CN210573381U - Automatic guiding vehicle - Google Patents
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- CN210573381U CN210573381U CN201921197641.5U CN201921197641U CN210573381U CN 210573381 U CN210573381 U CN 210573381U CN 201921197641 U CN201921197641 U CN 201921197641U CN 210573381 U CN210573381 U CN 210573381U
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Abstract
The utility model discloses an automatic guided vehicle, the automatic guided vehicle has chassis and at least three differential wheelset, the differential wheelset configuration is on the chassis, wherein every differential wheelset has first round and second round, first round and second round have been can be driven alone, the automatic guided vehicle still includes the control unit and fixes a position the unit; the control method can realize the omnidirectional motion of the vehicle, improve the flexibility of the vehicle and enlarge the application range.
Description
Technical Field
The utility model relates to an intelligent storage field especially relates to an automatic guide car and a control method who is used for automatic guide car.
Background
Automatic Guided Vehicles (AGVs) have been widely used in the industries of warehouse logistics, automobiles, retail, etc., and are mainly used to replace or supplement traditional manual work and realize a goods-to-person mode of unmanned handling operation. The automatic guided vehicle has an electromagnetic or optical automatic guide device, and is controlled by a computer to automatically move a driving wheel along a predetermined guide path. The automatic guided vehicle can automatically and flexibly complete various transfer operations, and an enterprise can achieve the effect of standardizing the logistics transportation flow by using the automatic guided vehicle, and meanwhile, various unfavorable production factors of manual transportation are avoided. The fork truck is also called stacker (fork truck, lift truck, loading and unloading truck, stacking truck), and belongs to the storage fork truck in the fork truck category. The fork truck is suitable for operation in narrow passages and limited spaces, and is ideal equipment for loading and unloading pallets and elevated warehouses in workshops.
When the automatic guide vehicle is used for stacking, a certain space is needed for completing the operation. However, the storage is more and more dense, the space is smaller and smaller, when the automatic guided vehicle is used for stacking, the rotating adjustment space is small due to the narrow working channel and limited space, and the motions such as straight line, arc line, translation and in-situ rotation cannot be flexibly completed. The original chassis design is usually formed by a group of fixed driving wheels and a steering wheel, and has the advantages of simple structure, capability of realizing linear and arc walking, and incapability of rotating and translating in situ. Aiming at the characteristics of the working environment of the automatic guide vehicle stacking operation, the multi-differential wheel set driving control is designed, the linear, arc, translational walking and in-situ rotation motion of the unmanned stacking vehicle is realized, and the formation of the omnidirectional motion of the stacking vehicle is a technical difficulty. How to design a compact and stable walking mechanism has important significance for the automatic guided vehicle to complete omnidirectional movement in a limited space.
The statements in the background section are merely technical equivalents which may be known to a person skilled in the art and do not, of course, represent prior art in this field.
SUMMERY OF THE UTILITY MODEL
One or more to be not enough among the prior art, the utility model provides an automatic guide car, include:
a chassis;
at least three differential wheel sets mounted on the chassis, wherein each differential wheel set has a first wheel and a second wheel, wherein the first wheel and the second wheel can be driven individually.
According to an aspect of the invention, the automated guided vehicle further comprises motors corresponding and connected to the first wheel and the second wheel, respectively, each motor being individually controllable to drive the first wheel or the second wheel connected thereto.
According to an aspect of the present invention, the automatic guided vehicle further includes a control unit, the control unit is coupled to and controls each motor.
According to an aspect of the present invention, the automatic guided vehicle includes a first differential wheel set, a second differential wheel set and a third differential wheel set, wherein the first differential wheel set is located at one side of the automatic guided vehicle, the second and third differential wheel sets are located at the other side of the automatic guided vehicle.
According to an aspect of the invention, the control unit is configured to:
receiving an ideal trajectory of the automated guided vehicle;
calculating motion parameters of a first wheel and a second wheel in the first differential wheel set, the second differential wheel set and the third differential wheel set according to the ideal track;
and controlling the motors connected with the first wheel and the second wheel in the first differential wheel set, the second differential wheel set and the third differential wheel set according to the motion parameters.
