CN115137572A

CN115137572A - Mobile device, and mapping method, control method and medium of manipulating apparatus thereof

Info

Publication number: CN115137572A
Application number: CN202110274465.6A
Authority: CN
Inventors: 陈金明
Original assignee: Guangdong Bofang Zhongji Medical Technology Co ltd
Current assignee: Guangdong Bofang Zhongji Medical Technology Co ltd
Priority date: 2021-03-15
Filing date: 2021-03-15
Publication date: 2022-10-04

Abstract

The invention discloses a mapping method, a control method and a medium for a mobile device and a manipulator thereof, wherein the method comprises the following steps: acquiring coordinate data of the operating device, wherein the coordinate data comprises a first coordinate and a second coordinate; and mapping the first coordinate to a target moving speed of the mobile equipment according to a preset first nonlinear function, and mapping the second coordinate to a target corner of the mobile equipment according to a preset corner mapping function. According to the mapping method of the operating device, the first coordinate is mapped to the target moving speed of the mobile equipment according to the preset first nonlinear function, so that the closer to the central point, the greater the change rate of the target moving rotating speed is, and therefore when a user operates the operating device, the mobile equipment has a certain anti-shaking function at a high-speed stage, and the operation is more stable; the requirement of fast speed increasing can be met in the low-speed stage, and the user experience is improved.

Description

Mobile device, and mapping method, control method and medium of manipulating apparatus thereof

Technical Field

The present invention relates to the field of mobile device control technologies, and in particular, to a mapping method, a control method, and a medium for a mobile device and an operating device thereof.

Background

In the related art, signals of a joystick of a differential drive type mobile device (such as an intelligent wheelchair) are generally mapped to the speed of the mobile device by adopting a linear mapping method, so that the speed fluctuation is large when the mobile device runs at a high speed, and the speed can not be smoothly switched to achieve the turning condition when the mobile device turns. In addition, the turning angle of the mobile device in the technology cannot be further mapped to the turning radius, so that the turning angle of the mobile device is different from the actual turning radius in some states when the mobile device turns, and the operation experience of a user is influenced.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. To this end, an object of the present invention is to provide a mapping method for an operating device, so that the mobile device can operate more smoothly with less fluctuation when operating at high speed, and can better meet the requirement of increasing speed when operating at low speed.

A second object of the present invention is to provide a control method of a mobile device.

A third object of the invention is to propose a computer-readable storage medium.

A fourth object of the invention is to propose a mobile device.

In order to achieve the above object, an embodiment of a first aspect of the present invention provides a mapping method for an operating device, where the method is used for a mobile device, and the method includes: acquiring coordinate data of a manipulation device, wherein the coordinate data comprises a first coordinate and a second coordinate; and mapping the first coordinate to a target moving speed of the mobile equipment according to a preset first nonlinear function, and mapping the second coordinate to a target corner of the mobile equipment according to a preset corner mapping function.

According to the mapping method of the operating device, the first coordinate is mapped to the target moving speed of the mobile equipment according to the preset first nonlinear function, so that the closer to the central point, the greater the change rate of the target moving rotating speed is, and therefore when a user operates the operating device, the mobile equipment has a certain anti-shaking function in a high-speed stage, and the operation is more stable; the requirement of the user for rapidly increasing the speed can be met in the low-speed stage, so that the user experience is improved.

In order to achieve the above object, a second aspect of the present invention provides a method for controlling a mobile device, including: obtaining a target moving speed and a target rotation angle of the mobile equipment by using the mapping method of the operating device; mapping the target turning angle to a target turning radius, and respectively obtaining a first target rotating speed of a left wheel and a second target rotating speed of a right wheel of the mobile equipment according to the target moving speed, the target turning radius and a preset differential formula; and respectively controlling the left wheel and the right wheel according to the first target rotating speed and the second target rotating speed.

According to the control method of the mobile equipment, the first coordinate is mapped to the target moving speed of the mobile equipment according to the preset first nonlinear function, so that the closer to the central point, the greater the change rate of the target moving rotating speed is, and the mobile equipment is controlled according to the obtained target moving rotating speed, so that when a user operates the operating device, the mobile equipment has a certain anti-shaking function at a high-speed stage, and the operation is more stable; the requirement of the user for rapidly increasing the speed can be met in the low-speed stage, so that the user experience is improved.

