CN114572014B - Equipment control method, device, electronic equipment and storage medium - Google Patents

Abstract

The embodiment of the invention relates to the field of automatic control, and discloses an equipment control method, device, electronic equipment and storage medium. In the present invention, the equipment control method is applied to multi-wheel equipment. The multi-wheel equipment includes at least two wheels, each wheel is controlled by a corresponding motor, and includes the following steps: obtaining the current movement speed and target movement speed of the multi-wheel equipment. ; According to the current movement speed and the target movement speed, predict the acceleration component direction of the multi-wheel equipment along the first straight line; where the first straight line is the straight line where the multi-wheel equipment is currently facing; control the multi-wheel equipment according to the acceleration component direction The direction of the torque component of each motor along the first straight line is consistent with the direction of the acceleration component. The equipment control method of the present application can improve the resource utilization efficiency of multi-wheel equipment.

Description

Equipment control method, device, electronic equipment and storage medium

Technical field

Embodiments of the present invention relate to the field of automatic control, and in particular to an equipment control method, device, electronic equipment and storage medium.

Background technique

Among various automatic control equipment, robots are a common one. A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Many robots on the market are wheeled mobile robots, and most of them are wheeled mobile robots. Wheel robots, that is, multi-wheel equipment, will experience acceleration, deceleration, maintenance and other motion states during the movement of the multi-wheel equipment. For example, in each state of a four-wheeled robot, the driving states of the four drive motors of the four wheels are different. When the host sends the speed to the motors of the four wheels, each motor has its own independent control software. Due to the smooth road conditions and other reasons, the movement speed of the four wheels may be different, which will cause the four wheels to pull each other and cause the four wheels to move at different speeds. The problem of internal resource consumption of wheel robots leads to low resource utilization efficiency of multi-wheel robots. This is an issue that needs to be solved urgently during the implementation of automatic control of multi-wheel equipment.

Contents of the invention

The purpose of the embodiments of the present invention is to provide an equipment control method, device, electronic equipment and storage medium, which can improve the resource utilization efficiency of multi-wheel equipment.

In order to solve the above technical problems, embodiments of the present invention provide an equipment control method, which is applied to multi-wheel equipment. The multi-wheel equipment includes at least two wheels, each wheel is controlled by a corresponding motor, and includes the following steps: Obtaining The current movement speed and target movement speed of the multi-wheel equipment; according to the current movement speed and the target movement speed, predict the acceleration component direction of the multi-wheel equipment along the first straight line; where the first straight line is the current direction of the multi-wheel equipment Straight line; according to the direction of the acceleration component, the direction of the torque component along the first straight line of each motor in the multi-wheel device is consistent with the direction of the acceleration component.

An embodiment of the present invention also provides an application for multi-wheel equipment. The multi-wheel equipment includes at least two wheels, each wheel is controlled by a corresponding motor. The device includes: an acquisition module, used to obtain the current information of the multi-wheel equipment. Movement speed and target movement speed; the prediction module is used to predict the acceleration component direction of the multi-wheel equipment along the first straight line based on the current movement speed and the target movement speed; wherein the first straight line is the current orientation of the multi-wheel equipment Straight line; control module, used to control the direction of the torque component of each motor in the multi-wheel device along the first straight line to be consistent with the direction of the acceleration component according to the direction of the acceleration component.

An embodiment of the present invention also provides an electronic device, including: at least one processor; a memory communicatively connected to the at least one processor; the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor. , so that at least one processor can execute the above device control method.

An embodiment of the present invention also provides a computer-readable storage medium that stores a computer program. When the computer program is executed by a processor, the above device control method is implemented.