According to one aspect of the present invention, the automatic guided vehicle further comprises a positioning module mounted on the chassis and configured to output a current position of the automatic guided vehicle,
the control unit is further configured to:
receiving a current location of the automated guided vehicle from the positioning module;
determining the track of the automatic guided vehicle according to the ideal track of the automatic guided vehicle and the current position of the automatic guided vehicle;
calculating motion parameters of a first wheel and a second wheel in the first differential wheel set, the second differential wheel set and the third differential wheel set according to the track of the automatic guided vehicle;
and controlling the motors connected with the first wheel and the second wheel in the first differential wheel set, the second differential wheel set and the third differential wheel set according to the motion parameters.
According to an aspect of the invention, the positioning module comprises an inertial navigation module and/or a SLAM navigation module.
The utility model discloses still relate to a control method for automatic guided vehicle, automatic guided vehicle includes at least three differential wheelset, and every differential wheelset has first round and the second round that can be driven alone, control method includes:
receiving an ideal trajectory of the automated guided vehicle;
calculating motion parameters of a first wheel and a second wheel in the first differential wheel set, the second differential wheel set and the third differential wheel set according to the ideal track;
and controlling the motors connected with the first wheel and the second wheel in the first differential wheel set, the second differential wheel set and the third differential wheel set according to the motion parameters.
According to an aspect of the present invention, the control method further comprises:
receiving a current location of the automated guided vehicle;
determining the track of the automatic guided vehicle according to the ideal track of the automatic guided vehicle and the current position of the automatic guided vehicle;
calculating motion parameters of a first wheel and a second wheel in the first differential wheel set, the second differential wheel set and the third differential wheel set according to the track of the automatic guided vehicle;
and controlling the motors connected with the first wheel and the second wheel in the first differential wheel set, the second differential wheel set and the third differential wheel set according to the motion parameters.
The utility model discloses an embodiment, through geometric constraint, make the different speed size and the direction of a plurality of differential wheelsets form at the control center point and resultant force to control the vehicle and walk according to predetermined route, realize the predetermined route walking such as the straight going, arc, translational motion and the original place rotation of vehicle, this control method can realize the omnidirectional movement of vehicle, has improved the flexibility of vehicle, has enlarged application scope.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
fig. 1 shows a schematic view of a chassis model of an automated guided vehicle according to an embodiment of the present invention;
fig. 2 shows a model schematic of an automated guided vehicle chassis according to an embodiment of the present invention;
fig. 3 shows a schematic diagram of an automatic guided vehicle control system according to an embodiment of the present invention;
fig. 4 shows a schematic diagram of a kinematic model of an automated guided vehicle according to an embodiment of the present invention
Fig. 5 illustrates an automated guided vehicle model analysis diagram according to an embodiment of the present invention;
fig. 6 shows a control flow diagram of an automatic guided vehicle according to an embodiment of the present invention;
fig. 7 shows a schematic position control flow diagram of an automatic guided vehicle according to an embodiment of the present invention;
fig. 8 shows a schematic view of an attitude control flow of an automatic guided vehicle according to an embodiment of the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present 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, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present invention, it should be noted that unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
Fig. 1 shows a schematic view of a chassis model of an automated guided vehicle according to an embodiment of the present invention. As shown in fig. 1, the automatic guided vehicle 1 includes a chassis 14 and at least three differential wheel sets 11, 12, and 13, which are mounted on the chassis 14. The plurality of differential wheel sets can meet the requirement that different wheels move at different speeds when the vehicle moves in an arc shape, rotates on site and the like, and further realize the omnidirectional movement of the vehicle. While three differential wheel sets 11, 12 and 13 are shown in FIG. 1, one skilled in the art will appreciate that more differential wheel sets may be provided. For convenience, the three differential wheel sets 11, 12 and 13 will be described in detail below as an example.
According to the utility model discloses, every differential wheelset has two wheels: a first wheel and a second wheel, and the first wheel and the second wheel may be driven individually. Each wheel may be driven by a corresponding motor so that each wheel may individually perform various motion operations on the ground, such as forward, reverse, turn, pivot (e.g., angularly about its virtual longitudinal axis), and the like. Described in detail below with reference to fig. 2.
