Smoothing control method, intelligent system, and computer-readable storage medium

Abstract

A smoothing control method, an intelligent system, and a computer-readable storage medium. The method comprises: receiving operation information input by a user in a specified area; determining position change information on the basis of the operation information; and determining a control instruction of an intelligent device on the basis of the position change information, so as to control the state of the intelligent device. The smoothing control method can improve the accuracy of user instruction recognition, can effectively reduce operation errors by introducing a smoothing processing algorithm during position change information processing, and uses an intelligent device to implement related programs, thereby effectively reducing the performance requirements on users' mobile phone terminals, and improving user experience.

Description

A smooth control method, intelligent system, and computer-readable storage medium Technical Field

[0001] This invention relates to a smooth control method, an intelligent system, and a computer-readable storage medium. Background Technology

[0002] The process of establishing functional boundaries such as boundary maps, island maps, and restricted areas for lawnmower robots, as well as the simple process of moving the lawnmower robot's position, all require manual control of the robot's movement. Traditional manual control methods do not go through the closed-loop control and model solving process of the algorithm module; they directly send control commands to the underlying execution unit. This makes it impossible to achieve smooth and uniform speed changes in conjunction with the speed and angular velocity, resulting in relatively abrupt operation. Furthermore, once affected by terrain, the robot, which was originally moving in a straight line, will deviate from its course, requiring frequent adjustments, leading to a poor user experience.

[0003] Existing remote control solutions typically require the mobile phone to have a gravity sensor, gyroscope, or other similar devices, or require a certain level of performance and computing power to calculate the robot's movement commands based on user input. However, due to differences in mobile phone performance, the response speed to user input varies, leading to discrepancies in the output of movement commands. In particular, when the phone lags or has many background processes running, the robot may not be able to accurately receive movement commands, resulting in unresponsiveness, slow response, or incorrect response. Users cannot determine whether the problem lies with the phone or the robot, impacting the user experience.

[0004] This invention aims to solve the problems of inaccurate commands and poor user experience when manually controlling lawnmower robots. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a smooth control method, the method comprising:

[0006] Accept user input in the designated area;

[0007] Determine the position change information based on the operation information;

[0008] The control commands for the smart device are determined based on the location change information in order to control the state of the smart device.

[0009] Further improvements are proposed as follows:

[0010] The step of determining the position change based on the operation information includes: determining the position change within a specified area based on the operation information input by the user;

[0011] The step of determining the control command of the smart device based on the position change includes: processing the position change information within the specified area in order to determine the control command of the smart device.

[0012] Further improvements are proposed as follows:

[0013] The method further includes: acquiring sensitivity information of the operation;

[0014] The step of determining the control command for the smart device based on the position change includes: determining the control command based on the position change information and the sensitivity information.

[0015] Further improvements are proposed as follows:

[0016] The step of determining the control instructions for the smart device based on the position change information includes: smoothing the position change information to reduce the error of the operation information.

[0017] Further improvements are proposed as follows:

[0018] The smoothing process includes: obtaining the allowable operation error angle; determining whether the operation information input by the user is within the range of the operation error angle based on the operation error angle, so as to determine the control parameters of the smart device accordingly.

[0019] Further improvements are proposed as follows:

[0020] The permissible operating error angle is less than or equal to 10°.

[0021] Further improvements are proposed as follows:

[0022] The designated area is a symmetrical shape with a center point, and the determination is based on the position of the user's operation point relative to the center point according to the position change information.

[0023] Further improvements are proposed as follows:

[0024] The smart device determines its control commands based on the location change information in order to control the state of the smart device.

[0025] Further improvements are proposed as follows:

[0026] Before the mobile terminal accepts the operation information entered by the user in the designated area, it also includes:

[0027] The mobile terminal receives the user's gear selection information to determine the maximum moving speed of the smart device based on the gear selection information. A further improvement is as follows:

[0028] The ratio of the area of ​​the specified region to the area of ​​the mobile terminal display interface is a value between 0.15 and 0.45.

[0029] The present invention also provides an intelligent system, including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the computer program, it implements the following method: accepting operation information input by a user in a designated area; wherein the designated area is a symmetrical figure with a center point.

