Information processing method, mobile device and computer storage medium

Patent metadata

Field	Value
Publication number	US-10222809-B2
Application number	US-201615505238-A
Country	US
Kind code	B2
Filing date	Sep 30, 2016
Priority date	Mar 31, 2016
Publication date	Mar 5, 2019
Grant date	Mar 5, 2019

Abstract

The present invention discloses an information processing method applied to a mobile device, including: acquiring a first vector, wherein the first vector is used for describing the change of a relative velocity between the mobile device and a followed target object caused by the own movement of a first coordinate system which is fixedly connected with the mobile device; acquiring a second vector, wherein the second vector is a relative velocity vector between the mobile device and the followed target object; adding the first vector to the second vector to acquire a third vector, wherein the third vector is an absolute velocity vector of the target object; and acquiring a first included angle according to the third vector, wherein the first included angle is an included angle between the own absolute velocity vector of the mobile device and the third vector; and generating a control law for controlling the movement of the mobile device according to the first included angle. The invention further discloses a mobile device and a computer storage medium.

First claim

What is claimed is:

1. An information processing method, applied to a mobile device, comprising:
acquiring a first vector, wherein the first vector is used for describing the change of a relative velocity between the mobile device and a followed target object caused by the own movement of a first coordinate system which is fixedly connected with the mobile device;
acquiring a second vector, wherein the second vector is a relative velocity vector between the mobile device and the followed target object;
adding the first vector to the second vector to acquire a third vector, wherein the third vector is an absolute velocity vector of the target object; and acquiring a first included angle according to the third vector, wherein the first included angle is an included angle between the own absolute velocity vector of the mobile device and the third vector; and
generating a control law for controlling the movement of the mobile device according to the first included angle.

2. The information processing method of claim 1 , wherein the generating a control law for controlling the movement of the mobile device according to the first included angle comprises:
decomposing a target relative position into a first relative position and a second relative position according to the first included angle, generating a corresponding first control law according to the first relative position, and generating a corresponding second control law according to the second relative position and the first included angle, wherein the target relative position is a following position where the mobile device is about to arrive at and which is acquired by the mobile device according to the movement of the target object;
wherein, the first control law is used for controlling the translation velocity of the mobile device, and the first control law drives the first relative position to gradually converge; and the second control law is used for controlling the rotating velocity of the mobile device, and the second control law drives the second relative position and the first included angle to gradually converge.

3. The information processing method of claim 2 , wherein the decomposing a target relative position into a first relative position and a second relative position according to the first included angle comprises:
in a second coordinate system constructed with the followed target object as a coordinate origin, setting a positive X axis direction of the second coordinate system to be overlapped with the motion direction of the target object; in the second coordinate system, the coordinates of the target relative position are x 0 , y 0 ; and the first relative position and the second relative position are represented as follows:
Δχ=χ 0 −ρ cos(α−θ γ )

Δ y=y 0 −ρ sin(α−θ γ )

wherein, first relative position information of the target object relative to the mobile device is represented as a second included angle α and a first radius vector scalar ρ by polar coordinates, Δx represents the first relative position, Δy represents the second relative position, and θ γ represents the first included angle.

4. The information processing method of claim 3 , wherein the generating a corresponding second control law according to the second relative position comprises:
acquiring a first approach angle θ α =Δy*k according to the second relative position, wherein θ α represents the first approach angle, and k represents a proportionality coefficient; and
acquiring the second control law according to the first approach angle θ α and the first included angle θ y .

5. The information processing method of claim 1 , wherein the acquiring a first vector comprises:
acquiring the first relative position information of the target object relative to the mobile device, wherein the first relative position information is represented as the second included angle α and the first radius vector ρ by the polar coordinates, the first radius vector scalar ρ represents the radius vector scalar from the mobile device to the target object, and the second included angle α represents the included angle between the first radius vector scalar ρ and an absolute translation velocity vector v f of the mobile device; and
acquiring the first vector through the following relationship: F=−(ω f *ρ+v f ), wherein F represents the first vector, ω f represents an absolute rotating velocity vector of the mobile device, and v f represents the absolute translation velocity vector of the mobile device.

6. The information processing method of claim 1 , wherein the acquiring a second vector comprises:
acquiring the first relative position information of the target object relative to the mobile device, wherein the first relative position information is represented as the second included angle α and the first radius vector scalar ρ by the polar coordinates, the first radius vector scalar ρ represents the radius vector scalar from the mobile device to the target object, and the second included angle α represents the included angle between the first radius vector scalar ρ and the absolute translation velocity vector v f of the mobile device; and
carrying out a differential operation according to the first relative position information to acquire the second vector, wherein the second vector is represented as follows in a coordinate manner:

R
=

(

d
⁡

[

ρ
⁡

(
t
)

⁢
cos
⁢

⁢

α
⁡

(
t
)

]

dt

,

d
⁡

[

ρ
⁡

(
t
)

⁢
sin
⁢

⁢

α
⁡

(
t
)

]

dt

)

wherein, R represents the second vector, and ρ re

Assignees

• Ninebot Beijing Tech Co Ltd

Inventors

• Dong Shiqian
• Ren Guanjiao
• Wang Ye
• Pu Li

Classifications

• G05D1/0202

  specially adapted to aircraft · CPC title

• G05D1/12 Primary

  Target-seeking control · CPC title

• G05D1/0257

  using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931) · CPC title

• G05D1/0223

  involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00) · CPC title

• G05D1/0231

  using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16) · CPC title