Chassis control method and device, electronic equipment and computer readable storage medium

Abstract

The invention relates to a chassis control method and device, electronic equipment and a computer readable storage medium, the method is applied to the electronic equipment, the electronic equipment comprises a two-wheel differential chassis and two motors, the two-wheel differential chassis comprises two driving wheels, and the two motors are in one-to-one correspondence with the two driving wheels; the method comprises the steps of determining kinetic parameters of the electronic equipment, responding to driving operation on the electronic equipment, determining current external force information according to the kinetic parameters, and controlling two motors to work according to the current external force information so as to drive two driving wheels to move. By adopting the method, the two-wheel differential chassis of the electronic equipment can be controlled based on the driving operation, the movement safety of the electronic equipment can be ensured, and the flexible control of the two-wheel differential chassis can be realized.

Description

Technical Field

[0001] The present application relates to the technical field of electronic equipment, and in particular to a chassis control method, device, electronic equipment and computer-readable storage medium. Background Art

[0002] The two-wheel differential chassis can use the speed difference between the two driving wheels to achieve a small radius turn, and has good flexibility. In addition, the two-wheel differential chassis can use the auxiliary wheels to share gravity, so that it has good load capacity and stability. Therefore, the two-wheel differential chassis is often used in electronic devices such as food delivery robots, sweeping robots, storage and handling carts, electric wheelchairs, etc. How to achieve the control of the two-wheel differential chassis is very important. Summary of the invention

[0003] Based on this, it is necessary to provide a chassis control method, device, electronic device and computer-readable storage medium for controlling a two-wheel differential chassis of an electronic device based on a driving operation in order to solve the above technical problems.

[0004] In a first aspect, the present application provides a chassis control method, which is applied to an electronic device, wherein the electronic device includes a two-wheel differential chassis and two motors, wherein the two-wheel differential chassis includes two drive wheels, and the two motors correspond to the two drive wheels one by one, and the method includes:

[0005] determining dynamic parameters of the electronic device;

[0006] In response to a driving operation on the electronic device, determining current external force information according to the dynamic parameters;

[0007] The two motors are controlled to work according to the current external force information to drive the two driving wheels to move.

[0008] In one embodiment, determining the dynamic parameters of the electronic device includes:

[0009] When the current load weight of the electronic device is greater than or equal to a first threshold, using a dynamic parameter identification method to determine the dynamic parameters of the electronic device;

[0010] When the current load weight of the electronic device is less than the first threshold, the dynamic parameter of the electronic device is determined to be a preset dynamic parameter.

[0011] In one embodiment, determining the dynamic parameters of the electronic device includes:

[0012] When the change in the load weight of the electronic device is greater than or equal to a second threshold, a dynamic parameter identification method is used to determine the dynamic parameters of the electronic device.

[0013] In one embodiment, the dynamic parameters of the electronic device include the friction torque of the two driving wheels, the mass of the body and the load of the electronic device, and the rotational inertia of the electronic device;

[0014] The method of using a dynamic parameter identification method to determine the dynamic parameters of the electronic device includes:

[0015] When the two driving wheels are driven by the same torque, measuring the first rotation speed, the friction torque and the first torque of the two driving wheels;

[0016] Determine the mass of the electronic device and the load according to the mass, moment of inertia, radius, first rotation speed, friction torque and first torque of the two driving wheels and the slope of the location where the electronic device is located;

[0017] When the two driving wheels are driven by opposite torques, measuring a second rotation speed and a second torque of the two driving wheels;

[0018] The moment of inertia of the electronic device is determined according to the mass, moment of inertia, radius, second rotation speed, friction torque and second torque of the two driving wheels and the width of the electronic device.

[0019] In one embodiment, determining the current external force information according to the dynamic parameters includes:

[0020] The current external force information is determined according to the dynamic parameters, as well as the current rotational speed, current rotational acceleration and current torque of the two driving wheels.

[0021] In one embodiment, the method further comprises:

[0022] Filtering the current external force information to obtain target external force information;

[0023] The controlling the two motors to work according to the current external force information comprises:

[0024] The two motors are controlled to work according to the target external force information.

[0025] In one embodiment, controlling the two motors to work according to the current external force information to drive the two driving wheels to move includes:

[0026] determining a rotation speed and a rotation acceleration of a first driving wheel according to the current external force information, the first driving wheel being any one of the two driving wheels;

[0027] Determine the torque of the first motor according to the rotation speed and the rotation acceleration of the first driving wheel, the first motor being the motor corresponding to the first driving wheel among the two motors;

[0028] The first motor is controlled to operate according to the torque of the first motor to drive the first driving wheel to move.

[0029] In a second aspect, the present application further provides a chassis control device, which is applied to an electronic device, wherein the electronic device comprises a two-wheel differential chassis and two motors, wherein the two-wheel differential chassis comprises two driving wheels, and the two motors correspond to the two driving wheels one by one, and the device comprises:

[0030] A first determining unit, configured to determine a dynamic parameter of the electronic device;

[0031] a second determining unit, configured to determine current external force information according to the dynamic parameters in response to a driving operation on the electronic device;

[0032] A control unit is used to control the two motors to work according to the current external force information, so as to drive the two driving wheels to move.

[0033] In a third aspect, the present application further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0034] In a fourth aspect, the present application further provides an electronic device, comprising a processor, a two-wheel differential chassis and two motors, wherein the processor is electrically connected to the two motors respectively, the two-wheel differential chassis comprises two driving wheels, and the two motors are electrically connected to the two driving wheels in a one-to-one correspondence;

[0035] The processor is used to determine a dynamic parameter of the electronic device;

[0036] The processor is further configured to determine current external force information according to the dynamic parameters in response to a driving operation on the electronic device;

[0037] The processor is further configured to generate a control instruction according to the current external force information;

[0038] The two motors are used to work according to the control instructions to drive the two driving wheels to move.

[0039] In a fifth aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the steps of the above method when executed by a processor.

[0040] In a sixth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of the above method when executed by a processor.