[0030] The position change information is determined based on the operation information, wherein the position change information is determined based on the position of the user operation point relative to the center point;

[0031] The control commands for the smart device are determined based on the location change information in order to control the state of the smart device.

[0032] Further improvements are proposed as follows:

[0033] The ratio of the area of ​​the specified region to the area of ​​the mobile terminal display interface is a value between 0.15 and 0.45.

[0034] The present invention also provides an intelligent system, including a mobile terminal and an intelligent device, wherein the mobile terminal is used to control the intelligent device so that the intelligent device performs movement; the mobile terminal and the intelligent device cooperate to achieve the following steps:

[0035] Accept operation information input by the user in a designated area; wherein, the designated area is a symmetrical shape with a center point;

[0036] The position change information is determined based on the operation information, wherein the position change information is determined based on the position of the user operation point relative to the center point;

[0037] The control commands for the smart device are determined based on the location change information in order to control the state of the smart device.

[0038] Further improvements are proposed as follows:

[0039] The mobile device accepts operation information input by the user in a designated area; wherein, the designated area is a symmetrical shape with a center point;

[0040] The mobile device determines position change information based on the operation information, wherein the position change information is determined based on the position of the user's operation point relative to the center point;

[0041] The mobile device determines the control command for the smart device based on the location change information in order to control the state of the smart device.

[0042] Further improvements are proposed as follows:

[0043] The mobile device accepts operation information input by the user in a designated area; wherein, the designated area is a symmetrical shape with a center point;

[0044] The mobile device determines position change information based on the operation information, wherein the position change information is determined based on the position of the user's operation point relative to the center point;

[0045] The smart device determines its control commands based on the location change information in order to control the state of the smart device.

[0046] Further improvements are proposed as follows:

[0047] The mobile device accepts operation information input by the user in a designated area; wherein, the designated area is a symmetrical shape with a center point;

[0048] The intelligent device determines position change information based on the operation information, wherein the position change information is determined based on the position of the user's operation point relative to the center point;

[0049] The smart device determines its control commands based on the location change information in order to control the state of the smart device.

[0050] Further improvements are proposed as follows:

[0051] The mobile terminal receives the user's gear selection information in order to determine the maximum moving speed of the smart device based on the gear selection information.

[0052] Further improvements are proposed as follows:

[0053] The step of determining the control command of the smart device based on the position change information includes: smoothing the position change information to reduce the error of the operation information; the smoothing process includes: obtaining the allowable operation error angle; determining whether the operation information is within the range of the operation error angle based on the operation information input by the user and the operation error angle, so as to determine the control parameters of the smart device accordingly.

[0054] Further improvements are proposed as follows:

[0055] The ratio of the area of ​​the designated region to the area of ​​the mobile terminal display interface is a value between 0.15 and 0.45.

[0056] Further improvements are proposed as follows:

[0057] The area of ​​the mobile terminal display interface is less than or equal to the area of ​​the mobile terminal screen.

[0058] The present invention also provides a computer-readable medium having processor-executable non-volatile program code that causes the processor to perform the method.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] This invention relates to a smooth control method, an intelligent system, and a computer-readable storage medium. The method involves receiving operation information input by a user in a designated area; determining position change information based on the operation information; and determining control commands for an intelligent device based on the position change information to control the state of the intelligent device. This improves the accuracy of user command recognition. Furthermore, by introducing a smoothing algorithm during position change information processing, operational errors can be effectively reduced. Additionally, by implementing related programs through the intelligent device, the performance requirements of the user's mobile device are effectively reduced, improving the user experience. Attached Figure Description

[0061] Figure 1 is a schematic diagram of the coordinate system of a designated area according to a preferred embodiment of the present invention;

[0062] Figure 2 is a schematic diagram of the coordinate system containing the error range according to a preferred embodiment of the present invention. Detailed Implementation

[0063] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0064] To address the shortcomings of existing technologies, this invention aims to propose a control scheme that provides accurate user command recognition and a superior user experience.

[0065] This invention provides a smooth control method, the method comprising:

[0066] The system receives operation information input by the user in a designated area; wherein the designated area is a symmetrical shape with a center point, and the position change information is determined based on the position of the user's operation point relative to the center point. The shape can be a circle, a square, etc.

[0067] Determine the position change information based on the operation information;

[0068] The control commands for the smart device are determined based on the location change information in order to control the state of the smart device.