Fig. 2 shows a model schematic view of an automated guided vehicle chassis according to an embodiment of the present invention. As is apparent from FIG. 2, each of the differential wheel sets 11, 12 and 13 includes two wheels, which will be referred to hereinafter as 11-L, 11-R, 12-L, 12-R, 13-L, 13-R (hereinafter referred to as the first and second wheels of the respective differential wheel set). As shown in fig. 2, the automatically guided vehicle includes a first differential wheel set 11, a second differential wheel set 12, and a third differential wheel set 13, wherein the first differential wheel set 11 is located on one side of the automatically guided vehicle 1, for example, on the front side in the traveling direction, and the second differential wheel set 12 and the third differential wheel set 13 are located on the other side of the automatically guided vehicle 1, for example, on the rear side in the traveling direction. As shown in FIG. 2, each differential wheel set in the model is composed of two driving wheels, and the central points of the first, second and third differential wheel sets are defined as A1、A2、A3。
In order to achieve individual control of the individual wheels of each differential wheel set, the automatic guided vehicle 1 comprises electric motors coupled to said first and second wheels, respectively, as represented for example by M1, M2, M3, M4, M5 and M6, as shown in fig. 3. Each motor is individually controlled to drive the wheels connected thereto, thereby achieving omni-directional movement of the automatic guided vehicle 1.
As shown in fig. 3, according to an embodiment of the present invention, the automatic guided vehicle 1 further includes a control unit 15, and the control unit 15 is coupled to each motor and controls each motor M1-M6. The control unit 15 includes, for example, a single chip microcomputer, a PLC, an ASIC chip, a computer, or other types of control components. The control unit 15, for example, receives an ideal track (or a planned track) of the automatic guided vehicle 1, calculates a motion parameter (for example, a speed of each wheel) of the first wheel and the second wheel of the first differential wheel set 11, the second differential wheel set 12, and the third differential wheel set 13 according to the ideal track, and controls the motors connected to the first wheel and the second wheel of the first differential wheel set 11, the second differential wheel set 12, and the third differential wheel set 13 according to the motion parameter, so as to implement the ideal track.
Further preferably, the automated guided vehicle 1 may further include a positioning module 16, and the positioning module 16 may include an inertial navigation module, a SLAM navigation module, or the like, or a hybrid navigation that employs a combination of inertial navigation and SLAM navigation. The positioning module 16 is mounted on the chassis 14 and is configured to output a current position of the automated guided vehicle. As described above, the control unit 15 receives the ideal trajectory of the automatic guided vehicle, and controls the respective wheels of the automatic guided vehicle to achieve the ideal trajectory. However, in actual control, the actual running track of the automatic guided vehicle often deviates from the ideal track. The current position of the vehicle, output by the positioning module 16, is subtracted from the ideal position to obtain a trajectory deviation, which may then be eliminated or reduced by means of feedback control.
For example, the control unit 15 is additionally configured to:
receiving a current location of the automated guided vehicle from the positioning module;
determining the track of the automatic guided vehicle according to the ideal track and the current position of the automatic guided vehicle, and reducing or eliminating the deviation between the ideal track and the current position;
calculating motion parameters of a first wheel and a second wheel in the first differential wheel set, the second differential wheel set and the third differential wheel set according to the track of the automatic guided vehicle; and controlling the motors connected with the first wheel and the second wheel in the first differential wheel set, the second differential wheel set and the third differential wheel set according to the motion parameters.
As described above, the control unit 15 controls the movement of each of the wheels of the plurality of differential wheel sets 11, 12, 13 of the automatic guided vehicle 1, respectively, according to a certain control logic. According to a preferred embodiment of the present invention, as shown in fig. 6 to 8, the control unit 15 employs a dual-loop control model including a position controller and an attitude controller. As described in detail below.
Figure 4 shows automated guided vehicle kinematics according to an embodiment of the inventionAnd (4) a model schematic diagram. As shown in fig. 4, for the central point of each differential wheel set, further abstract analysis is performed, and the control point defining the abstract model of the chassis of the automated guided vehicle is defined as a0(A0E.g., the midpoint location of distance L in fig. 5), the velocity instant point is o. Due to the rigid structure of the chassis, the positions of the three differential wheel sets 11, 12, 13 are fixed, so that the only control point A can be determined0. A unique velocity transient can be determined from the velocity and angular velocity of the center points of any two differential wheel sets, but the introduction of a third differential wheel set makes the velocity transient non-unique.
