Robot walking speed adjusting method

A technology of walking speed and adjustment method, which is applied to machine parts, cleaning machines, manual sweeping machines, etc. It can solve the problems of unstable adjustment and change of driving wheel speed, and achieve the effect of reducing static difference, reducing frustration, and improving smoothness

Active Publication Date: 2021-04-06
AMICRO SEMICON CORP
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In order to solve the problem of instability when the speed of the driving wheel is adjusted and changed, the present invention combines P adjustment, incremental PI adjust

Method used

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Embodiment Construction

[0019] The technical solutions in the embodiments of the present invention will be described in detail below with reference to the drawings in the embodiments of the present invention.

[0020]As an embodiment, the embodiment of the present invention discloses a method for adjusting the walking speed of a robot based on direction, and the PID controller provided inside the robot controls the driving wheels for execution. like figure 1 As shown, it specifically includes: step S101, according to the motion walking state of the driving wheel, determine the way of P adjustment to the current walking speed of the driving wheel of the robot, so as to reduce the current walking speed and the target configured under the current adjustment cycle Speed ​​difference; then go to step S102. In step S101, the robot receives a pre-configured fixed expected acceleration and an adjustment cycle for speed adjustment, and then the robot calculates the expected target speed for each adjustment c...

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Abstract

The invention discloses a robot walking speed adjusting method. The walking speed of a driving wheel of a robot is periodically controlled to stably transit to a final target speed by utilizing P adjustment and incremental PI adjustment on the basis of the size change condition of the walking speed of the driving wheel of the robot; the robot can be switched to different moving and walking states in time, the speed direction factor and the speed variable quantity direction factor are not considered, the walking speed of the robot can stably reach the pre-configured target speed in various speed change scenes, and the walking smoothness degree and the movement behavior switching stability of the robot are improved.

Description

technical field [0001] The invention relates to the technical field of driving wheel control of a robot, in particular to a method for adjusting the walking speed of a robot. Background technique [0002] At present, there are certain defects in the speed control of the sweeping robot during the movement process. For example, during the walking process of the robot, due to the relatively simple speed change, if the response is too fast, there will be a sense of frustration when switching between motion behaviors, and the reaction will be delayed if the response is too slow. , and the actual value does not reach the target value, it may switch to other behaviors due to the speed factor, resulting in unstable motion speed control. Contents of the invention [0003] In order to solve the problem of instability when the speed of the driving wheel is adjusted and changed, the present invention combines P adjustment, incremental PI adjustment and open-loop adjustment to periodic...

Claims

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Application Information

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IPC IPC(8): A47L11/24A47L11/40
CPCA47L11/24A47L11/4011
Inventor 廖伟健李永勇杨武
Owner AMICRO SEMICON CORP
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