To achieve the above object, a third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, the computer program, when being executed by a processor, implementing the above mapping method for a manipulator or implementing the above control method for a mobile device.

In order to achieve the above object, a fourth aspect of the present invention provides a mobile device, including a memory, a processor, and a computer program stored on the memory, where the computer program, when executed by the processor, implements the mapping method of the manipulating device described above, or implements the control method of the mobile device described above.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a flow chart of a mapping method of an operator according to one embodiment of the invention;

FIG. 2 is a schematic coordinate diagram of an exemplary manipulator of the present invention;

FIG. 3 is a diagram illustrating a mapping relationship between a first coordinate and a moving speed of a target according to an exemplary embodiment of the present invention;

FIG. 4 is a flow chart of a mapping method of an operator according to another embodiment of the invention;

FIG. 5 is a schematic diagram of a mobile device turning of one example of the invention;

FIG. 6 is a diagram illustrating a mapping relationship between a target turning angle and a target turning radius according to an example of the present invention;

FIG. 7 is a flow chart of a mapping method of an operator according to yet another embodiment of the invention;

FIG. 8 is a schematic illustration of a zero coordinate region of an example of the present invention;

FIG. 9 is a flow chart of a mapping method of an operator according to an embodiment of the present invention;

fig. 10 is a flowchart of a control method of a mobile device according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

A mapping method of an operating device, a control method of a mobile device, a storage medium, and a mobile device according to embodiments of the present invention will be described with reference to fig. 1 to 10.

FIG. 1 is a flow chart of a mapping method of an operator according to one embodiment of the invention. In this embodiment, the mapping method of the manipulating device is used for a mobile device, and particularly can be a differential-speed-driven mobile device, such as a smart wheelchair.

As shown in fig. 1, the mapping method of the manipulating device includes:

s101, coordinate data of the operating device are acquired, wherein the coordinate data comprise a first coordinate and a second coordinate.

Specifically, referring to fig. 2, a rectangular coordinate system may be established with the initial position of the manipulating device (e.g., the joystick) as the center point, and the first coordinate may be a Y-axis coordinate for controlling the speed of the mobile device; the second coordinate may be an X-axis coordinate for implementing the control of the rotational angle of the mobile device. When the actuating device is operated, it can move within the rectangular region of fig. 1.

In this embodiment, other coordinate systems may also be established according to the active region of the manipulating device, for example, when the active region of the manipulating device is a parallelogram, the initial position of the manipulating device may be the central point, and two adjacent sides of the parallelogram and the parallel are used as coordinate axes to establish a coordinate system; for another example, when the active area of the manipulating device is a spherical surface (e.g., a hemispherical surface), the initial position of the manipulating device may be a central point, and two perpendicular arcs may be used as coordinate axes to establish a spherical coordinate system, where the first coordinate and the second coordinate may be coordinates of corresponding points on a tangent plane of a point on the spherical coordinate system, and the tangent plane is perpendicular to the two arcs.

And S102, mapping the first coordinate to a target moving speed of the mobile equipment according to a preset first nonlinear function, and mapping the second coordinate to a target corner of the mobile equipment according to a preset corner mapping function.

Wherein the first non-linear function may be a logarithmic function; the preset rotation angle mapping function may be a linear function or a nonlinear function, taking the linear function as an example, the preset rotation angle mapping function may be α = b · x, α is a target rotation angle, b is a constant and is a positive value, and x is a second coordinate, that is, the larger the value of the second coordinate is, the larger the target rotation angle is, see fig. 2, the larger the value of the second coordinate is along the positive direction of the x axis, the larger the target rotation angle rotating to the right is, but not more than 90 °, and similarly, the larger the value of the second coordinate is along the negative direction of the x axis, the larger the target rotation angle rotating to the left is, but not more than 90 °.