If the vehicle is intended to move omni-directionally, the three differential wheel sets are required to form speed and angle constraints. Since the chassis is a rigid body, i.e. the relative positions between the three wheels will not change, and will be solved through the triangular constraint relationship, fig. 5 shows an analysis diagram of the model of the automated guided vehicle according to an embodiment of the present invention. As shown in FIG. 5, the speeds at the control point, the center points of the first, second and third differential wheel sets are defined as v0、v1、v2And v3Angular velocities are respectively defined as ω0、ω1、ω2And ω3Instantaneous radii to the velocity instantaneous point o are r0、r1、r2And r3. As shown in fig. 5, triangle a0oA1、A0oA2And A0oA3. Control point A is analyzed by a velocity instant center method0Velocity v of0Angular velocity omega0And instantaneous center radius r0The relationship between the two differential wheel sets is obtained, so that the speed v of the central points of the three differential wheel sets is found through the trigonometric function relationship1、v2、v3And angular velocity ω1、ω2、ω3And their instant center radius r1、r2、r3The link between them.
In FIG. 5, the center points of the three differential wheel sets, namely A1、A2And A3Not on the same straight line, if three differential wheel sets can not form resultant force, there will be a vehicle with one differential wheel setThe wheel is in a slipping state.
Fig. 6 shows a dual loop control model, performed by the control unit 15, according to one embodiment. The control unit 15 includes, for example, a position controller and an attitude controller. An ideal track (X, Y, theta) of the automatic guided vehicle 1 is given as an input of the position controller, wherein X, Y, theta respectively represent an abscissa, an ordinate, and a speed direction (e.g., an angle with an X axis) of the automatic guided vehicle in a planar coordinate system, wherein the X axis is, for example, a left-right direction in fig. 5, and the Y axis is, for example, a vertical direction in fig. 5. The position controller receives the input (x, y, theta) and outputs a control point A0Velocity v of0Angular velocity omega0and the included angle α between the direction of the vehicle head and the space coordinate system0. V of control point0,ω0, α0As the input of the attitude controller, the speed and the angular speed v of each control wheel set are obtained after calculation1、v2、v3、ω1、ω2And ω3Then converted into the rotating speed v of each motor by a control quantity conversion mechanism, and then the rotating speed v is transmitted to an execution mechanism to execute motion.
Fig. 7 shows the control logic of the position controller. As shown in fig. 7, the position controller receives the ideal trajectory (x, y, θ) as an input of the position controller, and simultaneously receives the current position (x ', y', θ ') from the positioning module 16, and subtracts the ideal trajectory (x', y ', θ') to obtain a control point error (xe, ye, θ e), and based on the control point error, realizes a control point velocity v using a PID controller0Angular velocity omega0and the included angle α between the orientation of the vehicle head and the space coordinate system0Obtaining the target value.
Fig. 8 shows the control logic of the attitude controller. As shown in fig. 8, the attitude controller uses the velocity v of the control point given by the position controller0Angular velocity omega0and the included angle α between the orientation of the vehicle head and the space coordinate system0As an input item, the radius r from the control point to the speed instant point o is calculated0Then, the radius r from the center point of each differential wheel set to the speed instant point is calculated1、r2、r3And speed v of each differential wheel set1、v2、v3and the angle α with the x-axis of the space coordinate system1、α2、α3will include an angle alpha1、α2、α3and the current angle α 'of the encoder feedback'1、α′2、α′3Obtaining an angle error theta e after the difference is made, and obtaining the angular velocity omega of each differential wheel set by a PID controller1、ω2And ω3. V given by attitude controller by control quantity conversion mechanism1、v2、v3And ω1、ω2And ω3Converted into a control quantity v which is finally input to the drive1L、v1R、v2L、v2R、v3L、v3R。
An example of the calculation is described below. [ v ] of0ω0]Is the speed and angular velocity of the control point o, r0Is the distance from the control point to the velocity instant point:
r0＝v0/ω0(1)
as shown in fig. 4 and 5, L is a distance from a center point of the first differential wheel set to center points of the second differential wheel set and the third differential wheel set, and H is a distance from center points of the second differential wheel set and the third differential wheel set. For a first differential wheel set:
wherein v is1、r1Is the center point A of the first differential wheel set1And center point A of the first differential wheel set1distance, α, to the instant point of speed o1Is the angle between the speed direction of the first differential wheel set and the x-axis of the space coordinate system. For the second differential wheel set and the third differential wheel set, if LH is the distance from the center point of the second differential wheel set or the third differential wheel set to the center point of the first differential wheel set, then:
the angle theta between LH and the x-axis of the spatial coordinate system is obtained by the following formula,
for the second set of differential wheels,
wherein v is2、r2Is the center point A of the second differential wheel set2Speed of the second differential wheel set and center point A of the second differential wheel set2distance, α, to the instant point of speed o2Is the included angle between the speed direction of the central point of the second differential wheel set and the x-axis of the space coordinate system.