[0041] In the embodiment of the present application, the electronic device includes a two-wheel differential chassis and two motors, the two-wheel differential chassis includes two driving wheels, and the two motors correspond to the two driving wheels one by one; the dynamic parameters of the electronic device are determined, and in response to the driving operation of the electronic device, the current external force information is determined according to the dynamic parameters, and the two motors are controlled to work according to the current external force information to drive the two driving wheels to move. It can be seen that the electronic device moves based on the driving force. In the case of the driving force on the electronic device, the two-wheel differential chassis can move based on the driving force. In the case of the driving force on the electronic device, the two-wheel differential chassis does not move. It can be seen that the two-wheel differential chassis can be controlled based on the driving operation of the electronic device, and the safety of the movement of the electronic device can be guaranteed. In addition, since the external force information is determined based on the dynamic parameters of the electronic device, the accuracy of the determined dynamic parameters can be guaranteed, and then the two-wheel differential chassis can be accurately controlled based on the determined external force information, and the flexible control of the two-wheel differential chassis can be achieved. Furthermore, since the external force information is determined based on the dynamic parameters of the electronic device, there is no need for a sensor specifically for detecting the external force, which can reduce the number of sensors in the electronic device, thereby reducing the cost and complexity of the electronic device. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions 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 related drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 It is a flow chart of a chassis control method provided in an embodiment of the present application;

[0044] Figure 2 It is a schematic diagram of force analysis of a two-wheel differential chassis disclosed in an embodiment of the present application;

[0045] Figure 3 is a flow chart of another chassis control method provided in an embodiment of the present application;

[0046] Figure 4 It is a schematic diagram of force analysis of the forward direction of an electronic device provided by an embodiment of the present application;

[0047] Figure 5 It is a schematic diagram of a force analysis of a driving wheel provided in an embodiment of the present application;

[0048] Figure 6 This is a schematic diagram of a force analysis of a body of an electronic device provided in an embodiment of the present application;

[0049] Figure 7 It is a schematic top view of a force analysis of a two-wheel differential chassis in a yaw direction provided by an embodiment of the present application;

[0050] Figure 8 is a schematic diagram of the change of the torque and speed of the driving wheel over time during a parameter identification process provided by an embodiment of the present application;

[0051] Fig. 9 is a flow chart of another chassis control method provided in an embodiment of the present application;

[0052] Fig.10 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0053] Fig.11 is a structural schematic diagram of a chassis control device provided in an embodiment of the present application;

[0054] Fig.12 is a schematic diagram of the structure of another electronic device provided in an embodiment of the present application;

[0055] Fig.13 It is a structural schematic diagram of another electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] In order to better understand the embodiments of the present application, the relevant technologies are first introduced below.

[0058] Mobile chassis with drive devices are widely used in composite robots, intelligent handling, intelligent cleaning and other fields. Two-wheel differential chassis are widely used in various mobile chassis due to their good flexibility, load capacity and stability.

[0059] An electronic device provided with a two-wheel differential chassis can respond to a speed command issued by the electronic device and control the two-wheel differential chassis to move according to the speed in the speed command. However, in the case of accidental touch or misoperation by external force, the electronic device cannot adjust the speed command in time according to the real-time situation and control the two-wheel differential chassis, so that the safety of the electronic device is low.

[0060] Figure 1It is a flow chart of a chassis control method provided in an embodiment of the present application. The chassis control method is applied to electronic equipment. The electronic equipment may include a two-wheel differential chassis and two motors, and the two-wheel differential chassis includes two drive wheels. The two motors correspond one-to-one to the two drive wheels, that is, one motor controls the movement of one drive wheel. The driving method of the drive wheel and the motor may be that the drive wheel is driven by a hub motor, or that the drive wheel is driven by a wheel side motor, or that the drive wheel is driven by a motor drive bridge, etc. The motor may be a stepper motor, a servo motor, a three-phase asynchronous motor, etc., which are not specifically limited here. Figure 1 As shown, the chassis control method may include the following steps.

[0061] 101. Determine the dynamic parameters of electronic devices.

[0062] The load of the electronic device is different, that is, the weight of the load is different, and the dynamic parameters of the electronic device may be different. Therefore, in order to smoothly control the movement of the electronic device based on the driving operation, the dynamic parameters of the electronic device can be determined before the electronic device responds to the driving operation to move the electronic device.

[0063] The dynamic parameters of the electronic device may include the friction torque of the two driving wheels, the mass of the electronic device body and the load, and the rotational inertia of the electronic device. The friction torque of the driving wheel is the friction torque of the driving wheel rotating around its own axis. The mass of the electronic device body and the load is the mass of the electronic device body and the current load, that is, the mass of the electronic device body plus the load together.

[0064] The moment of inertia of an electronic device is the moment of inertia of the electronic device rotating around an axis perpendicular to the electronic device, that is, the moment of inertia of the electronic device rotating around an axis perpendicular to the motion plane of the electronic device. The electronic device may include a body of the electronic device and two drive wheels. The electronic device may also include a plurality of auxiliary wheels, for example, two, three, four, five or six. Since the auxiliary wheels are small in size and light in weight, the influence of the auxiliary wheels can be ignored. At this time, the electronic device may include a body of the electronic device and two drive wheels. It can be seen that the moment of inertia of the electronic device can be understood as the moment of inertia of the body of the electronic device and the two drive wheels, or as the moment of inertia of the body of the electronic device, the two drive wheels and all the auxiliary wheels. The auxiliary wheels are wheels other than the drive wheels in the electronic device. The auxiliary wheels may include universal wheels and / or support wheels. Universal wheels are movable casters that can rotate freely in all directions, that is, they can rotate 360°. Support wheels are directional wheels that can only rotate in a fixed direction.

[0065] For example, Figure 2 FIG. 1 is a schematic diagram of a force analysis of a two-wheel differential chassis disclosed in an embodiment of the present application. Figure 2 As shown, is the moment of inertia of the electronic device, that is, the moment of inertia of the electronic device rotating around the Z axis. The driving force for electronic devices. The torque that is the driving force of the electronic device. is the torque of the right driving wheel. is the friction between the right driving wheel and the ground.

[0066] 102. In response to a driving operation on the electronic device, determine current external force information according to dynamic parameters of the electronic device.

[0067] The electronic device moves under the action of the driving force, and the electronic device cannot move without the driving force acting on the electronic device. Therefore, in the process of the driving force acting on the electronic device, the electronic device can detect the driving operation in real time, periodically or regularly, and then can respond to the driving operation and determine the current external force information according to the dynamic parameters of the electronic device. The external force information can include the magnitude of the external force and the magnitude of the torque of the external force.

[0068] The driving operation can be a push or pull force applied by a person or an object on the electronic device. The driving force can be applied directly or indirectly through remote control, remote control or buttons.

[0069] 103. Control the two motors to work according to the current external force information to drive the two driving wheels to move.