Compared with the prior art, the embodiment of the present invention is that in the multi-wheel equipment, the direction of the moment component of each motor along the first straight line is consistent with the direction of the acceleration component, so there is no wheel in the multi-wheel equipment along the first straight line. The direction of the moment component on the line will not be opposite to the direction of movement of the robot, that is, the movement of each wheel in the multi-wheel equipment is consistent with the overall movement trend of the multi-wheel equipment, will not hinder the movement of the multi-wheel equipment, and reduce the friction of the multi-wheel equipment. Internal consumption of resources, thereby improving the resource utilization efficiency of multi-wheel equipment.

In addition, according to the direction of the acceleration component, controlling the direction of the moment component along the first straight line of each motor in the multi-wheel device is consistent with the direction of the acceleration component, including: according to the direction of the acceleration component, setting the direction of the output current of each motor as the first direction ; Wherein, the first direction is the current direction that makes the direction of the torque component of each motor consistent with the direction of the speed component. In this application, the output current direction of each motor is set to the first direction. Since the first direction is the current direction that makes the direction of the torque component of each motor consistent with the direction of the speed component, it is possible to make the direction of each motor in the multi-wheel device along the first direction. The direction of the moment component on the straight line is consistent with the direction of the acceleration component, thereby improving the resource utilization efficiency of the multi-wheel equipment.

In addition, setting the output current direction of each motor to the first direction includes: setting the maximum value of the output current of each motor in the first direction to the maximum allowable current value of the corresponding motor, and setting the output current of each motor to the second direction. The maximum value of is 0; where the second direction is opposite to the first direction. In this application, since the second direction is opposite to the first direction, that is, the second direction is a current direction that causes the direction of the torque component of each motor to be inconsistent with the direction of the speed component, so by setting the output current of each motor separately in the first direction The maximum value is the maximum current allowed by the corresponding motor, and setting the maximum value of the output current of each motor in the second direction to 0 can make the output current of each motor only along the first direction, thereby improving the resource utilization of multi-wheel equipment. efficiency.

In addition, after controlling the torque component directions of each motor in the multi-wheel equipment to be consistent with the acceleration component direction, the method also includes: when the current movement speed exceeds the preset speed, allowing the torque component directions of each motor in the multi-wheel equipment to include Any direction. In this application, when the current movement speed exceeds the preset speed, the direction of the torque component of each motor in the multi-wheel equipment is allowed to include any direction. That is, when the multi-wheel equipment needs to decelerate and stop moving, the multi-wheel equipment can be made to generate Moment opposite to the direction of motion, thus ensuring the safety of multi-wheel equipment.

Description of the drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings. These illustrative illustrations do not constitute limitations to the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings are not intended to be limited to scale.

Figure 1 is a flow chart of steps of a device control method provided according to an embodiment of the present invention;

Figure 2 is a schematic diagram of an equipment control device according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, each implementation mode of the present invention will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art will understand that in various embodiments of the present invention, many technical details are provided to enable readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solution claimed in this application can also be implemented. The division of the following embodiments is for convenience of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined with each other and quoted from each other on the premise that there is no contradiction.

Embodiments of the present invention relate to a device control method. The specific process is shown in Figure 1.

Step 101, obtain the current movement speed and target movement speed of the multi-wheel device;

Step 102: According to the current movement speed and the target movement speed, predict the acceleration component direction of the multi-wheel equipment along the first straight line; where the first straight line is the straight line where the multi-wheel equipment is currently facing;

Step 103: According to the direction of the acceleration component, control the direction of the moment component along the first straight line of each motor in the multi-wheel device to be consistent with the direction of the acceleration component.

The equipment control method of this embodiment is applied to multi-wheel equipment, such as multi-wheel robots, and can be implemented by a controller or other electronic equipment that is communicatively connected to the motors of each wheel. The multi-wheel equipment includes at least two wheels, each wheel is controlled by a corresponding motor. Among various automatic control equipment, robots are a common one. A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Many robots on the market are wheeled mobile robots, and most of them are wheeled mobile robots. Wheel equipment, because during the movement of multi-wheel equipment, it will experience acceleration, deceleration, maintenance and other motion states, so the wheels of multi-wheel equipment also have various different motion states. For example, in each state of a four-wheeled robot, the driving states of the four drive motors of the four wheels are different. When the host sends the speed to the motors of the four wheels, each motor has its own independent control software. Due to the smooth road conditions and other reasons, the movement speed of the four wheels may be different, which will cause the four wheels to pull each other and cause the four wheels to move at different speeds. The problem of resource consumption of wheel robots.

