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A method for adjusting the walking speed of a robot

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

Active Publication Date: 2022-01-04
AMICRO SEMICON CORP
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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 adjustment and open-loop adjustment to periodically adjust the real-time speed of the robot to reduce the sense of frustration, and discloses the following specific Technical solutions:

Method used

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  • A method for adjusting the walking speed of a robot
  • A method for adjusting the walking speed of a robot
  • A method for adjusting the walking speed of a robot

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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 for 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 ...

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Abstract

The invention discloses a method for adjusting the walking speed of a robot. The method for adjusting the walking speed of a robot is as follows: based on the variation of the walking speed of the driving wheel of the robot, the driving wheel of the robot is periodically controlled by P adjustment and incremental PI adjustment. The walking speed smoothly transitions to the final target speed, and switches to different motion walking states in time, but does not consider the factors of speed direction and speed change direction, so that the robot can walk in various speed change scenarios The speed reaches the pre-configured target speed stably, improving the smoothness of the robot's walking and the stability of the switching of motion behaviors.

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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Patent Type & Authority Patents(China)
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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