[0070] The electronic device can control the two motors to work according to the current external force information to drive the two driving wheels to move.

[0071] The electronic device can determine the torque of the two motors, that is, the torque of the two driving wheels, based on the current external force information, and can control the two motors to work at the determined torque so as to drive the two driving wheels to move.

[0072] exist Figure 1In the chassis control method shown, the electronic device moves based on the driving force. In the presence of the driving force on the electronic device, the two-wheel differential chassis can move based on the driving force. In the absence of the driving force on the electronic device, the two-wheel differential chassis does not move. It can be seen that the two-wheel differential chassis can be controlled based on the driving operation of the electronic device, and the safety of the movement of the electronic device can be guaranteed. In addition, since the external force information is determined based on the dynamic parameters of the electronic device, the accuracy of the determined dynamic parameters can be guaranteed, and then the two-wheel differential chassis can be accurately controlled based on the determined external force information, and the flexible control of the two-wheel differential chassis can be achieved. Furthermore, since the external force information is determined based on the dynamic parameters of the electronic device, there is no need for a sensor specifically detecting the external force, which can reduce the number of sensors in the electronic device, thereby reducing the cost and complexity of the electronic device.

[0073] Figure 3 is a flow chart of another chassis control method provided by an embodiment of the present application. The chassis control method is applied to an electronic device. The electronic device may include a two-wheel differential chassis and two motors, and the two-wheel differential chassis includes two drive wheels. The two motors correspond to the two drive wheels one by one. Figure 3 As shown, the chassis control method may include the following steps.

[0074] 301. Determine whether the current load weight is greater than or equal to a first threshold value. If the current load weight is greater than or equal to the first threshold value, execute step 302 and use a dynamic parameter identification method to determine the dynamic parameters of the electronic device. If the current load weight is less than the first threshold value, execute step 303 and determine that the dynamic parameters of the electronic device are preset dynamic parameters.

[0075] The electronic device has a kinetic parameter identification function. The electronic device may be provided with a physical key or a function key capable of controlling the kinetic parameter identification function. The user may turn on the kinetic parameter identification function through the physical key or the function key, or may turn off the kinetic parameter identification function through the physical key or the function key.

[0076] For example, when the user needs to use the kinetic parameter identification function, the user can turn on the kinetic parameter identification function through this physical button or function button. When the user does not need to use the kinetic parameter identification function, the user can turn off the kinetic parameter identification function through this physical button or function button.

[0077] After the electronic device detects a user's activation operation for activating the dynamic parameter identification function, the electronic device may activate the dynamic parameter identification function in response to the activation operation.

[0078] The electronic device can detect the current load weight. The electronic device can detect the current load weight before the dynamic parameter identification function is turned on, and can also detect the current load weight after the dynamic parameter identification function is turned on. The current load weight is the weight of the current load, that is, the weight of the load currently placed on the electronic device.

[0079] The electronic device may include a weight detection device, and the current load weight may be detected by the weight detection device. The electronic device may also detect the current load weight by other means.

[0080] The electronic device can determine whether the current load weight is greater than or equal to a first threshold. When the current load weight is greater than or equal to the first threshold, it indicates that a load is placed on the electronic device, and step 302 can be executed. When the current load weight is less than the first threshold, it indicates that no load is placed on the electronic device, or the weight of the placed load is small and can be ignored, and step 303 can be executed.

[0081] 302. Use a dynamic parameter identification method to determine the dynamic parameters of the electronic device.

[0082] Different loads of the electronic device, that is, different weights of the loads, lead to different dynamic parameters of the electronic device. Therefore, in order to smoothly control the movement of the electronic device based on the driving operation, the dynamic parameters of the electronic device can be determined before the driving force acts on the electronic device to move the electronic device.

[0083] The dynamic parameters of the electronic device may include the friction torque of the two driving wheels, the mass of the body and load of the electronic device, and the rotational inertia of the electronic device. The friction torque of the driving wheel is the friction torque of the driving wheel rotating around its own axis. The mass of the body and load of the electronic device is the mass of the body of the electronic device and the current load, that is, the mass of the body of the electronic device plus the load together. The rotational inertia of the electronic device is the rotational inertia of the electronic device rotating around an axis perpendicular to the electronic device, that is, the rotational inertia of the electronic device rotating around an axis perpendicular to the plane of motion of the electronic device.

[0084] The derivation process of the dynamic equations of the electronic device is explained below.

[0085] The kinematic equation of the two-wheel differential chassis can be expressed as follows:

[0086] (1)

[0087] is the linear velocity of the center of mass of the electronic device. is the angular velocity of the center of mass of the electronic device. are the radii of the two driving wheels. It is the width of the electronic device, that is, the width of the two-wheel differential chassis, that is, the width of the body of the electronic device. is the turning angle of the right driving wheel, and the turning angle is the angle generated by the rotation. for The derivative with respect to time is the speed of the right drive wheel. is the turning angle of the left driving wheel. for The derivative with respect to time is the speed of the left driving wheel.

[0088] Formula 1 can be expressed as follows after the time derivative:

[0089] (2)

[0090] for The derivative with respect to time is the acceleration of the center of mass of the electronic device. for The derivative with respect to time is the angular acceleration of the center of mass of the electronic device. for The derivative with respect to time is the rotational acceleration of the right driving wheel. is the rotational acceleration of the left driving wheel.

[0091] Figure 4 It is a schematic diagram of force analysis of the forward direction of an electronic device provided in an embodiment of the present application. Figure 5 FIG. 1 is a schematic diagram of a force analysis of a driving wheel provided in an embodiment of the present application. Figure 4 and Figure 5 As shown, is the torque of the driving wheel, that is, the torque of the motor. It is the friction torque of the driving wheel rotating around its own axis. is the friction between the driving wheel and the ground. It is the mass of the electronic device and the load. is the acceleration due to gravity. The weight of the electronic device and its load. For external force. is the mass of the driving wheel. is the weight of the driving wheel. is the force between the electronic device and the driving wheel. N is the ground support force on the electronic device. It is the force between the body of the electronic device and the auxiliary wheels. is 1 or 2. When it is 1, the driving wheel is the right driving wheel. When it is 2, the driving wheel is the left driving wheel. Figure 4-Figure 5According to the force analysis shown, the dynamic equation of the driving wheel can be expressed as follows:

[0092] (3)

[0093] is the moment of inertia of the driving wheel. It is the slope of the electronic device, that is, the angle between the moving direction of the electronic device and the plane.

