Driving method and device and robot applying same

Abstract

The invention provides a driving method and device and a robot applying the same, the method is applied to power-assisted wheels of the robot, the driving methods applied to the power-assisted wheels are mutually independent, the rotation speed of the power-assisted wheels is obtained by responding to a movement instruction of the robot so as to determine the acceleration of the power-assisted wheels, and the power-assisted direction is determined through the acceleration. And the driving current is determined based on the rotating speed, the acceleration and the power assisting direction, so that the driving current is applied to the power assisting wheel to drive the power assisting wheel. According to the scheme provided by the invention, independent driving control is provided for each power-assisted wheel in the robot, so that each wheel can be independently adjusted according to the current demand, the flexibility and the stability of the robot are remarkably improved, better adaptability can be provided under various complex terrains and environments, and the service life of the robot is prolonged. Therefore, the robot can quickly adapt to the change of the environment, especially in complex environments such as ramps and uneven grounds, and the robot can more accurately adjust the output of each wheel.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot driving, and in particular relates to a driving method, a device and a robot using the same. Background Art

[0002] In recent years, with the continuous development of robotics technology, robots have been widely used in indoor and outdoor applications, such as power robots, service robots, exploration robots, etc. In the field of autonomous mobile robots, the robot's ability to adapt to complex terrain and changing environments has gradually become one of the key factors in measuring its performance.

[0003] In the prior art, most robots adopt a globally unified driving control strategy, that is, all wheels must execute the same control instructions when driving, or the adjustment between the wheels is only achieved through simple differential control. Although this control method can provide relatively smooth driving on flat ground, it is often difficult to provide sufficient adaptability when facing complex terrain. The robot has poor stability and flexibility, and it is difficult to make precise adjustments according to actual conditions, which can easily cause the robot's movement to be unstable, or even tilt or slip.

[0004] Therefore, current research is gradually exploring how to improve the adaptability of robots by introducing independent drive control and intelligent algorithms. Strategies based on multi-wheel drive and distributed control have gradually become a hot topic of research. By allowing each wheel to be independently controlled, the robot can provide more precise motion control on complex terrain and irregular ground, avoiding the limitations of a single drive strategy. However, independent control of each wheel will increase the complexity of the mechanical structure, leading to an increase in cost and energy consumption, and the amount of calculation required to control the movement of the robot will also increase significantly, which can easily cause the robot to have problems such as slow response speed and high latency. Summary of the invention

[0005] In order to overcome the defects of the above-mentioned prior art, the present invention proposes a driving method, which is applied to the power-assisting wheels of the robot, and the driving methods applied to each of the power-assisting wheels are independent of each other. The method comprises:

[0006] In response to a movement instruction of the robot, acquiring a rotation speed of a power-assisting wheel to determine an acceleration of the power-assisting wheel;

[0007] determining a power-assisting direction by the acceleration, so as to determine a driving current based on the rotation speed, the acceleration and the power-assisting direction;

[0008] The driving current is applied to the power-boosting wheel to drive the power-boosting wheel.

[0009] Specifically, the “obtaining the rotation speed of the power-assisted wheel to determine the acceleration of the power-assisted wheel” includes:

[0010] The motor encoder corresponding to the power-assisted wheel is sampled at least twice to determine the rotational speed of the power-assisted wheel based on the change of the motor encoder at different sampling times and the time intervals of different sampling times, and to determine the acceleration of the power-assisted wheel based on the rotational speed and the time intervals of different sampling times.

[0011] Preferably, the method further comprises:

[0012] A low-pass filter is applied to the acquired rotation speed to determine the filtered rotation speed, so as to determine the acceleration of the power-assisted wheel based on the filtered rotation speed. The formula for calculating the filtered rotation speed is:

[0013] v filtered =α·v wheel +(1-α)·v filtered,prev

[0014] Among them, α represents the filter coefficient, v filtered represents the speed after the current sampling and the low-pass filtering, v filtered,prev Represents the rotation speed after the previous sampling and application of the low-pass filtering; the value of α is between 0 and 1.

[0015] Furthermore, the “determining the power-assisting direction by the acceleration of the power-assisting wheel” includes:

[0016] It is determined whether the acceleration satisfies a preset condition of a preset acceleration threshold value, so as to determine the power assist direction based on a direction corresponding to the acceleration threshold value that satisfies the condition.

