Power adjustment system for autonomous mobile device and method thereof

Abstract

The application discloses a power adjustment system and method of an autonomous mobile device. The power adjustment method comprises outputting two first current control signals to two drivers by a control module. An inclination angle of the autonomous mobile device is detected by an inertia measurement module. A navigation module is used to plan a travel route, and the control module is used to obtain a steering angle of the autonomous mobile device during travel. The control module estimates the weight of the autonomous mobile device according to different weight values of the autonomous mobile device stored in a database module. The control module outputs two second current control signals to the two drivers according to the two first current control signals, the weight of the autonomous mobile device, the steering angle and the inclination angle, so that two motors drive two wheels to perform differential control.

Description

Technical Field

[0001] This invention relates to a power adjustment system and method for autonomous mobile devices, and more particularly to a power adjustment system and method for improving the stability of autonomous mobile devices when turning. Background Technology

[0002] In the prior art, autonomous mobile devices, such as autonomous mobile robots (AMRs) or automated guided vehicles (AGVs), often cannot accurately determine the turning angle during travel and turning. As a result, the drive motor system inside the device cannot output appropriate power to the axles on both sides. Therefore, the drive motor system is prone to generating excess power, which makes the autonomous mobile device unstable when turning.

[0003] Therefore, how to improve the stability of autonomous mobile devices when turning, thereby increasing their working efficiency and reducing energy consumption, and thus overcoming the aforementioned defects, has become one of the important issues to be addressed in this field. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a power adjustment system and method for an autonomous mobile device, which addresses the shortcomings of the prior art.

[0005] To address the aforementioned technical problems, one technical solution adopted by this invention is to provide a power adjustment system for an autonomous mobile device, comprising two drive modules, an inertial measurement module, a navigation module, a database module, and a control module. The two drive modules are located within the autonomous mobile device and are respectively connected to the two wheels of the autonomous mobile device. The two drive modules operate independently of each other. Each drive module includes a driver and a motor electrically connected to the driver, and each motor is connected to a corresponding wheel. The inertial measurement module is located within the autonomous mobile device and is used to detect the tilt angle of the autonomous mobile device. The navigation module is used to plan a travel route, enabling the autonomous mobile device to travel according to the travel route. The database module is used to store different weight values ​​of the autonomous mobile device. The control module is located within the autonomous mobile device and is electrically connected to the two drive modules, the inertial measurement module, and the navigation module. When the autonomous mobile device moves along the travel route, the control module is used to obtain the steering angle of the autonomous mobile device during travel. The control module outputs two first current control signals to the two drivers, which in turn output two initial currents to the two motors, causing the two motors to drive the two wheels and propel the autonomous mobile device. The control module also estimates the weight of the autonomous mobile device based on data from the database module. Based on the two first current control signals, the weight of the autonomous mobile device, the steering angle, and the tilt angle, the control module outputs two second current control signals to the two drivers, which in turn output two adjustment currents to the two motors, causing the two motors to drive the two wheels for differential control.

[0006] Preferably, the weight of the autonomous mobile device includes the weight of the autonomous mobile device itself and the weight it carries.

[0007] Preferably, the navigation module is used to locate the autonomous mobile device in real time and to construct a map of the surrounding environment of the autonomous mobile device's location in order to further plan the travel route.

[0008] Preferably, the control module adjusts the first current control signal according to a signal gain function and then outputs a second current control signal. The signal gain function includes:

[0009] L2=L1×(W / W0)×(1±tan(θ1))×(1±tan(θ2));

[0010] Wherein, L1 is the first current control signal, L2 is the second current control signal, W is the weight of the autonomous mobile device, W0 is the preset reference weight of the autonomous mobile device, θ1 is the tilt angle, and θ2 is the turning angle.

[0011] Preferably, the database module also includes the slope of the location of the autonomous mobile device, the change in current output by the driver, and the speed of the autonomous mobile device.

[0012] Preferably, when the change in current output by each driver in the nth second exceeds half of the maximum current, the control module collects the current value in the nth second. And when the change in current output by each driver lasts for k seconds and the fluctuation within k seconds is less than 10% of the change in current in the nth second, the control module collects the speed of the autonomous mobile device in the n+kth second. The control module compares the speed of the autonomous mobile device in the n+kth second, the change in current output by the driver in the nth second, and the slope of the location of the autonomous mobile device with the data in the database module to estimate the weight of the autonomous mobile device.