[0094] By rearranging formula 3, we can get:

[0095] (4)

[0096] Figure 6 This is a schematic diagram of a force analysis of the body of an electronic device provided in an embodiment of the present application. Figure 4 and Figure 6 According to the force analysis, the dynamic equation of the motion of the body of the electronic device can be expressed as follows:

[0097] (5)

[0098] (6)

[0099] is the friction between the auxiliary wheel and the ground in the x direction.

[0100] The dynamic equation of the driving wheel is combined with the dynamic equation of the motion of the main body of the electronic device, that is, Formula 4 and Formula 5 are combined to obtain:

[0101] (7)

[0102] is the torque of the right driving wheel, is the torque of the left driving wheel, is the friction torque of the right driving wheel rotating around its own axis, is the friction torque of the left driving wheel rotating around its own axis.

[0103] In formula 2, Substituting into formula 7, we can get:

[0104] (8)

[0105] In this way, the simultaneous equations of the dynamic equations of the driving wheel and the dynamic equations of the motion of the main body of the electronic device are obtained.

[0106] Figure 7 1 is a schematic top view of a force analysis of a two-wheel differential chassis in the yaw direction provided by an embodiment of the present application. Figure 7 According to the force analysis, the dynamic equation of the rotation of the body of the electronic device can be expressed as follows:

[0107] (9)

[0108] Depends on the weight of the load. is the friction torque between the auxiliary wheels and the ground. For example, assuming that the electronic device is provided with four auxiliary wheels, the component of the resultant friction force between the four auxiliary wheels and the ground on the y-axis is balanced by the friction force of the driving wheel on the y-axis, and the friction torque of the four auxiliary wheels is .

[0109] In formula 4, and Substituting into formula 9, we get:

[0110] (10)

[0111] because ,therefore , and replace the Substituting into formula 10, we get:

[0112] (11)

[0113] in, is the torque of the external force.

[0114] By rearranging formula 11, we can obtain:

[0115] (12)

[0116] In this way, the dynamic equation of rotation of the main body of the electronic device is obtained.

[0117] According to Formula 8 and Formula 12, the dynamic equation of the electronic device can be expressed as follows:

[0118] (13)

[0119] make , ,Will and Substituting into formula 13, we get:

[0120] (14)

[0121] because Much greater than and , so the formula in formula 14 can be Approximately . Rearranging formula 14 yields:

[0122] (15)

[0123] make , , , , we can rearrange formula 15 to get:

[0124] (16)

[0125] in, is the identity matrix, , , .

[0126] In this way, the dynamic equation of the electronic device is obtained, Formula 16; it can be seen that the parameters involved in Formula 16 include the mass, moment of inertia, radius, rotation speed and torque of the two driving wheels, the acceleration of gravity, the width of the electronic device, and the slope of the location of the electronic device.

[0127] The mass, moment of inertia and radius of the two drive wheels, as well as the width of the electronic device, are fixed when the electronic device leaves the factory. Therefore, the mass, moment of inertia and radius of the two drive wheels, as well as the width of the electronic device are known quantities. The acceleration due to gravity is a constant and is also a known quantity. The speed and torque of the two drive wheels (i.e., the torque of the motor) can be obtained by measurement.

[0128] Therefore, the electronic device can use a dynamic parameter identification method to determine the dynamic parameters of the electronic device, namely the friction torque of the two driving wheels, the mass of the electronic device body and load, and the moment of inertia of the electronic device, based on the mass, moment of inertia, radius, rotation speed and torque of the two driving wheels, the width of the electronic device, and the slope of the location of the electronic device.

[0129] When the electronic device is equipped with a load, located on a flat ground, and there is no driving force acting on the electronic device, the electronic device can control two motors to drive the two drive wheels to move with the same torque, that is, when the two drive wheels are driven by the same torque, the first rotation speed, friction torque and first torque of the two drive wheels can be measured, and the mass of the electronic device and the load can be determined according to the mass, moment of inertia, radius, first rotation speed, friction torque and first torque of the two drive wheels, and the slope of the location of the electronic device. The electronic device can control two motors to drive the two drive wheels to move with opposite torques, that is, when the two drive wheels are driven by opposite torques, the second rotation speed and second torque of the two drive wheels can be measured, and the moment of inertia of the electronic device can be determined according to the mass, moment of inertia, radius, second rotation speed, friction torque and second torque of the two drive wheels, and the width of the electronic device. The same torque can be understood as a torque with the same direction, or it can be understood as a torque with the same magnitude and direction. The opposite torque can be understood as a torque with opposite directions, or it can be understood as a torque with the same magnitude but opposite directions. The following is a detailed description.

[0130] The dynamic parameter identification function can be used when the electronic device is loaded, located on flat ground, and there is no driving force acting on the electronic device. In this case, formula 14 can be degenerated into:

[0131] (17)

[0132] When using the dynamic parameter identification function (i.e., method) to identify parameters, the rotation speed of the drive wheel is low and does not change much. When the direction of the friction torque is opposite to the rotation direction of the drive wheel (i.e., the driving torque is opposite), it can be considered as the product of a positive constant and the direction of the friction torque. Since the friction torque and the direction of the rotation speed of the drive wheel have been considered by symbols during the force analysis process, only the magnitude of the friction torque can be identified without considering the direction of the friction torque. The friction torque can be written as:

[0133] (18)

[0134] is the friction torque of the driving wheel, that is, the desired friction torque of the driving wheel, that is, the above . is a symbolic function. To determine the direction of the friction torque, when the direction of the friction torque is opposite to the direction of rotation of the driving wheel, Is positive. is the estimated or measured friction torque of the driving wheel.

[0135] Substituting Equation 18 into Equation 17 yields:

[0136] (19)

[0137] exist >0, the upper formula in formula 19 can be:

[0138] (20)

[0139] exist >0, the following formula in Formula 19 can be:

[0140] (twenty one)

[0141] Formula 20 and Formula 21 are two linear equations. In the process of parameter identification, the same torque can be used to drive the two driving wheels. The torque can be increased from 0 and can be determined based on the torque at the moment when the speed of the driving wheel is greater than 0. The torque of the driving wheel at the moment when the speed of the driving wheel is greater than 0 can be determined as , the product of the torque of the driving wheel and the coefficient at the moment when the speed of the driving wheel is greater than 0 can also be determined as .

