communication module 711. The processing module 712 is used to control and manage the operation of the mobile device control device 60, for example, the steps of the control unit 602, and / or other processes for executing the technology described herein. The communication module 711 is used to support the interaction between the mobile device control device 60 and other devices, such as the interaction between the receiving unit 601 and other devices. As shown in FIG7, the mobile device control device 60 may further include a storage module 713, which is used to store the program code and data of the mobile device control device 60.

[0101] The processing module 712 can be a processor or controller, such as a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication module 711 can be a transceiver, RF circuitry, or a communication interface, etc. The storage module 713 can be a memory.

[0102] All relevant content in each scenario involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here. The control device 60 of the above-mentioned mobile device can execute the mobile device control method shown in Figure 5.

[0103] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions according to the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. A computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. Available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. Semiconductor media can be solid-state drives.

[0104] Figure 8 is a structural block diagram of an electronic device provided in an embodiment of this application. As shown in Figure 8, the electronic device 800 may include one or more of the following components: a processor 801, a memory 802, and a communication interface 803. The processor 801, the memory 802, and the communication interface 803 are interconnected and perform communication with each other. The memory 802 may store one or more computer programs, which may be configured to implement the methods described in the above embodiments when executed by one or more processors 801.

[0105] Processor 801 may include one or more processing cores. Processor 801 connects to various parts within the electronic device 800 using various interfaces and lines, and performs various functions and processes data of the electronic device 800 by running or executing instructions, programs, code sets, or instruction sets stored in memory 802, and by calling data stored in memory 802. Optionally, processor 801 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). Processor 801 may integrate one or more of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. It is understood that the aforementioned modem may also not be integrated into processor 801, but may be implemented separately through a communication chip.

[0106] The memory 802 may include random access memory (RAM) or read-only memory (ROM). The memory 802 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 802 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), and instructions for implementing the various method embodiments described above. The data storage area may also store data created by the electronic device 800 during use.

[0107] It is understood that the electronic device 800 may include more or fewer structural elements than those shown in the above block diagram, such as a power module, physical buttons, a WiFi (Wireless Fidelity) module, a speaker, a Bluetooth module, sensors, etc., without limitation.

[0108] The aforementioned electronic device 800 may be the aforementioned controller or a part thereof.

[0109] This application provides a computer-readable storage medium storing program data, which, when executed by a processor, is used to perform some or all of the steps of any of the mobile device control methods described in the above method embodiments.

[0110] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the mobile device control methods described in the above method embodiments. The computer program product can be a software installation package.

[0111] It should be noted that, for the sake of simplicity, all embodiments of the aforementioned mobile device control method are described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to this application.

[0112] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, disclosure, and appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple instances. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce a good effect.

[0113] Those skilled in the art will understand that all or part of the steps in the various method embodiments of any of the above-described mobile device control methods can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0114] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of a mobile device, control method, and related apparatus of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of a mobile device, control method, and related apparatus of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0115] This application is described with reference to flowchart illustrations and / or block diagrams of methods, hardware products, and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0116] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0117] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0118] It is understood that any product that is controlled or configured to execute the processing method of the flowchart described in the method embodiment of the control method of a mobile device of this application, such as the terminal and computer program product of the above flowchart, falls within the scope of the related products described in this application.

[0119] Obviously, those skilled in the art can make various modifications and variations to the mobile device, control method, and related apparatus provided in this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A mobile device, comprising: The application relates to a mobile device comprising a wheel assembly, a slope detection device and a controller, wherein the wheel assembly comprises a roller brake device and at least one omni-wheel, the slope detection device is used for detecting slope information of a position where the mobile device is located, and the controller is electrically connected with the wheel assembly and the slope detection device respectively, and the roller brake device is used for locking or releasing the roller of the omni-wheel. The controller is configured to control the angle between the rotation axis of the wheel assembly and the slope direction to be less than a preset angle based on a power-off instruction when it is determined according to the slope information that the mobile device is on a slope, and to control the roller brake device to lock the roller of the at least one omni-wheel, and then to control the mobile device to be powered off.

2. The apparatus of claim 1, wherein, The wheel assembly comprises two omni-wheels on the front side and two tires on the rear side, and the controller controls the angle between the rotation axis of the wheel assembly and the slope direction to be parallel to the slope direction based on a power-off instruction.

3. The apparatus of claim 1 or 2, wherein, The deflection angle of each wheel in the wheel assembly is fixed, and the rotation axes of the wheels are parallel to each other, and the controller controls the angle between the rotation axis of the wheel assembly and the slope direction to be less than a preset angle based on a power-off instruction, and the controller controls the mobile device to rotate in place or move so that the angle between the rotation axis of each wheel in the wheel assembly and the slope direction is less than a preset angle based on a power-off instruction.

4. The apparatus of claim 1 or 2, wherein, The deflection angle of each wheel in the wheel assembly is adjustable, and the controller controls the angle between the rotation axis of the wheel assembly and the slope direction to be less than a preset angle based on a power-off instruction, and the controller controls each wheel in the wheel assembly to deflect to a target angle based on a power-off instruction so that the angle between the rotation axis of each wheel in the wheel assembly and the slope direction is less than a preset angle.

5. The apparatus of any one of claims 1-4, wherein, The application further comprises an inertial measurement unit, and the controller is electrically connected with the inertial measurement unit. The controller is further configured to control the inertial measurement unit to detect the displacement of the mobile device when the angle between the rotation axis of the wheel assembly and the slope direction is less than a preset angle and the roller brake device locks the roller of the at least one omni-wheel.

6. The apparatus of claim 5, wherein, If it is determined according to the displacement that the mobile device is displaced within a preset time length, the controller controls the roller brake device to release the roller of the at least one omni-wheel, and controls the mobile device to be powered off after the mobile device moves to a flat ground.

7. The apparatus of claim 5, wherein, If it is determined according to the displacement that the mobile device is displaced within a preset time length, the controller controls the roller brake device to release the roller of the at least one omni-wheel, and controls the mobile device to be powered off after the mobile device moves to a flat ground when the displacement distance of the mobile device is not less than a preset distance.

8. The apparatus of any one of claims 1-7, wherein, The application further comprises a rain sensor, and the controller is electrically connected with the rain sensor. The controller is further configured to, after controlling the mobile device to power off, control the rain sensor to detect whether the mobile device is in a raining environment, and control the mobile device to power on, control the roller brake device to release the roller of the at least one omni-directional wheel, and control the mobile device to move to a flat ground or a preset position when it is detected that the mobile device is in the raining environment.

9. A mobile device, characterized by The mobile device comprises a moving assembly, a slope detection device and a controller, the slope detection device is configured to detect slope information of a position where the mobile device is located, and the controller is electrically connected to the moving assembly and the slope detection device respectively. The controller is configured to, when it is determined according to the slope information that the mobile device is on a slope, control the angle between the lateral axis of the moving assembly and the slope direction to be less than a preset angle based on a power-off instruction, and control the mobile device to power off.

10. A control method of a mobile device, characterized by, The method comprises: receiving a power-off instruction; controlling the angle between the lateral axis of the moving assembly and the slope direction to be less than a preset angle based on the power-off instruction when the mobile device is on a slope.

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