[0017] Specifically, the “determining the power-assisting direction by the acceleration of the power-assisting wheel” includes:

[0018] It is determined whether the acceleration satisfies a preset condition of a preset acceleration threshold value, so as to determine the power assist direction based on a direction corresponding to the acceleration threshold value that satisfies the condition.

[0019] Preferably, the robot comprises at least two power-assisted wheels, and the preset acceleration threshold comprises a first acceleration threshold corresponding to a first direction, and a second acceleration threshold corresponding to a second direction opposite to the first direction.

[0020] Specifically, the formula for determining the driving current based on the rotation speed, the acceleration and the assist direction includes:

[0021] I target =d assist ·K t ·(I base +K v ·v filtered +K a ·awheel )

[0022] Among them, I target represents the driving current, I base Represents the base current, K t is the direction assistance parameter, K v Represents the speed boost parameter, K a Represents the acceleration assist parameter.

[0023] Preferably, the method further comprises:

[0024] If the determined driving current is greater than the maximum preset current, the driving current applied to the power-assisted wheel is set to the maximum preset current.

[0025] The present invention further proposes a driving device, which is applied to the power-assisting wheels of the robot, and the driving device drives the power-assisting wheels independently of each other. The method comprises:

[0026] An acquisition module, configured to acquire the rotation speed of the power-assisting wheel in response to the movement instruction of the robot to determine the acceleration of the power-assisting wheel;

[0027] a determination module, configured to determine a power-assisting direction through the acceleration, so as to determine a driving current based on the rotation speed, the acceleration and the power-assisting direction;

[0028] The application module is used to apply the driving current to the power-assisted wheel to drive the power-assisted wheel.

[0029] The present invention also proposes a robot, wherein the robot applies the driving method described above.

[0030] The present invention further proposes a computer-readable storage medium, wherein the computer-readable storage medium stores executable instructions for implementing the driving method as described above when executed by a processor.

[0031] The present invention has at least the following beneficial effects:

[0032] The solution proposed by the present invention enables the power-assisted wheels to independently adjust their rotation speed, acceleration and driving current according to their motion demand factors in a simple manner, thereby adjusting the driving conditions of each power-assisted wheel in real time and accurately, better controlling the stability of the robot's motion to cope with different environments, and effectively avoiding severe vibrations or abrupt accelerations, thereby achieving more accurate and flexible motion control, optimizing motion performance, improving the reliability of the robot and saving energy consumption;

[0033] Furthermore, the solution proposed in the present invention can reduce the error of a single sampling through the differential method of multiple sampling, improve the accuracy of speed and acceleration calculation, and can more accurately capture the change of wheel speed under dynamic changes, provide more detailed dynamic feedback, help adjust the driving strategy in real time, and use low-pass filtering to effectively remove high-frequency noise and smooth the speed signal, thereby providing a more stable input signal and improving the stability and accuracy of acceleration calculation;

[0034] Moreover, this solution uses acceleration as the basis for judgment, and can more accurately judge the actual movement state of the power-assisted wheel, and determine the power-assisted direction based on this. Setting two acceleration thresholds in opposite directions respectively helps to judge the driving direction of the power-assisted wheel according to different acceleration conditions, and helps different power-assisted wheels to work together to achieve turning and other actions. Combining multiple factors to determine the driving current helps to more accurately adjust the current output and avoid over-driving or energy waste. By setting an upper limit on the driving current, it can effectively prevent the motor or battery from being damaged due to excessive load, and ensure that the robot's movement speed will not be too fast, thereby ensuring the stable operation of the robot's system and the safety of the user, helping to protect the robot's hardware equipment and extend its service life.

[0035] Therefore, the present invention provides a driving method, a device and a robot using the same. The solution proposed by the present invention provides independent driving control for each power-assisted wheel in the robot, so that each wheel can be independently adjusted according to its current needs, significantly improving the flexibility and stability of the robot, and being able to provide better adaptability in a variety of complex terrains and environments, so that the robot can quickly adapt to changes in the environment, especially in complex environments such as ramps and uneven ground, enabling the robot to more accurately adjust the output of each wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0037] Figure 1 A schematic diagram of a method flow of a driving method provided in Example 1;

[0038] Figure 2 A schematic diagram of the module structure of the driving device provided in Example 2;

[0039] Figure 3 To obtain the structural diagram of the module;

[0040] Figure 4To determine the structural diagram of the module;

[0041] Figure 5 A schematic diagram of the structure of the application module.

