Control method and device of vehicle wheel, electronic equipment and computer readable storage medium

Abstract

The application is suitable for the technical field of intelligent control, and provides a wheel control method and device, electronic equipment and computer readable storage medium. The wheel control method comprises: obtaining a target steering angle required by each wheel when a self-moving device is steering, wherein the self-moving device is configured with a plurality of wheels; calculating a first ratio between each target steering angle and a same reference steering angle; obtaining a preset reference steering control parameter; processing the reference steering control parameter by using each first ratio to obtain a target steering control parameter of each wheel; and controlling the corresponding wheel to steer according to the target steering control parameter of each wheel. The embodiment of the application can improve the steering synchronization between different wheels.

Description

Technical Field

[0001] This application belongs to the field of intelligent control technology, and in particular relates to a wheel control method, device, electronic device and computer-readable storage medium. Background Technology

[0002] The cornering maneuverability of self-propelled mobile devices requires precise steering control of each wheel. In related technologies, the self-propelled mobile device needs to stop driving and allow each wheel to steer until the last wheel reaches the required steering angle before driving. In this method, the synchronization of wheel steering is poor. When one wheel is in position, the others are not, causing interference between the wheels and increasing the load. That is, some wheels are moving at different angles, some faster than others, leading to wheel slippage and one wheel dragging another. Summary of the Invention

[0003] This application provides a wheel control method, device, electronic device, and computer-readable storage medium, which can solve the problem of poor steering synchronization between different wheels in related technologies.

[0004] The first aspect of this application provides a wheel control method, comprising: obtaining a target steering angle required for each wheel when a self-moving device turns, wherein the self-moving device is configured with a plurality of wheels; calculating a first ratio between each target steering angle and a common reference steering angle; obtaining preset reference steering control parameters; processing the reference steering control parameters using each of the first ratios to obtain target steering control parameters for each wheel; and controlling the corresponding wheel to turn according to the target steering control parameters for each wheel.

[0005] In some embodiments of this application, after controlling the corresponding wheel to steer according to the target steering control parameters of each wheel, the wheel control method further includes: obtaining the target travel speed required for each wheel; calculating a second ratio between each target travel speed and the same reference travel speed; obtaining a preset reference speed control parameter; processing the reference speed control parameter using each of the second ratios to obtain the target speed control parameter for each wheel; and controlling the corresponding wheel to travel according to the target speed control parameter for each wheel.

[0006] In some embodiments of this application, the step of processing the reference speed control parameters using each of the second ratios to obtain the target speed control parameters for each wheel includes: sending the corresponding second ratio to the speed controller of each wheel, so that the speed controller processes the reference speed control parameters according to the corresponding second ratio to obtain the corresponding target speed control parameters; the step of controlling the movement of the corresponding wheel according to the target speed control parameters for each wheel includes: sending a first synchronization control command to each speed controller, the first synchronization control command being used to instruct each speed controller to control the corresponding wheel to move according to the corresponding target speed control parameters at the same time.

[0007] In some embodiments of this application, the target speed control parameter includes the target travel acceleration of the wheel.

[0008] In some embodiments of this application, processing the reference steering control parameters using each of the first ratios to obtain target steering control parameters for each wheel includes: sending the corresponding first ratio to the steering controller of each wheel, so that the steering controller processes the reference steering control parameters according to the corresponding first ratio to obtain the corresponding target steering control parameters; controlling the corresponding wheel to steer according to the target steering control parameters for each wheel includes: sending a second synchronization control command to each steering controller, the second synchronization control command being used to instruct each steering controller to control the corresponding wheel to steer according to the corresponding target steering control parameters at the same time.

[0009] In some embodiments of this application, the reference steering angle is the maximum, minimum, or average of the steering angles required for each wheel.

[0010] In some embodiments of this application, the target steering control parameters include one or more of the target steering acceleration, target steering speed, and target steering deceleration of the wheel.

[0011] The second aspect of this application provides a wheel control device, comprising: a steering angle acquisition unit for acquiring the target steering angle required for each wheel when a self-moving device is turned, wherein the self-moving device is configured with a plurality of wheels; a ratio calculation unit for calculating a first ratio between each target steering angle and a common reference steering angle; a control parameter acquisition unit for acquiring preset reference steering control parameters; a control parameter processing unit for processing the reference steering control parameters using each of the first ratios to obtain target steering control parameters for each wheel; and a steering control unit for controlling the corresponding wheel to turn according to the target steering control parameters for each wheel.