[0142] Figure 8 FIG. 1 is a schematic diagram showing the change of the torque and speed of the driving wheel over time during a parameter identification process provided by an embodiment of the present application. Figure 8 As shown, it can be Keep in A certain time , we can integrate formula 20 to get:

[0143] (twenty two)

[0144] According to formula 22, , then you can use Determine the mass of the electronic device and the load .

[0145] Stop applying torque to the driving wheel and make it stationary. Then, use opposite torque to drive the two driving wheels. The absolute value of the torque increases from 0 until the driving wheel starts to rotate, and then maintains a constant value. Record the speed and torque of the driving wheel. Then, integrate Formula 21 according to the speed and torque of the driving wheel to obtain:

[0146] (twenty three)

[0147] According to formula 23, , then you can use Determining the Moment of Inertia of Electronic Devices .

[0148] 303. Determine that the dynamic parameters of the electronic device are preset dynamic parameters.

[0149] The electronic device may store preset dynamic parameters, which are dynamic parameters when the electronic device is not loaded.

[0150] Since the dynamic parameters of the electronic device are fixed when there is no load on the electronic device, the preset dynamic parameters can be predetermined and stored in the electronic device before the electronic device leaves the factory.

[0151] When the current load weight is less than the first threshold, the electronic device may determine that the dynamic parameters of the electronic device are preset dynamic parameters, that is, determine the preset dynamic parameters as the dynamic parameters of the electronic device.

[0152] When the current load weight is less than the first threshold, the electronic device does not need to be identified for electrical parameters, which can reduce unnecessary processing of the electronic device, thereby reducing the power consumption of the electronic device and saving processing resources of the electronic device.

[0153] 304. In response to the driving operation on the electronic device, determine current external force information according to the dynamic parameters.

[0154] The electronic device moves under the action of the driving force, and the electronic device cannot move without the driving force acting on the electronic device. Therefore, in the process of the driving force acting on the electronic device, the electronic device can detect the driving operation in real time, periodically or regularly, and then can respond to the driving operation of the electronic device and determine the current external force information according to the dynamic parameters of the electronic device.

[0155] The electronic device can determine the current external force information according to the dynamic parameters of the electronic device, as well as the current rotation speed, current rotation acceleration and current torque of the two driving wheels.

[0156] The electronic device can use an extended Kalman filter to determine the current external force information based on the dynamic parameters of the electronic device, the current rotation speed, the current rotation acceleration and the current torque of the two driving wheels. Detailed description is given below.

[0157] Can make , , the state space equation can be expressed as:

[0158] (twenty four)

[0159] (25)

[0160] for Taking the derivative with respect to time, for Taking the derivative with respect to time, is the state transition matrix of the external force, and is the disturbance term, and y is the output of the extended Kalman filter.

[0161] The electronic device determines the current external force information Afterwards, the current external force information can be Filtering is performed to obtain target external force information. Electronic devices can use low-pass filtering to filter the current external force information. Perform filtering, such as Kalman filtering.

[0162] When there is noise in the driving force and the driving force changes, the interaction force between the object applying the driving force (such as the user's hand, object, etc.) and the chassis will also change. Therefore, the current external force information can be determined. Filtering can avoid the influence of noise on external force information, improve the accuracy of the determined external force information, and thus improve the accurate control of the chassis.

[0163] When high sensitivity to driving force is required, the electronic device can use a force sensor to detect current external force information.

[0164] 305. Control the two motors to work according to the current external force information to drive the two driving wheels to move.

[0165] The electronic device can control the two motors to work according to the current external force information to drive the two driving wheels to move.

[0166] The electronic device can determine the torque of the two motors according to the current external force information, and can control the two motors to work at the determined torque so as to drive the two driving wheels to move.

[0167] The electronic device can determine the rotation speed and rotation acceleration of the first driving wheel according to the current external force information, can determine the torque of the first motor according to the rotation speed and rotation acceleration of the first driving wheel, and can control the first motor to work according to the torque of the first motor to drive the first driving wheel to move. The first driving wheel is any one of the two driving wheels. The first motor is the motor corresponding to the first driving wheel of the two motors.

[0168] It can be seen that the electronic device can first determine the rotation speed and rotation acceleration of the two driving wheels according to the current external force information, can determine the torque of the two motors according to the rotation speed and rotation acceleration of the two driving wheels, and can control the two motors to work according to the torque of the two motors to drive the two driving wheels to move.

[0169] When filtering the current external force information, the electronic device can determine the torque of the two motors according to the target external force information, and can control the two motors to work at the determined torque so as to drive the two driving wheels to move.

[0170] Accordingly, the electronic device can determine the rotational speed and rotational acceleration of the first driving wheel according to the target external force information, can determine the torque of the first motor according to the rotational speed and rotational acceleration of the first driving wheel, and can control the operation of the first motor according to the torque of the first motor to drive the first driving wheel to move.

[0171] In order to make the whole body appear light and easy to control, the electronic device can be designed based on the admittance control idea used by the robotic arm. The acceleration and angular acceleration of the center of mass of the electronic device can be expressed as follows:

[0172] (26)

[0173] is the angular velocity of the center of mass of the body of the desired electronic device. for The derivative with respect to time is the angular acceleration of the center of mass of the desired electronic device. is the linear velocity of the center of mass of the body of the desired electronic device. for The derivative with respect to time is the acceleration of the center of mass of the desired electronic device. is the linear velocity of the center of mass of the real electronic device. is the angular velocity of the center of mass of the electronic device. and They are preset inertia parameters, which are determined by the designer and are used to reflect the mass and inertia of the overall system. and are the preset damping parameters respectively. is the torque of the determined external force. is a determined external force.

[0174] You can first measure and , can be determined according to Formula 1 and , then you can use , external force information and formula 26 to determine and , according to and And the kinematic formula is calculated , Integrating over time gives . is the desired right drive wheel speed. is the desired left drive wheel speed. Determine the torque of the motor. Electronic devices can use proportional plus derivative (PD) control to determine the torque of the motor, or proportional integral derivative (PID) control to determine the torque of the motor, or sliding mode control, preset performance control, etc. The following takes PD control as an example for explanation.

[0175] The torque applied to the motor is:

[0176] (27)

[0177] It is the feedforward torque, used to balance the inertia and friction torque, etc. The feedback torque is used to make the driving wheel track the state of the upper and . is the ratio gain. is the differential gain.