[0069] [Corrected according to Rule 91, September 26, 2025] As shown in Figure 1, users can see a designated area, such as a disc A1, and a marker point, such as a ball B1, located at the center of disc A1 on the display interface of mobile terminals such as mobile phones and tablets. Users generate control commands based on the position of the movable ball B1 relative to the center of disc A1. That is, users determine position change information by controlling the movement of the ball B1, and then generate control commands.

[0070] To improve user convenience, the area ratio of the designated area to the mobile terminal display interface is between 0.15 and 0.45. In a further embodiment, when the ratio is a fixed value between 0.15 and 0.45, such as 0.2 or 0.25, the designated area will automatically scale according to the changes in the mobile terminal display interface to ensure a comfortable visual experience for the user. The display interface refers to the mobile terminal's screen or the area of ​​the screen occupied by the APP operation interface; wherein the area of ​​the screen occupied by the APP operation interface is less than or equal to the area of ​​the mobile terminal's screen.

[0071] [Corrected according to Rule 91, September 26, 2025] In a specific embodiment, the intelligent device determines its control command based on the position change information to control its state. In this invention, to reduce the performance / computing power requirements of mobile terminals such as mobile phones, after receiving user-inputted operation information, the mobile terminal can obtain the position change information of the marker point relative to the center of a designated area, i.e., the position change information of ball B1 relative to the center of disk A1. This position change information is then sent to the intelligent device, which processes the information according to a preset algorithm and generates control commands. This method significantly reduces the computing power / performance requirements of the user's mobile terminal, preventing insufficient computing power / performance from affecting the user experience.

[0072] In a preferred embodiment, the above process can be divided into several steps, namely ① coordinate confirmation, ② coordinate transformation, ③ parameter transformation, ④ control information calculation, and ⑤ generation of control commands. In other alternative embodiments, when the user's mobile terminal has good performance, the process of generating control commands can also be executed on the mobile terminal; or the operator can choose to execute the steps on the mobile terminal and the steps on the smart device according to actual needs. In other alternative embodiments, when the user enters the display interface of the mobile terminal, the mobile terminal automatically calculates the computing power distribution of the mobile terminal and the smart device, and then automatically determines whether the mobile terminal executes step ①, or steps ① and ②, or steps ①, ②, and ③, or steps ①, ②, ③, and ④, or steps ①, ②, ③, ④, and ⑤, etc. The computing power distribution can be evaluated based on parameters such as memory, which is a common function in performance testing scenarios for mobile phones, computers, etc. Specific computing power evaluation methods will not be elaborated here. Through the above methods, not only can the personalized needs of users be met, but also the effective utilization of computing power resources can be achieved, improving the user experience.

[0073] In a further embodiment, determining the position change based on the operation information includes: determining the position change within a specified area based on the operation information input by the user; wherein the position change information can be represented by coordinates in a pre-established coordinate system;

[0074] The step of determining the control command for the smart device based on the position change includes: processing the position change information within the designated area to determine the control command for the smart device. Processing the position change information includes converting the coordinates to a polar coordinate system.

[0075] In a further embodiment, the method further includes: acquiring sensitivity information of the operation; wherein the sensitivity information may be a maximum manually controlled speed of v. max The maximum angular velocity is ω max The maximum speed is v. max The maximum angular velocity is ω max These are the maximum speed and maximum angular velocity supported by the intelligent device.

[0076] The step of determining the control command for the smart device based on the position change includes: determining the control command based on the position change information and the sensitivity information.

[0077] In a specific embodiment, the above method specifically includes:

[0078] [Corrected according to Rule 91, 26.09.2025] The first step, namely ① coordinate confirmation, involves the user operating on the display interface of the mobile terminal. The display interface has a right-handed coordinate system established with the center of disk A1 as the origin and the positive x-axis directly above it, as shown in Figure 1. When ball B1 moves, the position (x, y) of the ball's center in the established coordinate system is recorded.

[0079] The second step, namely ② coordinate transformation, involves converting the rectangular coordinates of the center position of the small ball into polar coordinates (ρ, θ), where...