[0013] To address the aforementioned technical problems, another technical solution adopted by the present invention is to provide a power adjustment method for an autonomous mobile device. The autonomous mobile device comprises two drive modules, an inertial measurement module, a navigation module, a database module, and a control module. The two drive modules are respectively connected to two wheels of the autonomous mobile device. Each drive module includes a driver and a motor electrically connected to the driver. Each motor is connected to a corresponding wheel. The control module is electrically connected to the two drive modules, the inertial measurement module, and the navigation module. The power adjustment method includes: outputting two first current control signals from the control module and transmitting them to the two drivers respectively, so that the two drivers output two initial currents to the two motors respectively, thereby adjusting the power of the two motors. The system drives two wheels to propel the autonomous mobile device; the inertial measurement module detects the tilt angle of the autonomous mobile device; the navigation module plans a route for the autonomous mobile device to travel along the route, and the control module obtains the steering angle of the autonomous mobile device during travel; the control module estimates the weight of the autonomous mobile device based on different weight values ​​stored in the database module; the control module outputs two second current control signals based on two first current control signals, the weight of the autonomous mobile device, the steering angle, and the tilt angle, and transmits them to two drivers respectively, and the two drivers output two adjustment currents to two motors respectively, so that the two motors drive the two wheels for differential control.

[0014] Preferably, the weight of the autonomous mobile device includes the weight of the autonomous mobile device itself and the weight it carries.

[0015] Preferably, the navigation module is used to locate the autonomous mobile device in real time and to construct a map of the surrounding environment of the autonomous mobile device's location in order to further plan the travel route.

[0016] Preferably, the control module adjusts the first current control signal according to a signal gain function and then outputs a second current control signal. The signal gain function includes:

[0017] L2=L1×(W / W0)×(1±tan(θ1))×(1±tan(θ2));

[0018] Wherein, L1 is the first current control signal, L2 is the second current control signal, W is the weight of the autonomous mobile device, W0 is the preset reference weight of the autonomous mobile device, θ1 is the steering angle, and θ2 is the tilt angle.

[0019] Preferably, the database module also includes the slope of the location of the autonomous mobile device, the change in current output by the driver, and the speed of the autonomous mobile device.

[0020] Preferably, when the change in current output by each driver in the nth second exceeds half of the maximum current, the control module collects the current value in the nth second. And when the change in current output by each driver lasts for k seconds and the fluctuation within k seconds is less than 10% of the change in current in the nth second, the control module collects the speed of the autonomous mobile device in the n+kth second. The control module compares the speed of the autonomous mobile device in the n+kth second, the change in current output by the driver in the nth second, and the slope of the location of the autonomous mobile device with the data in the database module to estimate the weight of the autonomous mobile device.

[0021] One of the beneficial effects of the present invention is that the power adjustment system and method for the autonomous mobile device provided by the present invention can improve the stability of the autonomous mobile device when turning, and improve the working efficiency of the autonomous mobile device and reduce energy consumption through the technical solutions of "the control module outputting two first current control signals to two drivers respectively, so that the two drivers output two initial currents to two motors respectively, so that the two motors drive two wheels respectively to propel the autonomous mobile device, and the control module estimates the weight of the autonomous mobile device according to the data of the database module" and "the control module outputs two second current control signals according to the two first current control signals, the weight of the autonomous mobile device, the steering angle and the tilt angle, and transmits them to two drivers respectively, and the two drivers output two adjustment currents to two motors respectively, so that the two motors drive two wheels respectively for differential control".

[0022] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are for reference and illustration only and are not intended to limit the present invention. Attached Figure Description

[0023] Figure 1 This is a first perspective view of the autonomous mobile device of the present invention.

[0024] Figure 2 This is a second perspective view of the autonomous mobile device of the present invention.

[0025] Figure 3 This is a schematic diagram of the power adjustment system of the autonomous mobile device of the present invention.

[0026] Figure 4 This is a tilted schematic diagram of the autonomous moving device of the present invention.

[0027] Figure 5 This is a schematic diagram illustrating the steering of the autonomous mobile device of the present invention.

[0028] Figure 6 This is a schematic diagram of the weight estimation process for the power adjustment system of the autonomous mobile device of the present invention.

[0029] Figure 7 This is a schematic representation of the vehicle weight estimation for the power adjustment system of the autonomous mobile device of the present invention.