[0178] In some embodiments, after the electronic device determines the current external force information, it can determine whether the value of the current external force is greater than or equal to a third threshold value. If the value of the current external force is greater than or equal to the third threshold value, it indicates that the electronic device is under force, and the two motors can be controlled to work according to the current external force information to drive the two drive wheels to move. If the value of the current external force is less than the third threshold value, it indicates that the current external force is too small, and it can be considered that the electronic device is not under force, and the two motors can be controlled to stop working to control the two drive wheels to stop moving, so as to ensure the safety of the electronic device.

[0179] In some embodiments, after the electronic device determines the current external force information, it can control the two motors to work according to the determined current external force information to drive the two drive wheels to move. Since the external force information used is the latest external force information, the movement of the chassis can be flexibly controlled based on the external force information, thereby ensuring the flexibility of control.

[0180] In some embodiments, after the electronic device determines the current external force information, it can first determine the absolute value of the difference between the current external force value and the current value of the external force controlling the motor, and then determine whether the absolute value is greater than or equal to the fourth threshold value. If the absolute value is greater than or equal to the fourth threshold value, it indicates that the change in the external force is large, and the two motors can be controlled to work according to the determined current external force information to drive the two drive wheels to move. If the absolute value is less than the fourth threshold value, it indicates that the change in the external force is small, and the previous external force information can continue to be used to drive the motor to work.

[0181] It can be seen that when the change in external force is large, the latest external force information is used to drive the motor to work, and when the change in external force is small, the previous external force information continues to be used to drive the motor, which can ensure the stability of control over the electronic equipment.

[0182] exist Figure 3 In the chassis control method shown, when the current load weight is greater than or equal to the first threshold, the dynamic parameters of the electronic device are determined using a dynamic parameter identification method, which can ensure the accuracy of the dynamic parameters of the determined electronic device, so as to ensure the accuracy of the determined external force information, and then the chassis can be accurately controlled based on the determined external force information, which can improve the accuracy and compliance of the chassis control. When the current load weight is less than the first threshold, the dynamic parameters of the electronic device are determined to be preset dynamic parameters, which can reduce unnecessary processing processes, thereby reducing the power consumption of the electronic device and saving processing resources of the electronic device. In addition, since sensors such as external force sensors, force sensors, and torque sensors are not required, the number of sensors in the electronic device can be reduced, thereby reducing the cost and complexity of the electronic device.

[0183] Fig. 9 is a flow chart of another chassis control method provided by an embodiment of the present application. The chassis control method is applied to an electronic device. The electronic device may include a two-wheel differential chassis and two motors, and the two-wheel differential chassis includes two drive wheels. The two motors correspond to the two drive wheels one by one. Fig. 9 As shown, the chassis control method may include the following steps.

[0184] 901. Determine whether the change in the load weight of the electronic device is greater than or equal to a second threshold value. If the change in the load weight of the electronic device is greater than or equal to the second threshold value, execute step 902. Use a dynamic parameter identification method to determine the dynamic parameters of the electronic device. If the change in the load weight of the electronic device is less than the second threshold value, execute step 903. Keep the dynamic parameters of the electronic device unchanged.

[0185] The electronic device has the function of dynamic parameter identification.

[0186] In one case, the dynamic parameter identification function can be automatically turned on when the electronic device is turned on.

[0187] In another case, the electronic device may be provided with a physical key or a function key capable of controlling the kinetic parameter identification function, and the user may turn on the kinetic parameter identification function or turn off the kinetic parameter identification function through the physical key or the function key.

[0188] After the dynamic parameter identification function is turned on, the electronic device can monitor the load weight of the electronic device. When the electronic device is in a stationary state, the change in the load weight of the electronic device can be determined, and then it can be determined whether the change in the load weight of the electronic device is greater than or equal to a second threshold. When the change in the load weight of the electronic device is greater than or equal to the second threshold, it indicates that the load change is large and the dynamic parameters of the electronic device have changed, and step 902 can be executed. When the change in the load weight of the electronic device is less than the second threshold, it indicates that the load change is small and the dynamic parameters of the electronic device have not changed, or the change in the dynamic parameters of the electronic device is small and can be ignored, and step 903 can be executed.

[0189] 902. Use a dynamic parameter identification method to determine the dynamic parameters of the electronic device.

[0190] For a detailed description of step 902 , reference may be made to the description of step 302 .

[0191] 903. Keep the dynamic parameters of the electronic device unchanged.

[0192] Keeping the dynamic parameters of the electronic device unchanged may mean keeping the dynamic parameters of the electronic device previously determined using the dynamic parameter identification method unchanged, or may mean keeping the preset dynamic parameters unchanged.

[0193] 904. In response to the driving operation on the electronic device, determine current external force information according to dynamic parameters.

[0194] 905. Control the two motors to work according to the current external force information to drive the two driving wheels to move.

[0195] For the detailed description of step 904 to step 905 , reference may be made to the description of step 304 to step 305 .

[0196] exist Fig. 9In the chassis control method shown, when the change in the load weight of the electronic device is greater than or equal to the second threshold, the dynamic parameters of the electronic device are determined using a dynamic parameter identification method, so that the dynamic parameters of the electronic device can change with the change in the load, and the accuracy of the dynamic parameters of the electronic device used can be guaranteed, so that the accuracy of the external force information used can be guaranteed, and then the chassis can be accurately controlled based on the external force information, which can improve the accuracy and compliance of the chassis control. When the change in the load weight of the electronic device is less than the second threshold, the dynamic parameters of the electronic device are kept unchanged, which can reduce unnecessary processing processes, thereby reducing the power consumption of the electronic device and saving the processing resources of the electronic device. In addition, since sensors such as external force sensors, force sensors, and torque sensors are not required, the number of sensors in the electronic device can be reduced, thereby reducing the cost and complexity of the electronic device.

[0197] It should be understood that Figure 3 The corresponding embodiments and Fig. 9 The corresponding embodiments can be combined. When the electronic device is just started, or the dynamic parameter identification function is just turned on, the electronic device can perform steps 301 to 303, and after the electronic device is started for a period of time (i.e., a preset time length), or after the dynamic parameter identification function is turned on for a period of time (i.e., a preset time length), the electronic device can perform steps 901 to 903.

[0198] Fig.10 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig.10 As shown, the electronic device may include a dynamic parameter identification module, an external force observation module, an admittance module and two motors (one motor is shown schematically in the figure). The motors are electrically connected to the dynamic parameter identification module, the external force observation module and the admittance module respectively, and the external force observation module is electrically connected to the dynamic parameter identification module and the admittance module respectively.