[0012] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described wheel control method.

[0013] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described wheel control method.

[0014] The fifth aspect of this application provides a computer program product that, when run on an electronic device, causes the electronic device to execute the wheel control method described in the first aspect above.

[0015] In the embodiments of this application, by obtaining the target steering angle required for each wheel when the self-moving device turns, calculating the first ratio between each target steering angle and the same reference steering angle, then obtaining the preset reference steering control parameters, and processing the reference steering control parameters using each first ratio to obtain the target steering control parameters for each wheel, the target steering control parameters used by each wheel can be obtained by proportionally adjusting the same reference steering control parameters. Therefore, when controlling the corresponding wheel to turn according to the target steering control parameters of each wheel, each wheel can reach its required target steering angle at the same time, improving the synchronization of steering between different wheels. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram illustrating the implementation process of a wheel control method provided in an embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the steering process of wheel 1 and wheel 2 provided in the embodiments of this application;

[0019] Figure 3 This is a schematic diagram illustrating the specific implementation process of controlling wheel movement provided in the embodiments of this application;

[0020] Figure 4 This is a schematic diagram of the structure of a wheel control device provided in an embodiment of this application;

[0021] Figure 5 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are protected by this application.

[0023] In related technologies, the self-moving device needs to stop driving and allow each wheel to steer until the last wheel reaches the required steering angle before driving the device. In this method, the synchronization of wheel steering is poor. When one wheel is in position, the others are not, causing interference between the wheels and increasing the load. That is, some wheels are moving at different angles, some faster than others, leading to wheel slippage and one wheel dragging another.

[0024] The applicant's research revealed that related technologies typically rotate each wheel to the required steering angle with the same steering acceleration and speed, and then proceed with arc or straight-line movement after all wheels have reached their respective positions. However, when an automated mobile device turns, the turning radius of each wheel is different, resulting in different required steering angles. Consequently, the time it takes for each wheel to reach its respective steering angle varies.

[0025] In view of this, this application proposes a wheel control method that can assign different target steering control parameters to each wheel of a self-moving device, so that the time for each wheel to reach its required steering angle tends to be consistent.

[0026] It should be understood that the aforementioned self-moving device can be a robot, an unmanned vehicle, a drone, or other device with autonomous mobility. In some embodiments, the aforementioned self-moving device can achieve autonomous mobility through components such as drive motors and wheels, which is not limited in this application. Furthermore, the aforementioned self-moving device can be configured with multiple wheels, and the number of wheels can be 2, 3, 4, or more, which is not limited in this application.

[0027] To illustrate the technical solution of this application, specific embodiments are described below.

[0028] Figure 1 The illustration shows a schematic diagram of the implementation process of a wheel control method provided in an embodiment of this application. This method can be applied to electronic devices and is applicable to situations where it is necessary to improve the synchronization of different wheels during steering.

[0029] In embodiments of this application, the electronic device can be the aforementioned self-moving device, i.e., the self-moving device is capable of steering control of the wheels. The electronic device can also be a smart device such as a computer, mobile phone, or smartwatch, capable of controlling the self-moving device. For example, the electronic device can be a smartphone with application software installed for controlling the self-moving device.

[0030] Specifically, the above-mentioned wheel control method may include the following steps S101 to S105.

[0031] Step S101: Obtain the target steering angle required for each wheel when the self-moving device turns.

[0032] The target steering angle refers to the steering angle that each wheel needs to reach when turning. Each wheel can have its own target steering angle, and the target steering angles of different wheels can be the same or different.

[0033] Specifically, in some embodiments, the electronic device can determine the turning radius of the self-moving device when it turns, as well as the structural parameters of the self-moving device (such as the length of the body, the width of the body, and the relative positions of each wheel on the body). Based on the turning radius and structural parameters, it determines the target steering angle corresponding to each wheel. The specific calculation process of the target steering angle can refer to existing steering angle calculation methods, and this application does not limit it.

[0034] Step S102: Calculate the first ratio between each target steering angle and the same reference steering angle.