Specifically, taking a four-wheeled robot as an example, in a robot driven by four wheels and four motors, a command is issued through a host computer and sent to the drive motors of the four wheels respectively to achieve motion control. The motor itself also has a control program that adjusts its own parameters in real time to meet the commands issued by the host. In this way, under some special road conditions, one of the wheels may not reach the expected speed. The motor needs to increase the current to increase the torque and speed. At the same time, the other wheel may be too fast, and the motor needs to increase the speed. The torque in the opposite direction is used to reduce the speed. At this time, the four-wheeled robot will form four-wheel pulling, resulting in low resource utilization efficiency of the multi-wheeled equipment.

In this application, by obtaining the current movement speed and the target movement speed of the multi-wheel equipment, the acceleration component direction of the multi-wheel equipment along the first straight line is predicted based on the current movement speed and the target movement speed; where, the first straight line is the straight line where the current orientation of the multi-wheel equipment is. According to the direction of the acceleration component, the direction of the moment component along the first straight line of each motor in the multi-wheel equipment is consistent with the direction of the acceleration component. Since in the multi-wheel equipment, the direction of each motor along the direction of the acceleration component is The direction of the moment component on the first straight line is consistent with the direction of the acceleration component, so the direction of the moment component on the first straight line without wheels in the multi-wheel device will not be opposite to the direction of motion of the robot, that is, each of the multi-wheel devices The movement of the wheels is consistent with the overall movement trend of the multi-wheel equipment, and will not hinder the movement of the multi-wheel equipment, reducing the internal consumption of resources of the multi-wheel equipment, thereby improving the resource utilization efficiency of the multi-wheel equipment.

The implementation details of the device control method of this embodiment are described in detail below. The following content is only provided for the convenience of understanding and is not necessary for implementation of this solution.

In step 101, the multi-wheel device obtains the current movement speed and target movement speed of the multi-wheel equipment. Among them, the current movement speed is the current movement speed of the multi-wheel device when the host sends the target movement speed. The target movement speed is the movement speed in the command issued by the host, and is the movement speed that the drive motor of each wheel needs to make each wheel reach.

In step 102, the multi-wheel equipment predicts the acceleration component direction of the multi-wheel equipment along the first straight line based on the current movement speed and the target movement speed, where the first straight line is the straight line where the multi-wheel equipment is currently facing, and the multi-wheel equipment predicts the acceleration component direction of the multi-wheel equipment along the first straight line. The device calculates the components of the current motion speed and the target motion speed on the first straight line to obtain the acceleration component direction of the multi-wheel device along the first straight line.

In step 103, the multi-wheel device controls the direction of the moment component of each motor in the multi-wheel device along the first straight line to be consistent with the direction of the acceleration component, according to the direction of the acceleration component. Each motor can control all the torque components generated in the multi-wheel device to match the direction of the acceleration component. Opposite instructions are intercepted and not executed.

In one example, the multi-wheel device controls the direction of the torque component of each motor in the multi-wheel device along the first straight line according to the direction of the acceleration component by setting the output current direction of each motor as the first direction. They are all consistent with the direction of the acceleration component, wherein the first direction is the current direction that makes the direction of the torque component of each motor consistent with the direction of the speed component.

Specifically, each motor of the multi-wheel device can indicate that the current direction of the device can only be along the first direction.