[0199] The dynamic parameter identification module can send a torque instruction to the motor. After the motor receives the torque instruction, it can work based on the torque instruction so that the drive wheel can move. The motor can detect the speed, rotational acceleration, torque and other information of the drive wheel, and then send the detected speed, rotational acceleration and torque of the drive wheel to the dynamic parameter identification module. After the dynamic parameter identification module receives the speed, rotational acceleration and torque of the drive wheel, it can determine the dynamic parameters of the electronic device based on this information, that is, the current dynamic parameters of the electronic device, and then send the dynamic parameters of the electronic device to the external force observation module.

[0200] During operation, the motor can return the speed and acceleration of the driving wheel to the external force observation module and the admittance module in real time, periodically or regularly. The motor can also return the torque of the driving wheel to the external force observation module in real time, periodically or regularly.

[0201] After the external force observation module receives the dynamic parameters of the electronic device, when the presence of driving force is detected, the current external force information can be determined based on the dynamic parameters of the electronic device, the current rotational speed, current rotational acceleration and current torque of the driving wheel, and then the current external force information can be sent to the admission control module.

[0202] After receiving the current external force information, the admittance control module can determine the torque of the motor according to the current external force information, and then send a torque command to the motor. After receiving the torque command, the motor can work according to the torque in the torque command to move the drive wheel.

[0203] It should be understood that the same or corresponding contents in different embodiments may be referenced to each other.

[0204] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0205] Based on the same inventive concept, the embodiment of the present application further provides a chassis control device for implementing the chassis control method involved above. The implementation scheme for solving the problem provided by the chassis control device is similar to the implementation scheme recorded in the above chassis control method, so the specific limitations in one or more chassis control device embodiments provided below can refer to the above limitations on the chassis control method, and will not be repeated here.

[0206] Fig.11 : is a schematic diagram of the structure of a chassis control device provided in an embodiment of the present application. The chassis control device can be applied to an electronic device, the electronic device includes a two-wheel differential chassis and two motors, the two-wheel differential chassis includes two drive wheels, and the two motors correspond to the two drive wheels one by one. The chassis control device may include:

[0207] A first determining unit 1101 is used to determine a dynamic parameter of the electronic device;

[0208] A second determining unit 1102 is configured to determine current external force information according to the dynamic parameters in response to a driving operation on the electronic device;

[0209] The control unit 1103 is used to control the two motors to work according to the current external force information, so as to drive the two driving wheels to move.

[0210] In some embodiments, the first determining unit 1101 is specifically configured to:

[0211] When the current load weight of the electronic device is greater than or equal to the first threshold, using a dynamic parameter identification method to determine the dynamic parameters of the electronic device;

[0212] When the current load weight of the electronic device is less than the first threshold, the dynamic parameters of the electronic device are determined to be preset dynamic parameters.

[0213] In some embodiments, the first determining unit 1101 is specifically configured to:

[0214] When the change in the load weight of the electronic device is greater than or equal to the second threshold, a dynamic parameter identification method is used to determine the dynamic parameters of the electronic device.

[0215] In some embodiments, the dynamic parameters of the electronic device include the friction torque of the two driving wheels, the mass of the body and the load of the electronic device, and the rotational inertia of the electronic device;

[0216] The first determining unit 1101 uses a dynamic parameter identification method to determine the dynamic parameters of the electronic device, including:

[0217] When the two driving wheels are driven by the same torque, measuring the first rotation speed, friction torque and first torque of the two driving wheels;

[0218] Determine the mass of the electronic device and the load according to the mass, moment of inertia, radius, first rotation speed, friction torque and first torque of the two driving wheels and the slope of the location where the electronic device is located;

[0219] When the two driving wheels are driven by opposite torques, measuring the second rotation speed and the second torque of the two driving wheels;

[0220] The moment of inertia of the electronic device is determined according to the mass, moment of inertia, radius, second rotation speed, friction torque and second torque of the two driving wheels and the width of the electronic device.

[0221] In some embodiments, the second determination unit 1102 is specifically configured to determine the current external force information according to the dynamic parameters of the electronic device, and the current rotation speed, current rotation acceleration and current torque of the two driving wheels.

[0222] In some embodiments, the chassis control device may further include:

[0223] A filtering unit, used for filtering the current external force information to obtain target external force information;

[0224] The control unit 1103 is specifically used to control the two motors to work according to the target external force information.

[0225] In some embodiments, the control unit 1103 is specifically configured to:

[0226] Determine the rotation speed and rotation acceleration of the first driving wheel according to the current external force information, the first driving wheel being any one of the two driving wheels;

[0227] Determine the torque of the first motor according to the rotation speed and rotation acceleration of the first driving wheel, the first motor being the motor corresponding to the first driving wheel of the two motors;

[0228] The first motor is controlled to operate according to the torque of the first motor to drive the first driving wheel to move.

[0229] Each unit in the above chassis control device can be implemented in whole or in part by software, hardware or a combination thereof. Each unit can be embedded in or independent of a processor in an electronic device in the form of hardware, or can be stored in a memory in an electronic device in the form of software, so that the processor can call and execute the corresponding operations of each unit.

[0230] Fig.12 1 is a schematic diagram of the structure of another electronic device provided in an embodiment of the present application. The electronic device may include a processor, a memory and an input / output interface (Input / Output, referred to as I / O). The processor, the memory and the input / output interface are connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the electronic device is used to exchange information between the processor and an external device. When the computer program is executed by the processor, a chassis control method is implemented.

[0231] Those skilled in the art will understand that Fig.12The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0232] Fig.13 is a schematic diagram of the structure of another electronic device provided in an embodiment of the present application. Fig.13 As shown, the electronic device may include a processor, a two-wheel differential chassis and two motors. The processor is electrically connected to the two motors respectively, the two-wheel differential chassis includes two driving wheels, and the two motors are electrically connected to the two driving wheels in a one-to-one correspondence.

[0233] a processor for determining a dynamic parameter of the electronic device;

[0234] The processor is further used to determine current external force information according to the dynamic parameters in response to the driving operation of the electronic device;

[0235] The processor is further used to generate a control instruction according to the current external force information;

[0236] The two motors are used to work according to control instructions to drive the two driving wheels to move.

[0237] In some embodiments, the processor determining a dynamic parameter of the electronic device includes:

[0238] When the current load weight of the electronic device is greater than or equal to the first threshold, the processor uses a dynamic parameter identification method to determine the dynamic parameters of the electronic device;

[0239] When the current load weight of the electronic device is less than the first threshold, the processor determines that the dynamic parameters of the electronic device are preset dynamic parameters.