In particular, the speed increases more slowly, since the further away the steering device is from the central point; the speed increases faster closer to the central point, so the invention adopts a nonlinear mapping mode to map the coordinate data of the manipulating device (such as a joystick) to the target moving speed of the mobile equipment, so that the increasing rate of the target moving speed is reduced along with the increase of the first coordinate, and the reducing trend can be linear or nonlinear, such as a hyperbolic curve in the first quadrant. Taking any three points (Vx 1, vy 1), (Vx 2, vy 2), (Vx 3, vy 3) on the curve corresponding to the first nonlinear function as an example, if Vy1 > Vy2 > Vy3, and the target moving speeds corresponding to Vy1, vy2, vy3 are v1, v2, v3 respectively, then v1 > v2 > v3, and (v 1-v 2) < (v 2-v 3), that is, the closer to the central point, the greater the change rate of the target moving rotating speed. The influence of the movement of the operating device on the speed of the mobile equipment is small in the high-speed stage; in the low-speed stage, the influence of the movement of the control device on the mobile equipment is large, so that the target moving speed obtained by adopting the nonlinear mapping mode is used for controlling the mobile equipment, the mobile equipment can have a certain anti-shaking function in the high-speed stage, and the operation is more stable; the requirement of a user for rapidly increasing the speed can be met in the low-speed stage, and the user experience is improved.

As an example, the first non-linear function is a logarithmic function, and the logarithmic function may correspond to the formula:

wherein, V is the target moving speed, a is a first preset coefficient for adjusting the change rate of the target moving speed V, and y is a first coordinate. Taking the coordinate data in the coordinate system shown in fig. 2 as an example, fig. 3 shows a mapping relationship between the target moving speed V and the y-axis coordinate in this example.

Fig. 4 is a flowchart of a mapping method of an operating device according to another embodiment of the present invention.

As shown in fig. 4, the mapping method of the manipulating device includes:

s401, coordinate data of the operating device are acquired, wherein the coordinate data comprise a first coordinate and a second coordinate.

S402, mapping the first coordinate to a target moving speed of the mobile equipment according to a preset first nonlinear function, and mapping the second coordinate to a target corner of the mobile equipment according to a preset corner mapping function.

As an example, the corner mapping function is a linear function, and the formula of the linear function may be:

wherein alpha is a target rotation angle, and x is a second coordinate.

And S403, mapping the target turning angle to a target turning radius of the mobile equipment according to a preset second nonlinear function.

Wherein the second non-linear function may be a tangent function.

Specifically, in the actual driving process of the mobile device, the range of the turning angle of the mobile device is [ -90 °,90 ° ], the range of the turning radius of the mobile device is [ - ∞, + ∞ ], and the turning angle of the mobile device can be mapped to the turning radius of the mobile device by using a tangent function. The turning angle and the turning radius of the mobile equipment are in a nonlinear relation, and when the turning radius is infinite, the mobile equipment is in a straight-going state; when the turning radius is 0, the mobile equipment is in a self-rotating state; when the turning radius is not 0 and is not infinite, the turning radius obtained by using the tangent function can enable the mobile equipment to be stable and smooth when turning.

As an example, the tangent function may correspond to the formula:

R＝k·tan(90°-α)，

wherein, R is the target turning radius, k is a second preset coefficient for adjusting the sensitivity of the control device, the value of the sensitivity can be set according to requirements, and alpha is the target turning angle.

Specifically, referring to fig. 5, when the mobile device is turning, R is the turning radius of the mobile device, R is the radius of the power wheels of the mobile device, L is the axial length between the two power wheels, θ is the turning angle of the mobile device, and V is the speed of the mobile device. Assuming that the target rotation angle mapped by the manipulating device is α, the mapping relation between R and α is: r = k · tan (90- α). FIG. 6 illustrates an exemplary mapping relationship between R and α, where α is the independent variable, the independent variable range is [ -90 °,90 ° ], R is the dependent variable, and the value range is [ - ∞, + ∞ ].

Fig. 7 is a flowchart of a mapping method of an operating device according to still another embodiment of the present invention.

As shown in fig. 7, the mapping method of the manipulating device includes:

s701, coordinate data of the operating device are acquired, wherein the coordinate data comprise a first coordinate and a second coordinate.