In this embodiment, by setting the output current direction of each motor as the first direction, since the first direction is the current direction that makes the direction of the torque component of each motor consistent with the direction of the speed component, it is possible to make the direction of each motor in the multi-wheel device The directions of the moment components on the first straight line are consistent with the directions of the acceleration components, thereby improving the resource utilization efficiency of the multi-wheel equipment.

Further, the multi-wheel equipment realizes the setting by respectively setting the maximum value of the output current of each motor in the first direction to the maximum value of the current allowed by the corresponding motor, and setting the maximum value of the output current of each motor in the second direction to 0. The output current direction of each motor is a first direction, where the second direction is opposite to the first direction.

In this embodiment, since the second direction is opposite to the first direction, that is, the second direction is a current direction that causes the direction of the torque component of each motor to be inconsistent with the direction of the speed component, so the output current of each motor is set in the third direction respectively. The maximum value in one direction is the maximum current allowed by the corresponding motor, and setting the maximum value of the output current of each motor in the second direction to 0 can make the output current of each motor only along the first direction, thus improving the efficiency of multi-wheel equipment. Resource utilization efficiency.

In one example, when the acceleration of the multi-wheel equipment is 0, the direction of the torque component of each motor in the multi-wheel equipment is allowed to include any direction. According to the direction of the acceleration component, the direction of the torque component of each motor in the multi-wheel equipment is controlled to be the same as The directions of the acceleration components match.

Specifically, the motor corresponding to each wheel of the multi-wheel device can cancel the previous interception behavior of each instruction.

In this embodiment, by setting the acceleration of the multi-wheel equipment to 0, the direction of the torque component of each motor in the multi-wheel equipment is allowed to be consistent with the direction of the current movement speed, which can prevent the multi-wheel equipment from being unable to change when it is at a constant speed or is stationary. In the case of motion, on the basis of improving the resource utilization efficiency of multi-wheel equipment, the usability of the equipment control method of the present application is improved.

In one example, the multi-wheel device can set the maximum output current of each motor in each direction to the maximum allowable current of the corresponding motor, so as to realize that the direction of the torque component of each motor in the multi-wheel device includes any direction.

In this embodiment, by setting the maximum value of the output current of each motor in each direction to the maximum value of the current allowed by the corresponding motor, it is possible to allow the direction of the torque component of each motor in the multi-wheel device to include any direction, thereby improving the efficiency of the present application. Availability of equipment control methods.

In one example, after controlling the direction of the torque components of each motor in the multi-wheel device to be consistent with the direction of the acceleration component, the multi-wheel device also allows the torque of each motor in the multi-wheel device when the current movement speed exceeds the preset speed. Component directions include arbitrary directions.

In this embodiment, when the current movement speed exceeds the preset speed, the direction of the torque component of each motor in the multi-wheel equipment is allowed to include any direction, that is, when the multi-wheel equipment needs to decelerate and stop moving, the multi-wheel equipment can be Produce a moment opposite to the direction of motion, thereby ensuring the safety of multi-wheel equipment.

In one example, the control device in the multi-wheel device executes the device control method of the present application each time it receives a speed command issued by the host, and is implemented in the following steps:

Step 1. After the host issues a speed command v, the control device receives the current speed and calculates delta = v – v0. And judge the robot's motion status according to step 2.

Step 2. If the current speed v is greater than zero, determine delta. If delta is greater than zero, it is forward acceleration. If delta is less than zero, it is forward deceleration. If delta is equal to zero, it is forward hold.

If the current speed v is less than zero, determine delta. If delta is less than zero, it is reverse acceleration. If delta is greater than zero, it is reverse deceleration. If delta is equal to zero, it is reverse hold.

If the current speed v is equal to zero, determine delta. If delta is greater than zero, it is reverse deceleration. If delta is less than zero, it is forward deceleration. If delta is equal to zero, it is stationary.

Step 3. Save the current speed v and overwrite v0 for next calculation.