[0042] Reference numerals

[0043] 10 - acquisition module; 11 - sampling unit; 12 - first calculation unit; 13 - filtering unit; 20 - determination module; 21 - judgment unit; 22 - direction unit; 30 - application module; 31 - second calculation unit; 32 - restriction unit. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Hereinafter, various embodiments of the present invention will be described more fully. The present invention may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present invention to the specific embodiments disclosed herein, but the present invention should be understood to cover all adjustments, equivalents and / or alternatives falling within the spirit and scope of the various embodiments of the present invention.

[0046] Hereinafter, the term "include" or "may include" used in various embodiments of the present invention indicates the presence of disclosed functions, operations or elements, and does not limit the addition of one or more functions, operations or elements. In addition, as used in various embodiments of the present invention, the terms "include", "have" and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the presence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0047] In various embodiments of the present invention, the expression "or" or "at least one of A or / and B" includes any combination or all combinations of the words listed at the same time. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0048] The expressions (such as "first", "second", etc.) used in various embodiments of the present invention may modify the various constituent elements in various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used for the purpose of distinguishing an element from other elements. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, without departing from the scope of various embodiments of the present invention, the first element may be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0049] It should be noted that in the present invention, unless otherwise clearly specified and defined, the terms such as "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In the present invention, those skilled in the art need to understand that the terms indicating orientation or positional relationship herein are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0051] The terms used in various embodiments of the present invention are only used for the purpose of describing specific embodiments and are not intended to limit various embodiments of the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise limited, all terms used here (including technical terms and scientific terms) have the same meaning as the meaning generally understood by those of ordinary skill in the art to which the various embodiments of the present invention belong. The terms (such as the terms defined in the dictionary generally used) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in various embodiments of the present invention.

[0052] Example 1

[0053] This embodiment proposes a driving method, which is applied to the power-assisted wheels of the robot, and the driving methods applied to each power-assisted wheel are independent of each other, and can be compatible with both the brushless reduction motor with encoder and the brush reduction motor. Please refer to Figure 1 , the method comprising:

[0054] S100: In response to a movement instruction of the robot, the rotation speed of the power-assisting wheel is acquired to determine the acceleration of the power-assisting wheel.

[0055] Specifically, in step S100, the motor encoder corresponding to the power-assisted wheel is sampled at least twice, and the rotation speed of the power-assisted wheel is determined based on the sampling result and the sampling time; illustratively, in step S100, the motor encoder corresponding to the power-assisted wheel is sampled twice to determine the rotation speed. The formula is:

[0056]

[0057] Among them, v wheel represents the rotation speed of the power-assisted wheel, Δs represents the change of the motor encoder between two samples, and Δt represents the interval between two samples; the formula for determining the acceleration of the power-assisted wheel is:

[0058]

[0059] Among them, a wheel Represents the speed of the power-assisted wheel.

[0060] Preferably, the method proposed in this embodiment also applies low-pass filtering to the speed data to reduce the impact of noise. The formula for calculating the speed after filtering is:

[0061] v filtered =α·v wheel +(1-α)·v filtered,prev

[0062] Among them, α represents the filter coefficient, v filtered Represents the speed after current sampling and low-pass filtering, v filtered,prev represents the speed after the previous sampling and low-pass filtering; the value of α is between 0 and 1, and the formula for determining the acceleration of the power-assisted wheel is:

[0063]

[0064] Therefore, the method proposed in this embodiment obtains the filtered data at the current moment by combining the original data at the current moment and the filtering result at the previous moment, which can smooth the data, reduce instantaneous fluctuations caused by noise or sensor errors, and provide a more stable signal. It can effectively remove sudden fluctuations in the short term and ensure the stability and accuracy of the power assistance.

[0065] S200: Determine the power-assisting direction through the acceleration of the power-assisting wheel, so as to determine the driving current based on the rotation speed, acceleration and power-assisting direction.

[0066] In this embodiment, the “determining the power-assisting direction based on the acceleration of the power-assisting wheel” in step S200 is determined based on the acceleration and a preset acceleration threshold value, and the preset acceleration threshold value may include acceleration threshold values ​​in multiple different directions, so that the method proposed in this embodiment can respectively determine whether the acceleration meets the preset conditions of multiple preset acceleration threshold values, thereby determining the power-assisting direction based on the direction corresponding to the acceleration threshold value that meets the conditions, so as to achieve the purpose of accurately determining the power-assisting direction that best suits the current movement trend of the user;