[0035] The reference steering angle is a steering angle used to compare with the target steering angle. In the embodiments of this application, the reference steering angle can be the maximum, minimum, or average value of the steering angles required for each wheel, or it can be a user-preset steering angle; this application does not impose any restrictions on this.

[0036] Specifically, the electronic device can divide the target steering angle by the same reference steering angle to obtain a first ratio for each target steering angle. The first ratio represents the numerical proportional relationship between the target steering angle and the reference steering angle.

[0037] Step S103: Obtain the preset reference steering control parameters.

[0038] Steering control parameters refer to the control parameters required to control the wheels in order to achieve a specific steering angle. Steering control parameters may include one or more of the following: steering acceleration, steering speed, and steering deceleration.

[0039] The reference steering control parameters are preset values ​​for the steering control parameters. These can be user-defined parameters or parameters calculated based on a specific steering angle. For example, based on the aforementioned reference steering angle, the steering control parameters required to bring the wheels to the reference steering angle can be calculated, and these calculated parameters can be used as the reference steering control parameters.

[0040] Step S104: Process the reference steering control parameters using each first ratio to obtain the target steering control parameters for each wheel.

[0041] In embodiments of this application, different wheels may require the same or different target steering angles. To ensure that each wheel reaches the required target steering angle at the same time, the electronic device can use a first ratio calculated for each wheel to proportionally amplify or reduce the same reference steering control parameter to obtain the corresponding wheel's target steering control parameter. The target steering control parameter is the steering control parameter actually used by the wheel. Similarly, the target steering control parameter may include one or more of the wheel's target steering acceleration, target steering speed, and target steering deceleration.

[0042] Specifically, the electronic device can multiply each first ratio by the same reference steering control parameter to obtain the corresponding target steering control parameters for the wheel. For example, for wheel 1, the target steering angle A1 and the reference steering angle A are calculated. base After the first ratio n1 between them, the reference steering acceleration a in the reference steering control parameters can be obtained. base Multiplying this by the first ratio n1 yields the target steering acceleration a1 of wheel 1, and then the reference steering speed v is...base Multiplying this by the first ratio n1 yields the target steering speed v1 of wheel 1. Then, the reference steering deceleration da in the reference steering control parameters is used. base Multiplying this by the first ratio n1, we obtain the target steering deceleration da1 of wheel 1.

[0043] Step S105: Control the corresponding wheel to steer according to the target steering control parameters of each wheel.

[0044] In the embodiments of this application, the steering of each wheel can be controlled by its own steering controller to achieve distributed independent control of the wheels. Thus, different wheels can be steered with different target steering control parameters under the control of different steering controllers.

[0045] Specifically, step S104 may include: sending a corresponding first ratio to the steering controller of each wheel, so that the steering controller processes the reference steering control parameters according to the corresponding first ratio to obtain the corresponding target steering control parameters.

[0046] Accordingly, step S105 may include sending a second synchronization control command to each steering controller. This second synchronization control command can be used to instruct each steering controller to control the corresponding wheel to steer according to the corresponding target steering control parameters at the same time.

[0047] For ease of understanding, Figure 2 A schematic diagram of the steering of wheels 1 and 2 on an automated mobile device is shown, where the areas of S1 and S2 represent the target steering angles of wheels 1 and 2, respectively. v1 and v2 represent the target steering accelerations of wheels 1 and 2, respectively. k1 and k2 represent the target steering velocities of wheels 1 and 2, respectively. 11 and k 12 These represent the target steering decelerations for wheel 1 and wheel 2, respectively. As shown in the diagram, the target steering angles for wheel 1 and wheel 2 are different. For wheel 1, 0 to t1 represents the time for acceleration based on the target steering acceleration v2, t1 to t2 represents the time for constant speed steering based on the target steering velocity v1, and t2 to t3 represents the time for steering based on the target steering deceleration k. 11 The duration of constant speed turning.

[0048] Then the target steering angle of wheel 1

[0049] Similarly, the target steering angle of wheel 2

[0050] In order for wheel 1 and wheel 2 to reach their respective target steering angles at the same time t3, the target steering angles, target steering accelerations, target steering decelerations, and target steering accelerations of wheel 1 and wheel 2 must satisfy the following:

[0051]

[0052] Based on the above principle, taking a self-moving device with four wheels as an example, the required target steering angles for wheels 1 to 4 are A1, A2, A3, and A4, respectively. The smallest or largest target steering angle among the four wheels is taken as the reference steering angle A. base We can find the values ​​of A1, A2, A3, and A4 in relation to A. base The first ratios are n1, n2, n3, and n4.