[0240] In some embodiments, the processor determining a dynamic parameter of the electronic device includes:

[0241] When the change in the load weight of the electronic device is greater than or equal to the second threshold, the processor uses a dynamic parameter identification method to determine the dynamic parameters of the electronic device.

[0242] In some embodiments, the dynamic parameters of the electronic device include the friction torque of the two driving wheels, the mass of the body and the load of the electronic device, and the rotational inertia of the electronic device;

[0243] The processor uses a dynamic parameter identification method to determine the dynamic parameters of the electronic device including:

[0244] The processor sends a first torque command to the two motors;

[0245] The two motors drive the two driving wheels using the same torque according to the first torque instruction, measure the first rotation speed, friction torque and first torque of the two driving wheels, and send the first rotation speed, friction torque and first torque of the two driving wheels to the processor;

[0246] The processor determines the mass of the electronic device and the load according to the mass, moment of inertia, radius, first rotation speed, friction torque and first torque of the two driving wheels and the slope of the location of the electronic device;

[0247] The processor sends a second torque command to the two motors;

[0248] The two motors drive the two driving wheels using opposite torques according to the second torque command, measure the second rotation speed and the second torque of the two driving wheels, and send the second rotation speed and the second torque of the two driving wheels to the processor;

[0249] The processor determines the moment of inertia of the electronic device according to the mass, moment of inertia, radius, second rotation speed, friction torque and second torque of the two driving wheels and the width of the electronic device.

[0250] In some embodiments, the processor determines the current external force information according to the dynamic parameters, including:

[0251] The current external force information is determined based on the dynamic parameters, as well as the current rotational speed, current rotational acceleration and current torque of the two driving wheels.

[0252] In some embodiments, the processor is further used to filter the current external force information to obtain target external force information;

[0253] The processor generates control instructions based on the current external force information, including:

[0254] Generate control instructions based on target external force information.

[0255] In some embodiments, the processor generates a control instruction according to the current external force information, including:

[0256] Determine the rotation speed and rotation acceleration of the first driving wheel according to the current external force information, the first driving wheel being any one of the two driving wheels;

[0257] Determine the torque of the first motor according to the rotation speed and rotation acceleration of the first driving wheel, the first motor being the motor corresponding to the first driving wheel of the two motors;

[0258] generating a control command according to the torque of the first motor;

[0259] The two motors work according to the control instructions to drive the two driving wheels to move, including:

[0260] The first motor works with the torque of the first motor according to the control instruction to drive the first driving wheel to move.

[0261] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned chassis control method are implemented.

[0262] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0263] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0264] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A chassis control method, characterized in that: Applied to an electronic device, the electronic device comprises a two-wheel differential chassis and two motors, the two-wheel differential chassis comprises two driving wheels, the two motors correspond to the two driving wheels one by one, the method comprises: determining dynamic parameters of the electronic device; In response to a driving operation on the electronic device, determining current external force information according to the dynamic parameters; The two motors are controlled to work according to the current external force information to drive the two driving wheels to move.

2. The method according to claim 1, characterized in that Determining the dynamic parameters of the electronic device includes: When the current load weight of the electronic device is greater than or equal to a first threshold, using a dynamic parameter identification method to determine the dynamic parameters of the electronic device; When the current load weight of the electronic device is less than the first threshold, the dynamic parameter of the electronic device is determined to be a preset dynamic parameter.

3. The method according to claim 1, characterized in that Determining the dynamic parameters of the electronic device includes: When the change in the load weight of the electronic device is greater than or equal to a second threshold, a dynamic parameter identification method is used to determine the dynamic parameters of the electronic device.

4. The method according to claim 2 or 3, characterized in that: The dynamic parameters of the electronic device include the friction torque of the two driving wheels, the mass of the body and the load of the electronic device, and the rotational inertia of the electronic device; The method of using a dynamic parameter identification method to determine the dynamic parameters of the electronic device includes: When the two driving wheels are driven by the same torque, measuring the first rotation speed, the friction torque and the first torque of the two driving wheels; Determine the mass of the electronic device and the load according to the mass, moment of inertia, radius, first rotation speed, friction torque and first torque of the two driving wheels and the slope of the location where the electronic device is located; When the two driving wheels are driven by opposite torques, measuring a second rotation speed and a second torque of the two driving wheels; The moment of inertia of the electronic device is determined according to the mass, moment of inertia, radius, second rotation speed, friction torque and second torque of the two driving wheels and the width of the electronic device.

5. The method according to claim 1, characterized in that Determining the current external force information according to the dynamic parameters includes: The current external force information is determined according to the dynamic parameters, as well as the current rotational speed, current rotational acceleration and current torque of the two driving wheels.

6. The method according to claim 1, characterized in that The method further comprises: Filtering the current external force information to obtain target external force information; The controlling the two motors to work according to the current external force information comprises: The two motors are controlled to work according to the target external force information.

7. The method according to claim 1, characterized in that The controlling the two motors to work according to the current external force information to drive the two driving wheels to move includes: determining a rotation speed and a rotation acceleration of a first driving wheel according to the current external force information, the first driving wheel being any one of the two driving wheels; Determine the torque of the first motor according to the rotation speed and the rotation acceleration of the first driving wheel, the first motor being the motor corresponding to the first driving wheel among the two motors; The first motor is controlled to operate according to the torque of the first motor to drive the first driving wheel to move.

8. A chassis control device, characterized in that: Applied to electronic equipment, the electronic equipment comprises a two-wheel differential chassis and two motors, the two-wheel differential chassis comprises two driving wheels, the two motors correspond to the two driving wheels one by one, and the device comprises: A first determining unit, configured to determine a dynamic parameter of the electronic device; a second determining unit, configured to determine current external force information according to the dynamic parameters in response to a driving operation on the electronic device; A control unit is used to control the two motors to work according to the current external force information, so as to drive the two driving wheels to move.

9. An electronic device, characterized in that: It comprises a processor, a two-wheel differential chassis and two motors, wherein the processor is electrically connected to the two motors respectively, the two-wheel differential chassis comprises two driving wheels, and the two motors are electrically connected to the two driving wheels in a one-to-one correspondence; The processor is used to determine a dynamic parameter of the electronic device; The processor is further configured to determine current external force information according to the dynamic parameters in response to a driving operation on the electronic device; The processor is further configured to generate a control instruction according to the current external force information; The two motors are used to work according to the control instructions to drive the two driving wheels to move.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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