[0067] Preferably, the method proposed in this embodiment is provided with a first acceleration threshold corresponding to a first direction and a second acceleration threshold corresponding to a second direction opposite to the first direction; in a specific embodiment, the preset acceleration thresholds include a first acceleration threshold corresponding to the forward direction forward and the second acceleration threshold a corresponding to the backward direction backward ;

[0068] For example, the initial power assist direction in the method proposed in this embodiment is forward power assist, that is, d assist =1; if the acceleration of the power-assisted wheel is a wheel Greater than the first acceleration threshold a forward , then determine the acceleration a wheel Satisfy the first acceleration threshold a forward If the power assist direction determined in step S200 is still forward power assist, then d assist =1;

[0069] If the acceleration of the power-assisted wheel is a wheel Less than the second acceleration threshold a backward , then determine the acceleration a wheel Satisfy the second acceleration threshold a backward The preset condition is that the power assist direction determined in step S200 is changed to backward power assist, then d assikst =-1.

[0070] It should be noted that the method proposed in this embodiment is only applied to the power assistance and driving of a single power-assisting wheel. If the robot includes multiple power-assisting wheels, the method proposed in this embodiment can be applied to each power-assisting wheel independently, so that each power-assisting wheel can judge the movement intention of the robot based on the method proposed in this embodiment, thereby realizing the most appropriate power-assisting mode on each power-assisting wheel, and then completing the power assistance for the entire robot.

[0071] For example, when the robot includes two power-assisting wheels, the two power-assisting wheels only need to process their respective power-assisting logics to realize the overall power-assisting of the robot, which simplifies the algorithm design;

[0072] In the forward turning situation, one of the driving wheels can handle the forward power-assist logic, and the other driving wheel can handle the backward power-assist logic, so that the robot can eventually achieve the turning effect; or one of the driving wheels can handle the forward power-assist logic, and the other driving wheel can also handle the forward power-assist logic with a slower forward speed, so that the robot can also eventually achieve the turning effect.

[0073] Specifically, the formula for determining the driving current is:

[0074] I target =d assist ·K t ·(I base +K v ·v filtered +K a ·a wheel )

[0075] Among them, I target Represents the drive current, I base Represents the base current, K t is the direction assistance parameter, K v Represents the speed boost parameter, K a Represents acceleration assistance parameter; basic current I base is a preset constant.

[0076] S300: Applying a driving current to the power-assisted wheel to drive the power-assisted wheel.

[0077] In this embodiment, step S300 applies the driving current to the motor driving the power-assisted wheel to achieve driving of the power-assisted wheel; preferably, the method proposed in this embodiment also includes:

[0078] If the driving current I target Greater than the maximum preset current I max , then the driving current I applied to the power-assisted wheel output Set to the maximum preset current I max ; If the driving current I is determined target Not greater than the maximum preset current I max , then the driving current I applied to the power-assisted wheel output Set to a certain drive current I target ,Right now:

[0079] I output =min(I target , I max )

[0080] Example 2

[0081] This embodiment proposes a driving device for implementing the power-assisted wheel driving method proposed in Embodiment 1. The driving device drives each power-assisted wheel independently. Figure 2-Figure 5 , the device comprises:

[0082] An acquisition module 10 is used to acquire the rotation speed of the power-assisting wheel in response to the movement instruction of the robot to determine the acceleration of the power-assisting wheel;

[0083] A determination module 20, configured to determine a power-assistance direction through acceleration, so as to determine a driving current based on a rotation speed, acceleration and power-assistance direction;

[0084] The application module 30 is used to apply the driving current to the power-assisted wheel to drive the power-assisted wheel.

[0085] Specifically, the acquisition module 10 includes a sampling unit 11 and a first calculation unit 12. The sampling unit 11 samples the motor encoder corresponding to the power-assisted wheel at least twice, and determines the rotation speed of the power-assisted wheel based on the sampling result and the sampling time; illustratively, the sampling unit 11 samples the motor encoder corresponding to the power-assisted wheel twice, so that the formula for determining the rotation speed by the first calculation unit 12 is:

[0086]

[0087] Among them, v wheel represents the rotation speed of the power-assisted wheel, Δs represents the change of the motor encoder between two samples, and Δt represents the interval between two samples; the formula for determining the acceleration of the power-assisted wheel is:

[0088]

[0089] Among them, a wheel Represents the speed of the power-assisted wheel.