[0053] Accordingly, the first ratio n1 can be sent to the steering controller of wheel 1, the first ratio n2 can be sent to the steering controller of wheel 2, the first ratio n3 can be sent to the steering controller of wheel 3, and the first ratio n4 can be sent to the steering controller of wheel 4.

[0054] Let the reference steering acceleration be a base Reference steering speed v base Reference steering deceleration da base Based on the first ratio it receives, the steering controller can calculate the relationship shown in the table below:

[0055] Wheel 1 <![CDATA[a base ×n1]]> <![CDATA[v base ×n1]]> <![CDATA[da base ×n1]]> Wheel 2 <![CDATA[a base ×n2]]> <![CDATA[v base ×n2]]> <![CDATA[da base ×n2]]> Wheel 3 <![CDATA[a base ×n3]]> <![CDATA[v base ×n3]]> <![CDATA[da base ×n3]]> Wheel 4 <![CDATA[a base ×n4]]> <![CDATA[v base ×n4]]> <![CDATA[da base ×n4]]>

[0056] At this point, the electronic device can issue a second synchronous control command to the steering controllers of the four wheels, so that the four steering controllers can start simultaneously after receiving the second synchronous control command and control the wheels under their control to steer according to the target steering control parameters calculated by themselves.

[0057] In the embodiments of this application, by obtaining the target steering angle required for each wheel when the self-moving device turns, a first ratio between each target steering angle and the same reference steering angle is calculated; then, a preset reference steering control parameter is obtained, and the reference steering control parameter is processed using each first ratio to obtain the target steering control parameter for each wheel. This allows the target steering control parameter used by each wheel to be obtained by proportionally adjusting the same reference steering control parameter. Consequently, when the corresponding wheel is controlled to turn according to the target steering control parameter of each wheel, each wheel can reach its required target steering angle at the same time, improving the synchronization of steering between different wheels.

[0058] Furthermore, since each wheel reaches its target steering angle at the same time, there will be no situation where the wheel that reaches the target steering angle first waits for the wheel that reaches the target steering angle later. Therefore, there will be no situation where the wheel that reaches the target steering angle later drags the wheel that reaches the target steering angle first. This can improve steering efficiency to a certain extent and reduce steering load and wheel wear.

[0059] Considering that after the wheels complete steering, the self-moving device needs to perform arc or straight-line movement, in some implementations, such as Figure 3 As shown, after controlling the corresponding wheel to steer according to the target steering control parameters of each wheel, the above wheel control method may further include the following steps S301 to S305.

[0060] Step S301: Obtain the target travel speed required for each wheel.

[0061] The target speed refers to the speed that each wheel needs to reach after turning. Each wheel can have its own target speed, and the target speeds of different wheels can be the same or different.

[0062] Specifically, in some implementations, the electronic device can calculate the target speed based on the need for turning, or it can use the default speed as the target speed; this application does not limit this.

[0063] Step S302: Calculate the second ratio between each target travel speed and the same baseline travel speed.

[0064] The reference speed is the speed used to compare with the target speed. In the embodiments of this application, the reference speed can be the maximum, minimum, or average value of the target speeds required for each wheel, or it can be a user-preset speed; this application does not limit this.

[0065] Specifically, the electronic device can divide the target speed by the same reference speed to obtain a second ratio for each target speed. The second ratio represents the numerical proportional relationship between the target speed and the reference speed.

[0066] Step S303: Obtain the preset reference speed control parameters.

[0067] Speed ​​control parameters refer to the control parameters required to control the wheels in order to achieve a specific speed. These parameters can be the wheel's acceleration, which can be either positive or negative (i.e., deceleration).

[0068] The reference speed control parameter is a preset value for the speed control parameter. It can be a control parameter pre-set by the user, or a speed control parameter calculated based on a specific travel speed. For example, based on the aforementioned reference travel speed, the speed control parameters required for the wheels to reach the reference travel speed from 0 can be calculated, and the calculated speed control parameters can be used as the reference speed control parameters.