[0080] [Corrected according to detailed rule 91 26.09.2025] Step 3, namely ③ parameter conversion, sets the maximum manual control speed to v. max The maximum angular velocity is ω max Wherein, the maximum speed is v max and the maximum angular velocity is ω max Let B1 be the maximum moving speed and angular velocity supported by the intelligent device, and R be the radius of the disk. Then, the control quantity of the lawnmower robot's motion center corresponding to ball B1 is calculated as follows:

[0081] In a further alternative embodiment: v = k·v max ·cos(θ)ω=k·ω max sin(θ)

[0082] Where k is a value between 0 and 1, preferably k can take at least one value from 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 1, etc.; preferably, one, two, three, four or more speed levels can be selected, and speed levels are displayed on the user interface. That is, when two speed levels are selected, two speed levels are displayed on the interface; when three speed levels are selected, three speed levels are displayed on the interface, and so on. In actual operation, users can select one speed level through the speed levels on the interface, such as the speed levels on the APP interface, to meet different user control needs and improve the user experience.

[0083] Specifically, before the user starts remotely controlling the lawnmower to move, that is, before receiving the operation information input by the user in the designated area, the process also includes: the user selecting a speed level through the operation interface, so as to determine the maximum operating speed of the lawnmower based on the speed level, and then the user performs the remote control operation.

[0084] The fourth step, namely ④ control information calculation, assumes that the diameters of the left and right wheels are equal, denoted as D, and the distance between the left and right wheels is W.D The speed ratio of the left and right walking motors is equal, which is G. ratio The motion center control values ​​are converted into the left and right walking motor speeds of the lawnmower robot through the model solving module.

[0085] The fifth step, namely step ⑤, is to generate control commands based on the left and right travel motor speeds n. L and n R The system generates control commands to control the left and right wheels of the lawnmower robot.

[0086] This invention improves the accuracy of user command recognition by receiving operation information input by a user in a designated area; determining location change information based on the operation information; and determining control commands for a smart device based on the location change information.

[0087] In a further implementation, to improve user experience and reduce operational errors, determining the control instructions for the smart device based on the position change information includes: smoothing the position change information to reduce errors in the operational information. The smoothing process includes: obtaining an allowable operational error angle; determining whether the operational information is within the range of the operational error angle based on the user-input operational information and the operational error angle, so as to determine the control parameters of the smart device accordingly. Preferably, the allowable operational error angle is less than or equal to 10°; in a further preferred embodiment, the error angle is ±5°.

[0088] [Correction based on Rule 91, 26.09.2025] In a specific embodiment, in the above-mentioned smoothing control scheme, considering the inaccuracy of manual operation, special processing logic exists near the coordinate axes, namely, smoothing processing, to reduce operational errors. As shown in Figure 2, the area enclosed by dashed lines C1 and C2 is the straight-line travel area, and the area enclosed by dashed lines D1 and D2 is the spin area. The specific method is as follows:

[0089] The first step is to set the allowable operating error angle θ. e The allowable operating error range near each coordinate axis can be expressed as:

[0090] Where n = 0, 1, 2, 3, and normalization is the normalization function; in the preferred embodiment, the error angle θ e It can be ±5°, ±6°, ±7°, ±8°, ±9°, ±10°, etc.

[0091] The second step is to determine whether (ρ, θ) obtained from the coordinate transformation in step ② belongs to the allowable operation error range mentioned in step 1 above. If it does, the corresponding n value is obtained.

[0092] Third, if n = 0, then execute the forward straight-line driving direction-keeping function, assuming the initial heading angle is when entering the allowable operating error range. The real-time heading angle during operation is At this point, the motion center control variable of the lawnmower robot can be expressed as: v = v max

[0093] Where K1 is the gain coefficient, which is a value between 0 and 2;

[0094] Fourth step, if n=1, then execute the leftward spin function. At this time, the motion center control quantity of the lawnmower robot can be expressed as: v=0 ω=ω max

[0095] Fifth step, if n=2, then execute the reverse straight-line driving direction-keeping function, assuming the initial heading angle is when entering the allowable operating error range. The real-time heading angle during operation is At this point, the motion center control variable of the lawnmower robot can be expressed as: v = -v max

[0096] K2 is the gain coefficient, which takes a value between 0 and 2.