And S702, judging whether the coordinate data are in a zero point area of the coordinate, wherein the zero point area of the coordinate comprises a first zero point area, a second zero point area and a center zero point area.

Specifically, referring to fig. 8, taking a two-dimensional rectangular coordinate system as an example, the coordinate null area is a "cross" area centered on the center point O, and the "cross" area includes two first null areas Q1, two second null areas Q2, and a center null area Q3. Therefore, the setting of the coordinate zero point area is convenient for the error triggering when the operating device is controlled.

As an example, determining whether the coordinate data is in the coordinate zero point region may include: calculating a difference value between the first coordinate and the central point to obtain a first difference value, and calculating a difference value between the second coordinate and the central point to obtain a second difference value; judging whether the absolute value of the first difference value is less than or equal to a first preset value or not, and judging whether the absolute value of the second difference value is less than or equal to a second preset value or not; and if the absolute value of the first difference is smaller than or equal to the first preset value, or the absolute value of the second difference is smaller than or equal to the second preset value, judging that the coordinate data are in the coordinate zero point area.

The values of the first preset value and the second preset value can be set according to the moving area of the operating device and the established coordinate system, for example, if the moving area is square, and the value ranges of the x coordinate and the y coordinate are (0, 2), the values of the first preset value and the second preset value can be both 0-0.5.

And S703, if the coordinate data is in the first zero point area, mapping the first coordinate to a target moving speed of the mobile device according to a preset first nonlinear function, and mapping the second coordinate to a zero rotation angle.

Specifically, taking the zero-point coordinate area shown in fig. 8 as an example, the zero rotation angle may be zero degrees, that is, when the manipulator is in the first zero-point area Q1, the mobile device is controlled to move straight, so that an error caused by shaking of the manipulator when the user moves straight can be effectively prevented.

As an example, if the coordinate data is in the first zero point region, the first coordinate may also be mapped to the target moving speed of the mobile device according to a linear function, which may reduce the mapping processing complexity while preventing false triggering.

S704, if the coordinate data are in the second zero point area, mapping the first coordinate to a preset rotating speed, and mapping the second coordinate to a target rotating angle of the mobile equipment according to a preset rotating angle mapping function.

Specifically, taking the zero coordinate area shown in fig. 8 as an example, the preset rotation speed may be calibrated according to needs, such as calibrated by mechanical characteristics of the mobile device. When the operating device is located in the second zero point area Q2, the mobile device is controlled to rotate in place, and the rotation angle is a target rotation angle, so that errors caused by shaking of the operating device when a user rotates the mobile device can be effectively prevented.

And S705, if the coordinate data is in the central zero point area, mapping the first coordinate to a zero rotating speed, and mapping the second coordinate to a zero rotating angle.

Specifically, taking the zero-point coordinate area shown in fig. 8 as an example, when the manipulator is located in the center zero-point area Q3, the mobile device is controlled to be stationary in place, so that errors caused by shaking of the manipulator when the user travels straight and rotates self can be effectively prevented.

And S706, if the coordinate data is not in the zero point area of the coordinate, mapping the first coordinate to a target moving speed of the mobile equipment according to a preset first nonlinear function, and mapping the second coordinate to a target corner of the mobile equipment according to a preset corner mapping function.

Specifically, when the coordinate data of the manipulating device is mapped to the speed and the rotation angle of the mobile equipment, the coordinate zero point area is added, and when the coordinate data is in the coordinate zero point area, the corresponding axis coordinate is taken as the coordinate of the central point. Therefore, when the user operates the mobile equipment to move straight or rotate automatically, the problem that the user triggers the operating device by mistake can be well solved by increasing the zero coordinate area.

In an embodiment, after the target turning angle is obtained, the target turning angle may be mapped to a target turning radius of the mobile device by using the method in step S203, so as to ensure smooth operation of the mobile device.

