Speed control method and device of mobile equipment and mobile equipment
A mobile device and speed control technology, which is applied in the speed control of mobile devices and the field of electronic equipment, can solve the problems of mobile device jitter, poor user experience, robot jitter, etc., to improve user experience, reduce jitter, and improve balance The effect of stability
Pending Publication Date: 2022-06-03
CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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Problems solved by technology
Of course, the robot can be expanded into a mobile device. The moving parts of the chassis of these mobile devices are always connected to the host computer through communication, and receive the control commands of the host computer in real time to move and walk. The control commands generally include automatic navigation and remote control debugging. Remote manual auxiliary control, etc., no matter which party sends the control command, if the chassis of the mobile device immediately controls the acceleration and deceleration according to the set speed, the chassis will vibrate seriously, causing the robot to vibrate
[0003] At the same time, the driving force in the acceleration and deceleration process of the existing mobile equipment is often relatively direct, and the algorithm is relatively simple, which usually causes the acceleration and deceleration of the mobile equipment to be uneven, especially when the speed of the mobile equipment is close to 0 or close to a constant speed. The speed change is not smooth enough, and it will also cause the mobile device to shake, resulting in a very poor user experience
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[0050] In order to describe the technical content of the present disclosure more clearly, further description will be made below with reference to specific embodiments.
[0051] The implementations described in the illustrative examples below are not intended to represent all implementations consistent with this application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as recited in the appended claims.
[0052] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for the purpose of A more thorough and complete understanding of the present disclosure. It should be understood that ...
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The invention provides a speed control method and device for mobile equipment and the mobile equipment, and the method comprises the steps: providing a driving force for the mobile equipment through a driving force value corresponding to a point value of a first waveform, and obtaining the acceleration of the mobile equipment through the driving force; controlling the change of the driving force of the mobile equipment through the jerk corresponding to a second waveform, wherein the second waveform has a positive wave band and a negative wave band; and controlling the movement speed of the mobile device according to the acceleration and the jerk, wherein the movement speed of the mobile device is distributed corresponding to a third waveform. According to the speed control method of the mobile equipment, the smooth movement process of smooth acceleration, constant speed and deceleration of the mobile equipment can be achieved through three-order speed smooth control of jerk (jerk), acceleration and speed of the mobile equipment, shaking of the mobile equipment is reduced, the balance stability of the mobile equipment is improved, and the service life of the mobile equipment is prolonged. And the user experience is improved.
Description
technical field [0001] The present disclosure relates to the field of movable devices, and in particular, to a speed control method, apparatus and electronic device for a movable device. Background technique [0002] With the development of intelligent robots, the application of robots is becoming more and more popular. At present, wheeled robots with automatic navigation capabilities appear on the market, such as restaurant food delivery robots, hotel delivery robots, park inspection robots, logistics express robots, and so on. At present, wheeled robots with automatic navigation capabilities appear on the market, such as restaurant food delivery robots, hotel delivery robots, park inspection robots, and logistics express robots. Of course, the robot can be expanded into a movable device. The moving parts of the chassis of these movable devices are always connected to the host computer through communication, and receive control commands from the host computer in real time ...
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IPC IPC(8): G05D1/02
CPCG05D1/0223Y02T10/72
Inventor 温燕飞李向远
Owner CLOUDMINDS SHANGHAI ROBOTICS CO LTD