In the same way, for the third differential wheel set,
wherein v is3、r3Is the center point A of the third differential wheel set3Speed of the third differential wheel set and center point A of the third differential wheel set3distance, α, to the instant point of speed o3Is the center point A of the third differential wheel set3Is angled with respect to the x-axis of the spatial coordinate system.
the angles of the first, second and third differential wheel sets fed back by the absolute value encoder are defined as α'1、α′2、α′3Then, the angle errors are respectively as,
obtaining angular velocity ω of each differential wheel set by PID control1、ω2、ω3And will speed v1、v2、v3And angular velocity ω1、ω2、ω3As an input to each differential wheel set, each differential wheel set may be used as an independent motion unit.
V 'is'1、v′2、v′3The first, the second and the third differential wheel sets are at an angular velocity omega1、ω2、ω3The lower speed is sent to the left wheel and the right wheel of each differential wheel set as the speed,
where l is the distance between the left and right wheels of each differential wheel set, r is the radius of each wheel, v1L、v1R、v2L、v2R、v3L、v3RIs the down-speed of the left and right wheels of each differential wheel set, with the unit of revolutions per minute (rpm).
According to another aspect of the present invention, a control method for an automatic guided vehicle. The automatic guided vehicle as described above has a chassis and at least three differential wheel sets, and further comprises a control unit and a positioning module. The control method comprises the following steps:
s201: an ideal trajectory x, y, θ of a control point o of the automated guided vehicle is received.
S202: and calculating the motion parameters of the first wheel and the second wheel in the first differential wheel set, the second differential wheel set and the third differential wheel set according to the ideal track.
S203: and controlling the motors connected with the first wheel and the second wheel in the first differential wheel set, the second differential wheel set and the third differential wheel set according to the motion parameters.
The utility model discloses an automatic guide car of an embodiment passes through geometric constraint, makes the not same speed size and the direction of three differential wheelset form at control center point and closes to control vehicle is walked according to predetermined route, realizes the predetermined route walking such as the craspedodrome of vehicle, arc, translational motion and original place rotation, and this control method can realize the omnidirectional movement of vehicle, has improved the flexibility of vehicle, has enlarged application scope.
The examples are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and it should be appreciated that the above description should not be construed as limiting the present invention. Numerous modifications and alterations to the present invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be limited only by the attached claims.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. An automated guided vehicle, comprising:
a chassis;
at least three differential wheel sets mounted on the chassis, wherein each differential wheel set has a first wheel and a second wheel, wherein the first wheel and the second wheel are individually drivable;
the motors correspond to and are connected with the first wheel and the second wheel respectively, and each motor can be controlled independently to drive the first wheel or the second wheel connected with the motor;
a control unit coupled to and controlling each motor.
2. The automatically guided vehicle of claim 1, wherein the automatically guided vehicle includes a first differential wheel set, a second differential wheel set, and a third differential wheel set, wherein the first differential wheel set is located on one side of the automatically guided vehicle and the second and third differential wheel sets are located on the other side of the automatically guided vehicle.
3. The automated guided vehicle of claim 1 or 2, wherein the automated guided vehicle further comprises a positioning module mounted on the chassis.
4. The automated guided vehicle of claim 3, wherein the positioning module comprises an inertial navigation module and/or a SLAM navigation module.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112697153A (en) * | 2020-12-31 | 2021-04-23 | 广东美的白色家电技术创新中心有限公司 | Positioning method of autonomous mobile device, electronic device and storage medium |
| WO2022105291A1 (en) * | 2020-11-17 | 2022-05-27 | 四川鼎鸿智电装备科技有限公司 | Construction machinery motion attitude control method and apparatus, device, and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022105291A1 (en) * | 2020-11-17 | 2022-05-27 | 四川鼎鸿智电装备科技有限公司 | Construction machinery motion attitude control method and apparatus, device, and storage medium |
| CN112697153A (en) * | 2020-12-31 | 2021-04-23 | 广东美的白色家电技术创新中心有限公司 | Positioning method of autonomous mobile device, electronic device and storage medium |
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