In an embodiment of the present invention, as shown in fig. 9, after the mapping method of the manipulator is started, the coordinate data of the manipulator, such as two-dimensional coordinate data (Vx, vy), is acquired, and it is determined whether the coordinate data is in the zero coordinate area. If the target moving speed is in the first zero point area, the mobile equipment is determined to be controlled to move straight, the target rotation angle is zero, and the target moving speed can be obtained by Vy mapping; if the target rotation angle is in the second zero area, determining to control the self-rotation of the mobile equipment, wherein the target moving speed is zero, and the target rotation angle can be obtained by Vx mapping; if the mobile equipment is located in the central zero point area, determining to control the mobile equipment to be in-place and not to move; if the target rotation angle is not in the zero coordinate area, the target rotation angle can be obtained by Vx mapping, and the target moving speed can be obtained by Vy mapping. Further, the target turning angle may be mapped to a target turning radius to control the mobile device according to the target turning radius and the target moving speed. After the current coordinate data is processed, the next coordinate data can be obtained, whether the next coordinate data is the same as the current coordinate data or not is judged, and if the next coordinate data is the same as the current coordinate data, the next coordinate data is directly used for control next time, so that the memory burden is saved; if not, the subsequent mapping processing flow is continuously executed.

In summary, the mapping method of the manipulating device according to the embodiment of the present invention maps the coordinate data of the manipulating device to the target moving speed of the mobile device by using the nonlinear function, so that the mobile device can operate more stably at a high speed, and the speed requirement can be rapidly increased at a low speed; the coordinate data of the control device is mapped into the target turning radius of the mobile equipment by utilizing the nonlinear function, so that the wheelchair can be stable and smooth when turning; by setting the coordinate zero point region, false triggering of the operating device can be reduced.

Fig. 10 is a flowchart of a control method of a mobile device according to an embodiment of the present invention. In this embodiment, the mobile device may be a differentially-driven mobile device, such as a smart wheelchair.

As shown in fig. 10, the control method of the mobile device includes:

s1001, using the mapping method of the manipulating device of the above embodiment, obtains a target moving speed and a target turning angle of the mobile device.

S1002, mapping the target turning angle to a target turning radius, and respectively obtaining a first target rotating speed of a left wheel and a second target rotating speed of a right wheel of the mobile equipment according to the target moving speed, the target turning radius and a preset differential formula.

Specifically, the target turning angle may be mapped to a target turning radius of the mobile device according to a preset second non-linear function. The second nonlinear function may be a tangent function, and a formula corresponding to the tangent function may be:

R＝k·tan(90°-α)，

When the target turning angle is 0 and the target moving speed is not 0, that is, the mobile device is moving straight, at this time, the target turning radius is infinite, the left wheel speed Vl and the right wheel speed Vr of the mobile device are equal to the target moving speed V, and the rotating speeds of the two wheels are equal to wr = wl = V/r.

When the target turning angle is not 0 and the target moving speed is not 0, that is, the mobile device is in turning operation, and the target turning radius R is between 0 and infinity, the rotating speed wl of the left wheel is = (2R-L) × V/(2 Rr), and the rotating speed wr of the right wheel is = (2r +l) × V/(2 Rr).

When the target rotation angle is not 0 and the target moving speed is 0, namely the mobile device rotates in place, the rotating speeds of the two wheels are equal to wr = wl = Vm/r, and Vm is the preset rotating speed.

And S1003, respectively controlling the left wheel and the right wheel according to the first target rotating speed and the second target rotating speed.

Specifically, the left wheel is driven by a left wheel motor, the right wheel is driven by a right wheel motor, the left wheel motor can be controlled according to a first target rotating speed, and the right wheel motor can be controlled according to a second target rotating speed.

According to the control method of the mobile equipment, the mapping method of the operating device is used for mapping the coordinate data of the operating device into the target moving speed of the mobile equipment by utilizing the nonlinear function, so that the mobile equipment can run more stably at high speed, and the speed requirement can be quickly increased at low speed; the coordinate data of the control device is mapped into the target turning radius of the mobile equipment by utilizing the nonlinear function, so that the wheelchair can be stable and smooth when turning; by setting the coordinate zero point region, false triggering of the operating device can be reduced.

Further, the invention proposes a computer-readable storage medium.

In one embodiment of the present invention, a computer program, which may be a mapping of an operating device, is stored on a computer readable storage medium, and when executed by a processor, implements the above-described mapping method of an operating device.

