Method and device for adjusting speed
A technology of rotating speed and adjusting parameters, which is applied in the field of data processing and can solve the problems of inability to flexibly adjust mobile devices and the deviation of the rotating speed of driving wheels.
Active Publication Date: 2020-10-16
深兰机器人产业发展(河南)有限公司
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Problems solved by technology
[0006] The embodiment of the present invention provides a method and device for adjusting the rotation speed, which is used to solve the technical problem that the rotation speed of the driving wheel is deviated due to the inability to flexibly adjust the steering of the mobile device in the prior art
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[0039] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0040] figure 1 is a structural schematic diagram of a traditional mobile device, such as figure 1 As shown, traditional mobile devices usually use a square or quasi-square chassis plate, and set directional drive wheels at the bottom of the chassis plate, such as figure 1 Front left drive wheel, front right drive wheel, rear left drive wheel, and rear right drive wheel are shown. When the mobile equipment turns, because the chassis p...
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The embodiment of the invention discloses a method and device for adjusting the rotation speed. The method includes: obtaining a steering angle corresponding to a first wheel axle at the current time;determining an angle deviation value corresponding to the current time according to the steering angle corresponding to the current time and a target steering angle of a mobile device; and when the angle deviation value corresponding to the current time is greater than a preset threshold, determining an angle change rate corresponding to the current time according to the steering angle corresponding to the current time, a steering angle corresponding to the previous time, and a time difference between the current time and the previous time, and adjusting the rotation speed of a left driving wheel and the rotation speed of a right driving wheel based on the angle change rate corresponding to the current moment and the angle deviation value corresponding to the current time. In the embodiment of the present invention, by monitoring the current steering angle of the wheel axle in real time, when the current steering angle changes and / or the angle change rate changes, the rotation speedsof the driving wheels can be flexibly adjusted so that the mobile device can smoothly and stably reach the target steering angle.
Description
technical field [0001] The invention relates to the field of data processing, in particular to a method and device for adjusting a rotating speed. Background technique [0002] At this stage, mobile devices that walk autonomously are more and more used in people's production and life, such as mobile robots, which can autonomously complete various walking tasks, such as those related to transportation, distribution, customer service, etc. ; Correspondingly, common mobile robots may include food delivery robots, cargo robots, firefighting robots, automated guided vehicles (Automated Guided Vehicle, AGV), banking and hotel service robots, and so on. Taking the cargo-carrying robot as an example, the cargo-carrying robot is generally equipped with a mobile chassis system, a control system, a loading system, etc., and the chassis system includes chassis suspension and support components and at least two driving wheels arranged at the bottom of the chassis plate. The top of the s...
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IPC IPC(8): B62D7/15B25J5/00B25J11/00
CPCB25J5/007B25J11/008B62D7/1518B62D7/159
Inventor 陈海波
Owner 深兰机器人产业发展(河南)有限公司