[0069] Step S304: Process the reference speed control parameters using each second ratio to obtain the target speed control parameters for each wheel.

[0070] In embodiments of this application, different wheels may require the same or different target speeds. To ensure that each wheel reaches its target speed at the same time, the electronic device can use a second ratio calculated for each wheel to proportionally amplify or reduce the same reference speed control parameter to obtain the corresponding target speed control parameter for that wheel. The target speed control parameter is the actual speed control parameter used by the wheel. Similarly, the target speed control parameter can be the target acceleration of the wheel.

[0071] Specifically, the electronic device can multiply each second ratio by the same reference speed control parameter to obtain the corresponding target speed control parameter for the wheel. For example, for wheel 1, the target speed sp1 and the reference speed sp are calculated. base After the second ratio m1, the reference travel acceleration ra in the reference velocity parameters can be obtained. base Multiplying the second ratio n1 by the second ratio gives the target acceleration ra1 of wheel 1.

[0072] Step S305: Control the movement of the corresponding wheel according to the target speed control parameters of each wheel.

[0073] In the embodiments of this application, the movement of each wheel can be controlled by its own speed controller to achieve distributed independent control of the wheels. Thus, different wheels can move with different target speed control parameters under the control of different speed controllers.

[0074] It should be understood that the speed controller and steering controller mentioned above can be the same controller or different controllers, and this application does not limit this.

[0075] Specifically, step S304 may include: sending a corresponding second ratio to the speed controller of each wheel, so that the speed controller processes the reference speed control parameters according to the corresponding second ratio to obtain the corresponding target speed control parameters.

[0076] Accordingly, step S105 may include sending a first synchronization control command to each speed controller. This first synchronization control command can be used to instruct each speed controller to control the corresponding wheel to travel according to the corresponding target speed control parameters at the same time.

[0077] For example, taking a self-moving device configured with four wheels, the target travel speeds required for wheels 1 to 4 are sp1, sp2, sp3, and sp4, respectively. The minimum or maximum target travel speed among the four wheels is used as the base travel speed Sp. base We can calculate sp1, sp2, sp3, and sp4 respectively with respect to sp base The second ratios are m1, m2, m3, and m4.

[0078] Correspondingly, the second ratio m1 can be sent to the speed controller of wheel 1, the second ratio m2 can be sent to the speed controller of wheel 2, the second ratio m3 can be sent to the speed controller of wheel 3, and the second ratio m4 can be sent to the speed controller of wheel 4.

[0079] Let the reference acceleration be ra. base Based on the second ratio value it receives, the speed controller can calculate the relationship shown in the table below:

[0080] Wheel 1 <![CDATA[ra base ×m1]]> Wheel 2 <![CDATA[ra base ×m2]]> Wheel 3 <![CDATA[ra base ×m3]]> Wheel 4 <![CDATA[ra base ×m4]]>

[0081] At this time, the electronic device can issue a first synchronization control command to the speed controllers of the four wheels, so that the four speed controllers can start simultaneously after receiving the first synchronization control command and control the corresponding wheels to move according to the target speed control parameters calculated by themselves.

[0082] In the embodiments of this application, the reference speed control parameters are processed using each second ratio to obtain the target speed control parameters for each wheel. This allows the target speed control parameters used by each wheel to be obtained by proportionally adjusting the same reference speed control parameters. As a result, each wheel can reach its required target speed at the same time, improving the synchronization between different wheels and making the movement of the self-moving device smoother.

[0083] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders.

[0084] like Figure 4The diagram shown is a schematic diagram of a wheel control device 400 provided in an embodiment of this application. The wheel control device 400 is disposed on an electronic device.

[0085] Specifically, the wheel control device 400 may include:

[0086] Steering angle acquisition unit 401 is used to acquire the target steering angle required for each wheel when the self-moving device is steering, wherein the self-moving device is configured with multiple wheels;

[0087] The ratio calculation unit 402 is used to calculate a first ratio between each of the target steering angles and the same reference steering angle;

[0088] The control parameter acquisition unit 403 is used to acquire preset reference steering control parameters;

[0089] The control parameter processing unit 404 is used to process the reference steering control parameters using each of the first ratios to obtain the target steering control parameters for each wheel.