[0030] Figure 8 This is a schematic diagram of steps S1 to S5 of the power adjustment method for the autonomous mobile device of the present invention. Detailed Implementation

[0031] The following specific embodiments illustrate the implementation of the "Power Adjustment System and Method for Autonomous Mobile Devices" disclosed in this invention. Those skilled in the art can understand the advantages and effects of this invention from the content disclosed in this specification. This invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of this invention. Furthermore, the accompanying drawings of this invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated in advance. The following embodiments will further describe the relevant technical content of this invention in detail, but the disclosed content is not intended to limit the scope of protection of this invention.

[0032] It should be understood that while terms such as "first," "second," and "third" may be used in this document to describe various components, these components should not be limited by these terms. These terms are primarily used to distinguish one component from another. Furthermore, the term "or" as used herein should, as appropriate, include any combination of one or more related listed items.

[0033] Example

[0034] See Figure 1 , Figure 2 and Figure 3As shown, Figure 1 and Figure 2 This is a three-dimensional schematic diagram of the autonomous mobile device of the present invention. Figure 3 This is a schematic diagram of the power adjustment system of the autonomous mobile device of the present invention. An embodiment of the present invention provides an autonomous mobile device Z, which may be, for example, an autonomous mobile robot (AMR) or an automated guided vehicle (AGV). The autonomous mobile device Z includes: two drive modules 1, an inertial measurement module 2, a navigation module 3, a database module 4, and a control module 5. The two drive modules 1, the inertial measurement module 2, the database module 4, and the control module 5 are disposed within the autonomous mobile device Z, and the navigation module 3 is disposed on the autonomous mobile device Z. The control module 5 is electrically connected to the two drive modules 1, the inertial measurement module 2, the navigation module 3, and the database module 4. The two drive modules 1 are respectively connected to the two wheels 13 of the autonomous mobile device Z. The two wheels 13 of the autonomous mobile device Z are disposed at the bottom of the autonomous mobile device Z. In this embodiment, the two drive modules 1 operate independently of each other. Each drive module 1 includes a driver 11 and a motor 12 electrically connected to the driver 11, and each motor 12 is connected to the corresponding wheel 13. Furthermore, the driver 11 of the drive module 1 can be connected to a power module 6, and the control module 5 can be electrically connected between the driver 11 and the power module 6. The power module 6 provides power, which is transmitted to the motor 12 via the driver 11. The driver 11 can convert the constant voltage of the AC power supply provided by the power module 6 into a variable voltage that can control the torque and speed of the motor 12.

[0035] See Figure 4 As shown, Figure 4This is a schematic diagram illustrating the tilt of the autonomous mobile device of the present invention. For example, the inertial measurement module 2 may consist of multiple acceleration sensing components (primarily measuring the linear acceleration in the direction of motion of the autonomous mobile device) and multiple gyroscopes (primarily measuring the angular velocity in the direction of motion of the autonomous mobile device), thus enabling further calculation of the attitude of the autonomous mobile device Z. This is used to detect the tilt angle θ1 of the autonomous mobile device Z. If the autonomous mobile device Z is located on a hillside P, the inertial measurement module 2 can measure that the autonomous mobile device Z is tilted, that is, the vehicle body of the autonomous mobile device Z is tilted at an angle θ1 relative to the horizontal ground. Therefore, the inertial measurement module 2 can detect the tilt angle θ1 of the autonomous mobile device Z, and the tilt angle θ1 is equal to the slope angle of the hillside P, representing the slope of the hillside P. In addition, the autonomous mobile device Z may also include a speed sensing component (not shown in the figure). The speed sensing component may be, for example, a magnetic induction type shaft speed sensing component, coupled to the output shaft (not shown in the figure) of the motor 12 for connecting the wheel 13 and detecting the rotational speed of the output shaft. The control module 5 receives the sensing signal output by the speed sensing component and calculates the speed of the autonomous mobile device Z.

[0036] See Figure 3 and Figure 5 As shown, Figure 5 This is a schematic diagram illustrating the steering of the autonomous mobile device of the present invention. The navigation module 3 includes a LiDAR (Light Detection and Ranging) 31, an ultrasonic sensor 32, or an image capturing component 33. For example, the autonomous mobile device Z can perform light reflection navigation and positioning using the LiDAR 31; or, the autonomous mobile device Z can perform ultrasonic navigation and positioning using the ultrasonic sensor 32; or, the autonomous mobile device Z can perform visual navigation and positioning using the image capturing component 33 (including but not limited to a camera or CCD image sensor). Further, in embodiments of the present invention, the navigation module 3 can instantly locate the position of the autonomous mobile device Z and construct a map of the surrounding environment of the location of the autonomous mobile device Z, and then plan a route accordingly, enabling the autonomous mobile device Z to travel along the route. Furthermore, when the autonomous mobile device Z travels along the route, the control module 5 can obtain the steering angle θ2 of the autonomous mobile device Z during the travel process.