In another embodiment of the present invention, a computer-readable storage medium has stored thereon a computer program, which may be a control program of a mobile device, and which, when executed by a processor, implements the control method of the mobile device described above.

Furthermore, the invention also provides the mobile equipment.

In one embodiment of the invention, the mobile device comprises a memory, a processor and a computer program stored on the memory, which computer program may be a mapping of a manipulator, which computer program, when executed by the processor, implements the above-described method of mapping of a manipulator.

In another embodiment of the invention, a mobile device comprises a memory, a processor and a computer program stored on the memory, which computer program may be a control program of the mobile device, which computer program, when executed by the processor, implements the control method of the mobile device described above.

It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A mapping method for an operator, the method being for a mobile device, the method comprising:

acquiring coordinate data of a manipulation device, wherein the coordinate data comprises a first coordinate and a second coordinate;

and mapping the first coordinate to a target moving speed of the mobile equipment according to a preset first nonlinear function, and mapping the second coordinate to a target corner of the mobile equipment according to a preset corner mapping function.

2. The method of claim 1, further comprising:

and mapping the target turning angle to a target turning radius of the mobile equipment according to a preset second nonlinear function.

3. The method according to claim 1 or 2, characterized in that the method further comprises:

judging whether the coordinate data are in a zero point area of a coordinate, wherein the zero point area of the coordinate comprises a first zero point area, a second zero point area and a center zero point area;

if the coordinate data are located in the first zero point area, mapping the first coordinate to a target moving speed of the mobile equipment according to a preset first nonlinear function, and mapping the second coordinate to a zero rotation angle;

if the coordinate data are in the second zero point area, mapping the first coordinate to a preset rotating speed, and mapping the second coordinate to a target rotating angle of the mobile equipment according to a preset rotating angle mapping function;

if the coordinate data are in the central zero point area, mapping the first coordinate to be a zero rotating speed, and mapping the second coordinate to be a zero rotating angle;

if the coordinate data is not in the coordinate zero point area, mapping the first coordinate to a target moving speed of the mobile equipment according to a preset first nonlinear function, and mapping the second coordinate to a target rotation angle of the mobile equipment according to a preset rotation angle mapping function.

4. The method of claim 3, wherein the determining whether the coordinate data is in a zero coordinate region comprises:

calculating a difference value between the first coordinate and the central point to obtain a first difference value, and calculating a difference value between the second coordinate and the central point to obtain a second difference value;

judging whether the absolute value of the first difference is smaller than or equal to a first preset value or not, and judging whether the absolute value of the second difference is smaller than or equal to a second preset value or not;

and if the absolute value of the first difference is smaller than or equal to the first preset value, or the absolute value of the second difference is smaller than or equal to the second preset value, determining that the coordinate data is in the coordinate zero point area.

5. The method of claim 2, wherein the first non-linear function is a logarithmic function, the second non-linear function is a tangent function, and the corner mapping function is a linear function.

6. The method of claim 5, wherein the logarithmic function corresponds to the formula:

wherein V is the target moving speed, a is a first preset coefficient, and y is the first coordinate.

7. The method of claim 5, wherein the tangent function corresponds to the formula:

R＝k·tan(90°-α)，

wherein, R is the target turning radius, k is a second preset coefficient, and α is the target turning angle.

8. A method for controlling a mobile device, comprising:

obtaining a target moving speed and a target turning angle of the mobile equipment by using a mapping method of the manipulating device according to any one of claims 1 to 7;

mapping the target turning angle to a target turning radius, and respectively obtaining a first target rotating speed of a left wheel and a second target rotating speed of a right wheel of the mobile equipment according to the target moving speed, the target turning radius and a preset differential speed formula;

and respectively controlling the left wheel and the right wheel according to the first target rotating speed and the second target rotating speed.

9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a mapping method of an operating device according to any one of claims 1 to 7, or a control method of a mobile device according to claim 8.

10. A mobile device comprising a memory, a processor and a computer program stored on the memory, characterized in that the computer program, when executed by the processor, implements the manipulator mapping method of any one of claims 1-7 or implements the control method of the mobile device of claim 8.