[0090] The steering control unit 405 is used to control the corresponding wheel to steer according to the target steering control parameters of each wheel.

[0091] In some embodiments of this application, the wheel control device 400 further includes a speed control unit, configured to: acquire a target travel speed required for each wheel; calculate a second ratio between each target travel speed and a common reference travel speed; acquire a preset reference speed control parameter; process the reference speed control parameter using each of the second ratios to obtain a target speed control parameter for each wheel; and control the corresponding wheel to travel according to the target speed control parameter for each wheel.

[0092] In some embodiments of this application, the speed control unit described above may be specifically used to: send a corresponding second ratio to the speed controller of each wheel, so that the speed controller processes the reference speed control parameter according to the corresponding second ratio to obtain the corresponding target speed control parameter; and send a first synchronization control command to each speed controller, wherein the first synchronization control command is used to instruct each speed controller to control the corresponding wheel to move according to the corresponding target speed control parameter at the same time.

[0093] In some embodiments of this application, the target speed control parameters may include the target travel acceleration of the wheel.

[0094] In some embodiments of this application, the control parameter processing unit 404 may be specifically used to: send the corresponding first ratio to the steering controller of each wheel, so that the steering controller processes the reference steering control parameters according to the corresponding first ratio to obtain the corresponding target steering control parameters; the steering control unit 405 may be specifically used to: send a second synchronization control command to each steering controller, the second synchronization control command being used to instruct each steering controller to control the corresponding wheel to steer according to the corresponding target steering control parameters at the same time.

[0095] In some embodiments of this application, the aforementioned reference steering angle may be the maximum, minimum, or average value of the steering angles required for each of the wheels.

[0096] In some embodiments of this application, the target steering control parameters may include one or more of the target steering acceleration, target steering speed, and target steering deceleration of the wheel.

[0097] It should be noted that, for the sake of convenience and brevity, the specific working process of the wheel control device 400 described above can be found in the following reference: Figures 1 to 3 The corresponding process of the method will not be described in detail here.

[0098] like Figure 5 The diagram shown is a schematic representation of an electronic device provided in an embodiment of this application. Specifically, the electronic device 5 may include: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50, such as a wheel control program. When the processor 50 executes the computer program 52, it implements the steps in the aforementioned wheel control method embodiments, for example... Figure 1 The steps S101 to S105 are shown. Alternatively, when the processor 50 executes the computer program 52, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 4 The functions of the steering angle acquisition unit 401, ratio calculation unit 402, control parameter acquisition unit 403, control parameter processing unit 404, and steering control unit 405 are shown.

[0099] The computer program can be divided into one or more modules / units, which are stored in the memory 51 and executed by the processor 50 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the electronic device.

[0100] For example, the computer program can be divided into: a steering angle acquisition unit, a ratio calculation unit, a control parameter acquisition unit, a control parameter processing unit, and a steering control unit. The specific functions of each unit are as follows: the steering angle acquisition unit is used to acquire the target steering angle required for each wheel when the self-moving device is turning, wherein the self-moving device is configured with multiple wheels; the ratio calculation unit is used to calculate a first ratio between each target steering angle and the same reference steering angle; the control parameter acquisition unit is used to acquire preset reference steering control parameters; the control parameter processing unit is used to process the reference steering control parameters using each of the first ratios to obtain the target steering control parameters for each wheel; and the steering control unit is used to control the corresponding wheel to turn according to the target steering control parameters for each wheel.

[0101] The electronic device may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will understand that... Figure 5 This is merely an example of an electronic device and does not constitute a limitation on the electronic device. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, the electronic device may also include input / output devices, network access devices, buses, etc.

[0102] The processor 50 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0103] The memory 51 can be an internal storage unit of the electronic device, such as a hard drive or memory. The memory 51 can also be an external storage device of the electronic device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 51 can include both internal and external storage units. The memory 51 is used to store the computer program and other programs and data required by the electronic device. The memory 51 can also be used to temporarily store data that has been output or will be output.

[0104] It should be noted that, for the sake of convenience and brevity, the structure of the above-mentioned electronic device can also be referred to the specific description of the structure in the method embodiment, which will not be repeated here.

[0105] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0106] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0107] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for various specific applications, but such implementations should not be considered beyond the scope of this application.