[0037] Control module 5 is the Vehicle Control Unit (VCU), located inside the autonomous mobile device Z. It receives various sensing signals from the various sensing components within the autonomous mobile device Z. For example, control module 5 is electrically connected to two drive modules 1, inertial measurement module 2, navigation module 3, and database module 4. It transmits signals with drive modules 1, inertial measurement module 2, and navigation module 3 to collect information such as current changes, tilt angle, and steering angle. This information is then read and analyzed to output corresponding control signals to the relevant components, commanding them to perform corresponding actions.

[0038] See Figure 6 As shown, Figure 6 This is a schematic diagram of the weight estimation process of the power adjustment system for the autonomous mobile device of the present invention. Next, the weight estimation mechanism of the power adjustment system for the autonomous mobile device of the present invention will be further described. First, the control module 5 can detect the current value output from the power module 6 and transmitted to the motor 12 via the driver 11 to detect whether the autonomous mobile device Z is in a stationary state during startup. Next, the inertial measurement module 2 detects the slope of the location of the autonomous mobile device Z to obtain a tilt angle θ1, and the control unit 4 collects the tilt angle θ1 and stores it in the database module 4. Next, the control module 5 further detects the change in current output by each driver 11 in the nth second. When the change in current output by each driver 11 in the nth second exceeds half of the maximum current that each driver 11 can output, the control module 5 collects the current value in the nth second. When the change in current output by each driver 11 lasts for k seconds (k=1 in this embodiment), and the fluctuation within k seconds is less than 10% of the change in current in the nth second, the control module 5 collects the speed of the autonomous mobile device Z in the n+kth second. The control module 5 compares the speed of the autonomous mobile device Z in the n+kth second, the change in current output by the driver 11 in the nth second, and the slope of the location of the autonomous mobile device Z with the data in the database module 4 to estimate the weight of the autonomous mobile device Z.

[0039] It is worth mentioning that the database module 4 can be a storage device installed within the autonomous mobile device Z, such as a hard drive or memory, but the present invention is not limited to this. The database module 4 can also be a remote server, transmitting signals with the autonomous mobile device Z via a network connection. In this embodiment, the database module 4 stores different weight values ​​of the autonomous mobile device Z, and it should be noted that the weight of the autonomous mobile device Z includes its own weight and the weight it carries. In addition to storing different weight values ​​of the autonomous mobile device Z, the database module 4 also includes the slope of the location of the autonomous mobile device Z, the change in current output by the driver 11, and the speed of the autonomous mobile device Z. Furthermore, the data stored in the database module 4 forms a database, mainly including a table of correspondences between various parameters obtained through multiple field tests, which represents the weight of the autonomous mobile device Z corresponding to different slopes (i.e., tilt angles) at different locations, the change in current output by the driver 11 at different times, and different speeds. In other words, the database is a collection of related data (the slope of the location of the autonomous mobile device Z, the change in current output by the driver 11 at different times, the different speeds of the autonomous mobile device Z, and the weight of the autonomous mobile device Z), which allows the control module 5 to obtain the desired results through methods such as retrieval, sorting, calculation, and querying.

[0040] See Figure 7 As shown, Figure 7 This diagram illustrates the vehicle weight estimation of the power adjustment system for the autonomous mobile device of the present invention. It represents one embodiment of the correspondence table stored in the database module 4. It primarily shows the speed information corresponding to different autonomous mobile device Z weights (300kg, 500kg, 700kg) at different slopes (tilt angles θ1 of 0 degrees, 5 degrees, 10 degrees, and 15 degrees) under the condition that the current change of the driver 11 is 100% for one second. For example, if the vehicle speed measured by the control module 5 at a tilt angle θ1 of 0 degrees and a current change of 100% for one second is 5.23m / s, or 18.8KPH (km / hr), the estimated vehicle weight can be determined from the weight estimation table to be 300kg. However, the above example is merely one feasible embodiment and is not intended to limit the present invention.