Step 4. Based on the status obtained above, set the current direction of the motor respectively to achieve the purpose of controlling the torque direction. For example, the maximum currents in the positive and negative directions are max=1 and min=-1 respectively. Then according to the above state, the forward holding and forward acceleration setting current max=1, min=0; the forward deceleration setting current max=0, min=-1;

Reverse hold and reverse acceleration set current max = 0, min = -1; reverse deceleration set current max = 1, min = 0; keep stationary set current max = 1, min = -1.

Step 5. Wait for the next round of calculation.

The steps of the various methods above are divided just for the purpose of clear description. During implementation, they can be combined into one step or some steps can be split into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. ; Adding insignificant modifications or introducing insignificant designs to the algorithm or process without changing the core design of the algorithm and process are within the scope of protection of this patent.

The embodiment of the present invention also provides an equipment control device, which is applied to multi-wheel equipment. The multi-wheel equipment includes at least two wheels, and each wheel is controlled by a corresponding motor. As shown in Figure 2, the device includes:

The acquisition module 201 is used to acquire the current movement speed and target movement speed of the multi-wheel device;

The prediction module 202 is used to predict the acceleration component direction of the multi-wheeled device along the first straight line based on the current movement speed and the target movement speed; wherein the first straight line is the straight line where the multi-wheeled equipment is currently facing;

The control module 203 is used to control the direction of the torque component of each motor in the multi-wheel device along the first straight line to be consistent with the direction of the acceleration component according to the direction of the acceleration component.

In one example, according to the direction of the acceleration component, controlling the direction of the moment component along the first straight line of each motor in the multi-wheel device is consistent with the direction of the acceleration component, including: according to the direction of the acceleration component, setting the direction of the output current of each motor as The first direction; wherein, the first direction is the current direction that makes the direction of the torque component of each motor consistent with the direction of the speed component.

In one example, setting the output current direction of each motor to the first direction includes: respectively setting the maximum value of the output current of each motor in the first direction to the maximum allowable current value of the corresponding motor, and setting the output current of each motor to The maximum value of the second direction is 0; where the second direction is opposite to the first direction.

In one example, according to the direction of the acceleration component, the direction of the torque component of each motor in the multi-wheel device is consistent with the direction of the acceleration component, including; when the acceleration is 0, the direction of the torque component of each motor in the multi-wheel device is allowed. Keep consistent with the current movement speed direction.

In one example, the direction of the torque component of each motor in the multi-wheel device is allowed to include any direction, including: setting the maximum value of the output current of each motor in each direction to the maximum current value allowed by the corresponding motor.

In one example, after controlling the direction of the torque component of each motor in the multi-wheel device to be consistent with the direction of the acceleration component, and when the current movement speed exceeds the preset speed, the direction of the torque component of each motor in the multi-wheel device is allowed to include Any direction.

It is worth mentioning that each module involved in this embodiment is a logical module. In practical applications, a logical unit can be a physical unit, or a part of a physical unit, or it can be multiple physical units. The combination of units is realized. In addition, in order to highlight the innovative part of the present invention, units that are not closely related to solving the technical problems raised by the present invention are not introduced in this embodiment, but this does not mean that other units do not exist in this embodiment.

The fourth embodiment of the present invention relates to an electronic device, as shown in Figure 3, including: at least one processor 301; a memory 302 communicatively connected with the at least one processor; wherein the memory 302 stores information that can be used by the at least one processor 301 The instructions are executed by at least one processor 301 to execute the above device control method.

The memory 302 and the processor 301 are connected using a bus. The bus may include any number of interconnected buses and bridges. The bus connects various circuits of one or more processors 301 and the memory 302 together. The bus may also connect various other circuits together such as peripherals, voltage regulators, and power management circuits, which are all well known in the art and therefore will not be described further herein. The bus interface provides the interface between the bus and the transceiver. A transceiver may be one element or may be multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. The information processed by the processor 301 is transmitted on the wireless medium through the antenna. Furthermore, the antenna also receives the information and transmits the information to the processor 301 .