[0090] Preferably, the acquisition module 10 further includes a filtering unit 13, which also applies a low-pass filter to the speed data to reduce the impact of noise. The formula for the first calculation unit 12 to calculate the speed after filtering by the filtering unit 13 is:

[0091] v filmntered =α·v wheel +(1-α)·c filtered,prev

[0092] Among them, α represents the filter coefficient, v filtered Represents the speed after current sampling and low-pass filtering, v filtered,prev represents the speed after the previous sampling and low-pass filtering; the value of α is between 0 and 1, and the formula for determining the acceleration of the power-assisted wheel by the first calculation unit 12 is:

[0093]

[0094] In this embodiment, the determination module 20 determines the power-assistance direction based on the acceleration and the preset acceleration threshold value. The preset acceleration threshold value may include acceleration threshold values ​​in multiple different directions, so that the device proposed in this embodiment can respectively determine whether the acceleration satisfies the preset conditions of multiple preset acceleration threshold values, thereby determining the power-assistance direction based on the direction corresponding to the acceleration threshold value that satisfies the conditions, so as to achieve the purpose of accurately determining the power-assistance direction that best suits the current movement trend of the user;

[0095] Specifically, the determination module 20 includes:

[0096] A judging unit 21, used to judge whether the acceleration satisfies a preset condition of a preset acceleration threshold;

[0097] The direction unit 22 is used to determine the power assist direction based on the direction corresponding to the acceleration threshold that meets the conditions.

[0098] Preferably, the device proposed in this embodiment is provided with a first acceleration threshold corresponding to a first direction and a second acceleration threshold corresponding to a second direction opposite to the first direction; in a specific embodiment, the preset acceleration thresholds include a first acceleration threshold α corresponding to the forward direction forward and the second acceleration threshold a corresponding to the backward direction backward ;

[0099] For example, the initial power assist direction in the device proposed in this embodiment is forward power assist, that is, d assist =1; if the acceleration of the power-assisted wheel is a wheel Greater than the first acceleration threshold a forward , then determine the acceleration a wheel Satisfy the first acceleration threshold a forward If the power assist direction determined in step S200 is still forward power assist, then d assist =1;

[0100] If the acceleration of the power-assisted wheel is a wheel Less than the second acceleration threshold a backward , then determine the acceleration a wheel Satisfy the second acceleration threshold a backward The preset condition is that the power assist direction determined in step S200 is changed to backward power assist, then d assist =-1.

[0101] It should be noted that the device proposed in this embodiment is only applied to the power assistance and driving of a single power-assisting wheel. If the robot includes multiple power-assisting wheels, the device proposed in this embodiment can be applied to each power-assisting wheel independently, so that each power-assisting wheel can judge the movement intention of the robot based on the device proposed in this embodiment, thereby realizing the most appropriate power-assisting mode on each power-assisting wheel, and then completing the power assistance for the entire robot;

[0102] For example, when the robot includes two power-assisting wheels, the two power-assisting wheels only need to process their respective power-assisting logics to realize the overall power-assisting of the robot, which simplifies the algorithm design;

[0103] In the forward turning situation, one of the driving wheels can handle the forward power-assist logic, and the other driving wheel can handle the backward power-assist logic, so that the robot can eventually achieve the turning effect; or one of the driving wheels can handle the forward power-assist logic, and the other driving wheel can also handle the forward power-assist logic with a slower forward speed, so that the robot can also eventually achieve the turning effect.

[0104] Specifically, the application module 30 includes a second calculation unit 31, and the second calculation unit 31 determines the driving current by the formula:

[0105] I target =d assist ·K t ·(I base +K v ·v filtered +K a ·a wheel )

[0106] Among them, I target Represents the drive current, I base Represents the base current, K t is the direction assistance parameter, K v Represents the speed boost parameter, K a Represents acceleration assistance parameter; basic current I base is a preset constant.

[0107] In this embodiment, the application module 30 applies the driving current to the motor driving the power-assisted wheel to achieve driving of the power-assisted wheel; preferably, the application module 30 also includes:

[0108] The limiting unit 32 is used to determine the driving current I target Greater than the maximum preset current I max When the driving current I applied to the power-assisted wheel is output Set to the maximum preset current I max ; Also used when determining the drive current I targetNot greater than the maximum preset current I max When the driving current I applied to the power-assisted wheel is output Set to determine the drive current I target ,Right now:

[0109] I output =min(I target , I max )

[0110] Example 3

[0111] This embodiment proposes a robot, which applies the driving method proposed in Embodiment 1.