[0041] See Figure 8 As shown, Figure 8 This diagram illustrates steps S1 to S5 of the power adjustment method for the autonomous mobile device of the present invention. The power adjustment method for the autonomous mobile device of the present invention can be implemented using the power adjustment system of the autonomous mobile device Z disclosed above. The power adjustment method includes at least the following steps:

[0042] Step S1: The control module 5 outputs two first current control signals to the two drivers respectively, so that the two drivers 11 output two initial currents to the two motors 12 respectively, so that the two motors 12 drive the two wheels 13 respectively to propel the autonomous moving device Z.

[0043] Step S2: Detect the tilt angle θ1 of the autonomous mobile device Z using the inertial measurement module 2;

[0044] Step S3: The navigation module 3 plans a route so that the autonomous mobile device Z can travel according to the route, and the control module 5 is used to obtain the turning angle θ2 of the autonomous mobile device Z during the travel process.

[0045] Step S4: The control module 5 estimates the weight of the autonomous mobile device Z based on the different weight values ​​of the autonomous mobile device Z stored in the database module 4.

[0046] Step S5: The control module 5 outputs two second current control signals based on the two first current control signals, the weight of the autonomous moving device Z, the steering angle θ2 and the tilt angle θ1, and transmits them to the two drivers 11 respectively. The two drivers 11 then output two adjustment currents to the two motors 12 respectively, so that the two motors 12 drive the two wheels 13 for differential control.

[0047] As described above, control module 5 adjusts the first current control signal according to a signal gain function and then outputs the second current control signal. The signal gain function is:

[0048] L2=L1×(W / W0)×(1±tan(θ1))×(1±tan(θ2));

[0049] Wherein, L1 is the first current control signal, L2 is the second current control signal, W is the weight of the autonomous mobile device, W0 is the preset reference weight of the autonomous mobile device Z (in this embodiment, W0 = 500 kg), (W / W0) is the weight factor, θ1 is the tilt angle and (1 ± tan(θ1)) is the slope factor, θ2 is the turning angle and (1 ± tan(θ2)) is the turning factor.

[0050] It should be noted that, since the two drive modules 1 in this invention operate independently, the gain values ​​obtained by the two drive modules 1 during steering are different. Next, two examples are given below to further illustrate the above-mentioned "differential control".

[0051] For example, when an autonomous mobile device Z weighing 300kg makes a 10-degree left turn (steering angle θ2 is 10 degrees) on a right-sloping slope with a gradient of 10 degrees (tilt angle θ1 is 10 degrees), the weight factor of the left drive module 1 is (300 / 500) = 0.6, the slope factor is (1 + tan(10)) = 1.176 (because the motor 12 needs to output a relatively large torque when making a left turn on a right-sloping slope, so the slope factor is increased), and the steering factor is (1 - tan(10)) = 0.823 (because the motor 12 of the left drive module 1 needs to output a smaller torque when making a left turn, so the steering factor is decreased). Therefore, the overall gain of the left drive module 1 is 0.6 × 1.176 × 0.823 = 0.58. That is to say, the control module 5 can calculate the second current control signal after the first current control signal is amplified and output as L2 based on the above signal gain function for the left drive module 1. =L1×0.58; On the other hand, similarly, when the autonomous mobile device Z with a weight of 300kg makes a 10-degree left turn on a right-sloping slope with a gradient of 10 degrees, the weight factor of the right drive module 1 is (300 / 500) = 0.6, the slope factor is (1+tan(10)) = 1.176 (because the motor 12 needs to output a larger torque when making a left turn on a right-sloping slope, so the slope factor is increased), and the steering factor is (1+tan(10)) = 1.176 (because the motor 12 of the right drive module 1 needs to output a larger torque when making a left turn, so the steering factor is increased). Therefore, the overall gain of the right drive module 1 is 0.6×1.176×1.176 = 0.83. That is to say, the control module 5 can calculate the output of the second current control signal after the first current control signal is amplified by the above signal gain function for the right drive module 1 as: L2 = L1×0.83.