Processor 301 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 302 may be used to store information used by the processor when performing operations.

Embodiments of the present invention relate to a computer-readable storage medium storing a computer program. The above method embodiments are implemented when the computer program is executed by the processor.

That is, those skilled in the art can understand that all or part of the steps in the methods of the above embodiments can be completed by instructing relevant hardware through a program. The program is stored in a storage medium and includes several instructions to cause a device ( It may be a microcontroller, a chip, etc.) or a processor (processor) that executes all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code.

Those of ordinary skill in the art can understand that the above-mentioned embodiments are specific examples for realizing the present invention, and in practical applications, various changes can be made in form and details without departing from the spirit and spirit of the present invention. scope.

Claims (9)

1. An equipment control method, characterized in that it is applied to multi-wheel equipment. The multi-wheel equipment includes at least two wheels, and each wheel is controlled by a corresponding motor. The method includes: Obtain the current movement speed and target movement speed of the multi-wheel device; According to the current movement speed and the target movement speed, predict the acceleration component direction of the multi-wheel equipment along a first straight line; wherein the first straight line is the straight line where the multi-wheel equipment is currently oriented; According to the direction of the acceleration component, the direction of the moment component along the first straight line of each motor in the multi-wheel device is controlled to be consistent with the direction of the acceleration component. 2. The equipment control method according to claim 1, characterized in that, according to the direction of the acceleration component, the direction of the torque component along the first straight line of each motor in the multi-wheel equipment is controlled in the same direction as the direction of the acceleration component. The acceleration components have consistent directions, including: Set the output current direction of each motor as the first direction according to the direction of the acceleration component; Wherein, the first direction is a current direction in which the direction of the torque component of each motor matches the direction of the speed component. 3. The equipment control method according to claim 2, wherein setting the output current direction of each motor to the first direction includes: Set the maximum value of the output current of each motor in the first direction to the maximum allowable current of the corresponding motor, and set the maximum value of the output current of each motor in the second direction to 0; Wherein, the second direction is opposite to the first direction. 4. The equipment control method according to claim 1, characterized in that, according to the direction of the acceleration component, the direction of the torque component of each motor in the multi-wheel equipment is consistent with the direction of the acceleration component, including ; When the acceleration is 0, the direction of the torque component of each motor in the multi-wheel device is allowed to be consistent with the direction of the current movement speed. 5. The equipment control method according to claim 4, wherein the direction of the torque component that is allowed for each motor in the multi-wheel equipment includes any direction, including: Set the maximum output current of each motor in each direction to the maximum allowable current of the corresponding motor. 6. The equipment control method according to any one of claims 1 to 5, characterized in that after the direction of the torque component of each motor in the multi-wheel equipment is consistent with the direction of the acceleration component, the The above methods also include: When the current movement speed exceeds the preset speed, the direction of the torque component of each motor in the multi-wheel device is allowed to include any direction. 7. An equipment control device, characterized in that it is applied to multi-wheel equipment. The multi-wheel equipment includes at least two wheels, and each wheel is controlled by a corresponding motor. The device includes: An acquisition module, used to acquire the current movement speed and target movement speed of the multi-wheel device; A prediction module, configured to predict the acceleration component direction of the multi-wheel equipment along a first straight line based on the current movement speed and the target movement speed; wherein the first straight line is the direction of the acceleration component of the multi-wheel equipment along the first straight line. The straight line where the current heading is; A control module configured to control, according to the direction of the acceleration component, the direction of the moment component of each motor in the multi-wheel device along the first straight line to be consistent with the direction of the acceleration component. 8. An electronic device, characterized in that it includes: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor, so that the at least one processor can perform the execution of any one of claims 1 to 6. The equipment control method described above. 9. A computer-readable storage medium storing a computer program, characterized in that when the computer program is executed by a processor, the device control method according to any one of claims 1 to 6 is implemented.