[0112] Optionally, the robot proposed in this embodiment includes a two-wheel differential chassis and a hand-held lever that allows the user to hold. It should be noted that the two-wheel differential chassis consists of two independently driven wheels, which are installed on the left and right sides respectively. By changing the speed difference between the left and right wheels, the chassis can achieve steering and forward and backward control. This design allows the robot to flexibly adjust its direction and is suitable for various autonomous driving and mobile robot systems.

[0113] Example 4

[0114] This embodiment proposes a computer-readable storage medium, which stores executable instructions for implementing the driving method proposed in Embodiment 1 when executed by a processor.

[0115] It should be noted that computer-readable media include permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0116] In summary, the present invention provides a driving method, device and a robot using the same. The solution proposed in the present invention provides independent drive control for each power-assisted wheel in the robot, so that each wheel can be independently adjusted according to its current needs, significantly improving the flexibility and stability of the robot, and being able to provide better adaptability in a variety of complex terrains and environments, so that the robot can quickly adapt to changes in the environment, especially in complex environments such as ramps and uneven ground, enabling the robot to more accurately adjust the output of each wheel.

[0117] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A driving method, characterized in that: The power-assisting wheels are applied to the robot, and the driving methods applied to each of the power-assisting wheels are independent of each other, and the methods include: In response to a movement instruction of the robot, acquiring a rotation speed of a power-assisting wheel to determine an acceleration of the power-assisting wheel; determining a power-assisting direction by the acceleration, so as to determine a driving current based on the rotation speed, the acceleration and the power-assisting direction; The driving current is applied to the power-boosting wheel to drive the power-boosting wheel.

2. The method according to claim 1, characterized in that: The “obtaining the rotation speed of the power-assisted wheel to determine the acceleration of the power-assisted wheel” includes: The motor encoder corresponding to the power-assisted wheel is sampled at least twice to determine the rotational speed of the power-assisted wheel based on the change of the motor encoder at different sampling times and the time intervals of different sampling times, and to determine the acceleration of the power-assisted wheel based on the rotational speed and the time intervals of different sampling times.

3. The method according to claim 2, characterized in that The method further comprises: A low-pass filter is applied to the acquired rotation speed to determine the filtered rotation speed, so as to determine the acceleration of the power-assisted wheel based on the filtered rotation speed. The formula for calculating the filtered rotation speed is: v filtered =α·v wheel +(1-α)·v filtered,prev Among them, α represents the filter coefficient, v filtered Represents the speed after the current sampling and the low-pass filtering, v filtered,prev Represents the rotation speed after the previous sampling and application of the low-pass filtering; the value of α is between 0 and 1.

4. The method according to claim 1 or 2, characterized in that: The “determining the power-assisting direction by the acceleration of the power-assisting wheel” includes: It is determined whether the acceleration satisfies a preset condition of a preset acceleration threshold value, so as to determine the power assist direction based on a direction corresponding to the acceleration threshold value that satisfies the condition.

5. The method according to claim 4, characterized in that The robot includes at least two power-assisted wheels, and the preset acceleration thresholds include a first acceleration threshold corresponding to a first direction and a second acceleration threshold corresponding to a second direction opposite to the first direction.

6. The method according to claim 1, characterized in that Formula for determining the driving current based on the speed, the acceleration and the assist direction include: I target =d assist ·K t ·(I base +K v ·v filtered +K a ·a wheel ) Among them, I target represents the driving current, I base Represents the base current, K t is the direction assistance parameter, K v Represents the speed boost parameter, K a Represents the acceleration assist parameter.

7. The method according to claim 1 or 6, characterized in that: The method further comprises: If the determined driving current is greater than the maximum preset current, the driving current applied to the power-assisted wheel is set to the maximum preset current.

8. A driving device, characterized in that: The method is applied to power-assisting wheels of a robot, and the driving device drives each of the power-assisting wheels independently of each other, and the method comprises: An acquisition module, configured to acquire the rotation speed of the power-assisting wheel in response to the movement instruction of the robot to determine the acceleration of the power-assisting wheel; a determination module, configured to determine a power-assisting direction through the acceleration, so as to determine a driving current based on the rotation speed, the acceleration and the power-assisting direction; The application module is used to apply the driving current to the power-assisted wheel to drive the power-assisted wheel.

9. A robot, characterized in that: The method according to any one of claims 1 to 7 is applied.

10. A computer-readable storage medium, characterized in that: Executable instructions are stored, and when executed by a processor, the instructions are used to implement the method according to any one of claims 1 to 7.

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