[0097] Step 6: If n = 3, then execute the right spin function. At this time, the motion center control quantity of the lawnmower robot can be expressed as: v = 0, ω = -ω max

[0098] Step 7: Perform ④ control information calculation to calculate the speeds of the left and right motors.

[0099] This invention effectively solves the problem of inaccuracy in manual operation by introducing a smoothing algorithm when processing position change information, and can effectively reduce operation error.

[0100] This invention also provides an intelligent system, including a mobile terminal and intelligent devices. The mobile terminal can be a user's mobile phone, computer, or other various devices, and the intelligent device can be a self-propelled device such as a smart lawnmower or sweeper, which can also be equipped with remote control functionality.

[0101] The mobile terminal has a display interface for receiving operation information input by the user in a designated area; wherein, the designated area is a symmetrical shape with a center point, and the position change information is determined based on the position of the user's operation point relative to the center point. The shape can be a circle, a square, or other similar shapes.

[0102] Then, the position change information is determined based on the operation information;

[0103] The control commands for the smart device are determined based on the location change information.

[0104] The smart device controls its state according to the control command.

[0105] [Corrected according to Rule 91, September 26, 2025] As shown in Figure 1, users can see a designated area, such as a disc A1, and a marker point, such as a ball B1, located at the center of the disc on the display interface of mobile terminals such as mobile phones, computers, and tablets. Users generate control commands based on the position of the movable ball B1 relative to the center of the disc A1. That is, users determine positional changes by controlling the movement of the ball B1, and then generate control commands.

[0106] [Corrected according to Rule 91, September 26, 2025] In a specific embodiment, the intelligent device determines its control command based on the position change information to control its state. In this invention, to reduce the performance / computing power requirements of mobile terminals such as mobile phones, after receiving user-inputted operation information, the mobile terminal can obtain the position change information of the marker point relative to the center of a designated area, i.e., the position change information of ball B1 relative to the center of disk A1. This position change information is then sent to the intelligent device, which processes the information according to a preset algorithm and generates control commands. This method significantly reduces the computing power / performance requirements of the user's mobile terminal, preventing insufficient computing power / performance from affecting the user experience.

[0107] The present invention also provides an intelligent system, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the computer program to implement the method described thereon.

[0108] The present invention also provides a computer-readable medium having processor-executable non-volatile program code, characterized in that the program code causes the processor to perform the method described.

[0109] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0110] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0111] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of protection of the claims.

Claims

1. A smooth control method, characterized in that, The method is applied to a control system including mobile terminals and smart devices, and the method includes: The mobile terminal accepts operation information input by the user in a designated area; Determine the position change information based on the operation information; The control commands for the smart device are determined based on the location change information in order to control the state of the smart device.

2. The smooth control method according to claim 1, characterized in that, The step of determining the position change based on the operation information includes: determining the position change within a specified area based on the operation information input by the user; The step of determining the control command of the smart device based on the position change includes: processing the position change information within the specified area in order to determine the control command of the smart device.

3. The balance control method according to claim 1, characterized in that, The method further includes: acquiring sensitivity information of the operation; The step of determining the control command for the smart device based on the position change includes: determining the control command based on the position change information and the sensitivity information.

4. The smooth control method according to claim 1, characterized in that, The step of determining the control instructions for the smart device based on the position change information includes: smoothing the position change information to reduce the error of the operation information.

5. The smooth control method according to claim 4, characterized in that, The smoothing process includes: obtaining the allowable operation error angle; determining whether the operation information input by the user is within the range of the operation error angle based on the operation error angle, so as to determine the control parameters of the smart device accordingly.

6. The smoothing control method according to claim 4, characterized in that, The permissible operating error angle is less than or equal to 10°.

7. The smooth control method according to claim 1, characterized in that, The designated area is a symmetrical shape with a center point, and the determination is based on the position of the user's operation point relative to the center point according to the position change information.

8. The smooth control method according to claim 1, characterized in that, The area ratio of the designated area to the display interface of the mobile terminal is a value between 0.15 and 0.

45.

9. The balance control method according to claim 1, characterized in that, Before the mobile terminal accepts the operation information entered by the user in the designated area, it also includes: The mobile terminal receives the user's gear selection information in order to determine the maximum moving speed of the smart device based on the gear selection information.

10. An intelligent system comprising at least one memory and at least one processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the method described in any one of claims 1-9.

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