[0052] For example, when an autonomous mobile device Z weighing 700kg makes a 10-degree left turn (steering angle θ2 is 10 degrees) on a left-sloping slope with a gradient of 15 degrees (tilt angle θ1 is 15 degrees), the weight factor of the left drive module 1 is (700 / 500) = 1.4, the slope factor is (1-tan(15)) = 0.732 (because the motor needs to output relatively less torque when making a left turn on a left-sloping slope, so the slope factor is lowered), and the steering factor is (1-t an(10))=0.823 (because when turning left, the motor 12 of the left drive module 1 needs to output a smaller torque, so the steering factor is lowered), therefore the overall gain of the left drive module 1 is 1.4×0.732×0.823=0.84, that is to say, the control module 5 can calculate the output of the second current control signal after the first current control signal is amplified by the above signal gain function for the left drive module 1 as: L2=L1×0.84; On the one hand, similarly, when the autonomous mobile device Z, weighing 700kg, makes a 10-degree left turn (steering angle θ2 is 10 degrees) on a left-sloping slope with a gradient of 15 degrees (tilt angle θ1 is 15 degrees), the weight factor of the right-hand drive module 1 is (700 / 500) = 1.4, the slope factor is (1-tan(15)) = 0.732 (because the motor 12 needs to output relatively less torque when making a left turn on a left-sloping slope, so the slope factor is lowered), and the steering factor is... (1+tan(10))=1.176 (because the motor 12 of the right drive module 1 needs to output a large torque when making a left turn, so the slope factor is increased), therefore the overall gain of the right drive module 1 is 1.4×0.732×1.176=1.2. That is to say, the control module 5 can calculate the output of the second current control signal after the first current control signal is amplified by the above signal gain function for the right drive module 1 as: L2=L1×1.2.

[0053] However, the examples given above are merely one possible embodiment and are not intended to limit the invention.

[0054] Beneficial effects of the embodiments

[0055] One of the beneficial effects of the present invention is that the power adjustment system and method for the autonomous mobile device Z provided by the present invention can perform differential control on two independently operating drive modules 1 through the technical solutions of "control module 5 outputting two first current control signals to two drivers 11 respectively, so that the two drivers 11 output two initial currents to two motors 13 respectively, so that the two motors 12 drive two wheels 13 respectively to propel the autonomous mobile device Z, and control module 5 estimating the weight of the autonomous mobile device Z based on the data of database module 4" and "control module 5 outputting two second current control signals to two drivers 11 based on the two first current control signals, the weight of the autonomous mobile device Z, the steering angle θ2 and the tilt angle θ1 of the autonomous mobile device Z respectively, and the two drivers 11 output two adjustment currents to two motors 12 respectively, so that the two motors 12 drive two wheels 13 respectively for differential control". This improves the stability of the autonomous mobile device Z when turning, and increases the working efficiency of the autonomous mobile device Z while reducing energy consumption.

[0056] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the scope of protection of the claims of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the scope of protection of the claims of the present invention.

Claims

1. A power adjustment system for an autonomous mobile device, characterized in that, The power adjustment system of the autonomous mobile device includes: Two drive modules are disposed within the autonomous mobile device and are respectively connected to the two wheels of the autonomous mobile device. The two drive modules operate independently of each other. Each drive module includes a driver and a motor electrically connected to the driver. Each motor is connected to the corresponding wheel. An inertial measurement module is installed inside the autonomous mobile device to detect the tilt angle of the autonomous mobile device; A navigation module is installed on the autonomous mobile device to plan a route so that the autonomous mobile device can travel according to the route. A database module, located within the autonomous mobile device, is used to store different weight values ​​of the autonomous mobile device; and A control module is disposed within the autonomous mobile device. The control module is electrically connected to the two drive modules, the inertial measurement module, the navigation module, and the database module. When the autonomous mobile device moves along the travel route, the control module is used to obtain the turning angle of the autonomous mobile device during the travel process. When the autonomous mobile device is in motion, the control module outputs two first current control signals to the two drivers respectively, so that the two drivers output two initial currents to the two motors respectively, so that the two motors drive the two wheels respectively and propel the autonomous mobile device to move. The control module further estimates the weight of the autonomous mobile device based on the data from the database module, and adjusts the two first current control signals into two second current control signals based on the two first current control signals, the weight of the autonomous mobile device, the steering angle, and the tilt angle. These signals are then transmitted to the two drivers, and the two drivers output two adjustment currents to the two motors, so that the two motors drive the two wheels for differential control.

2. The power adjustment system for the autonomous mobile device according to claim 1, characterized in that, The weight of the autonomous mobile device includes the weight of the autonomous mobile device itself and the weight it carries.

3. The power adjustment system for the autonomous mobile device according to claim 1, characterized in that, The navigation module is used to locate the autonomous mobile device in real time and to construct a map of the surrounding environment of the location of the autonomous mobile device in order to further plan the travel route.