[0108] In the embodiments provided in this application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0109] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0110] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0111] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0112] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for controlling a wheel, characterized in that, include: The target steering angle required for each wheel when the self-moving device is steered is obtained, the self-moving device being configured with multiple wheels; Calculate a first ratio between each of the target steering angles and the same reference steering angle, where the reference steering angle is the steering angle used to compare with the target steering angles; Obtain preset reference steering control parameters, which are the steering control parameters required to make the wheels reach the reference steering angle; The reference steering control parameters are processed using each of the first ratios to obtain the target steering control parameters for each wheel. The target steering control parameters are the steering control parameters required for the wheel to reach the target steering angle. For each wheel, the target steering control parameters are obtained by proportionally amplifying or reducing the reference steering control parameters using the first ratio corresponding to that wheel. The corresponding wheel is controlled to steer according to the target steering control parameters for each wheel.

2. The wheel control method as described in claim 1, characterized in that, After controlling the corresponding wheel to steer according to the target steering control parameters of each wheel, the wheel control method further includes: Obtain the target travel speed required for each of the wheels; Calculate a second ratio between each of the target travel speeds and the same reference travel speed, where the reference travel speed is the travel speed used for comparison with the target travel speeds; Obtain preset reference speed control parameters, which are the control parameters required to control the wheels when the wheels reach the reference travel speed; The reference speed control parameters are processed using each of the second ratios to obtain the target speed control parameters for each wheel. The target speed control parameters are the control parameters required to control the wheel when it reaches the target travel speed. The movement of the corresponding wheel is controlled according to the target speed control parameters of each wheel.

3. The wheel control method as described in claim 2, characterized in that, The step of processing the reference speed control parameters using each of the second ratios to obtain the target speed control parameters for each wheel includes: The corresponding second ratio is sent to the speed controller of each wheel, so that the speed controller processes the reference speed control parameters according to the corresponding second ratio to obtain the corresponding target speed control parameters; The step of controlling the movement of the corresponding wheel according to the target speed control parameters of each wheel includes: A first synchronization control command is sent to each of the speed controllers, the first synchronization control command being used to instruct each of the speed controllers to control the corresponding wheel to move according to the corresponding target speed control parameters at the same time.

4. The wheel control method as described in claim 2, characterized in that, The target speed control parameters include the target acceleration of the wheels.

5. The wheel control method according to any one of claims 1 to 4, characterized in that, The step of processing the reference steering control parameters using each of the first ratios to obtain the target steering control parameters for each wheel includes: The first ratio is sent to the steering controller of each wheel so that the steering controller processes the reference steering control parameters according to the first ratio to obtain the target steering control parameters. The step of controlling the steering of the corresponding wheel according to the target steering control parameters of each wheel includes: A second synchronization control command is sent to each of the steering controllers, the second synchronization control command being used to instruct each of the steering controllers to control the corresponding wheel to steer according to the corresponding target steering control parameters at the same time.

6. The wheel control method according to any one of claims 1 to 4, characterized in that, The reference steering angle is the maximum, minimum, or average of the steering angles required for each wheel.

7. The wheel control method according to any one of claims 1 to 4, characterized in that, The target steering control parameters include one or more of the target steering acceleration, target steering speed, and target steering deceleration of the wheels.

8. A wheel control device, characterized in that, include: A steering angle acquisition unit is used to acquire the target steering angle required for each wheel when the self-moving device is steering, wherein the self-moving device is configured with multiple wheels; A ratio calculation unit is used to calculate a first ratio between each of the target steering angles and the same reference steering angle, wherein the reference steering angle is a steering angle used to compare with the target steering angles; A control parameter acquisition unit is used to acquire preset reference steering control parameters, wherein the reference steering control parameters are the steering control parameters required to make the wheels reach the reference steering angle. The control parameter processing unit is used to process the reference steering control parameter using each of the first ratios to obtain the target steering control parameter for each wheel. The target steering control parameter is the steering control parameter required for the wheel to reach the target steering angle. For each wheel, the target steering control parameter is obtained by proportionally amplifying or reducing the reference steering control parameter using the first ratio corresponding to that wheel. The steering control unit is used to control the corresponding wheel to steer according to the target steering control parameters of each wheel.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the wheel control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the wheel control method as described in any one of claims 1 to 7.

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