4. The power adjustment system for the autonomous mobile device according to claim 1, characterized in that, The control module adjusts the first current control signal according to a signal gain function and then outputs the second current control signal. The signal gain function includes: L2=L1×(W / W0)×(1±tan(θ1)) ×(1±tan(θ2)); Wherein, L1 is the first current control signal, L2 is the second current control signal, W is the weight of the autonomous mobile device, W0 is the preset reference weight of the autonomous mobile device, θ1 is the tilt angle, and θ2 is the turning angle.

5. The power adjustment system for the autonomous mobile device according to claim 1, characterized in that, The database module also includes the slope of the location of the autonomous mobile device, the change in current output by the driver, and the speed of the autonomous mobile device.

6. The power adjustment system for the autonomous mobile device according to claim 5, characterized in that, When the change in current output by each of the aforementioned drivers exceeds half of the maximum current in the nth second, the control module collects the current value in the nth second. When the change in current output by each of the aforementioned drivers lasts for k seconds and the fluctuation within k seconds is less than 10% of the change in current in the nth second, the control module collects the speed of the autonomous mobile device in the (n+k)th second. The control module then compares the speed of the autonomous mobile device in the (n+k)th second, the change in current output by the drivers in the nth second, and the slope of the location of the autonomous mobile device with the data in the database module to estimate the weight of the autonomous mobile device.

7. A method for adjusting the power of an autonomous mobile device, wherein the autonomous mobile device comprises two drive modules, an inertial measurement module, a navigation module, a database module, and a control module; the two drive modules are respectively connected to two wheels of the autonomous mobile device; each drive module includes a driver and a motor electrically connected to the driver; each motor is connected to a corresponding wheel; and the control module is electrically connected to the two drive modules, the inertial measurement module, and the navigation module. The power adjustment method includes: The control module outputs two first current control signals, which are then transmitted to the two drivers, so that the two drivers output two initial currents to the two motors, thereby driving the two wheels and propelling the autonomous mobile device. The tilt angle of the autonomous mobile device is detected by the inertial measurement module. The navigation module plans a route so that the autonomous mobile device can travel according to the route, and the control module is used to obtain the turning angle of the autonomous mobile device during the journey. The control module estimates the weight of the autonomous mobile device based on the different weight values ​​of the autonomous mobile device stored in the database module; and The control module outputs two second current control signals based on the two first current control signals, the weight of the autonomous moving device, the steering angle, and the tilt angle, and transmits them to the two drivers respectively. The two drivers then output two adjustment currents to the two motors respectively, so that the two motors drive the two wheels for differential control.

8. The power adjustment method for an autonomous mobile device according to claim 7, characterized in that, The weight of the autonomous mobile device includes the weight of the autonomous mobile device itself and the weight it carries.

9. The power adjustment method for an autonomous mobile device according to claim 7, characterized in that, The navigation module is used to locate the autonomous mobile device in real time and to construct a map of the surrounding environment of the location of the autonomous mobile device in order to further plan the travel route.

10. The power adjustment method for an autonomous mobile device according to claim 7, characterized in that, The control module adjusts the first current control signal according to a signal gain function and then outputs the second current control signal. The signal gain function includes: L2=L1×(W / W0)×(1±tan(θ1)) ×(1±tan(θ2)); Wherein, L1 is the first current control signal, L2 is the second current control signal, W is the weight of the autonomous mobile device, W0 is the preset reference weight of the autonomous mobile device, θ1 is the steering angle, and θ2 is the tilt angle.

11. The power adjustment method for an autonomous mobile device according to claim 7, characterized in that, The database module also includes the slope of the location of the autonomous mobile device, the change in current output by the driver, and the speed of the autonomous mobile device.

12. The power adjustment method for an autonomous mobile device according to claim 11, characterized in that, When the change in current output by each of the aforementioned drivers exceeds half of the maximum current in the nth second, the control module collects the current value in the nth second. When the change in current output by each of the aforementioned drivers lasts for k seconds and the fluctuation within k seconds is less than 10% of the change in current in the nth second, the control module collects the speed of the autonomous mobile device in the (n+k)th second. The control module then compares the speed of the autonomous mobile device in the (n+k)th second, the change in current output by the drivers in the nth second, and the slope of the location of the autonomous mobile device with the data in the database module to estimate the weight of the autonomous mobile device.

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