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

Abstract

The application relates to a chassis control method and device, electronic equipment and a computer readable storage medium. The method is applied to electronic equipment, the electronic equipment comprises a two-wheel differential chassis and two motors, the two-wheel differential chassis comprises two drive wheels, and the two motors correspond to the two drive wheels one by one. The method comprises the following steps: determining the dynamic parameters of the electronic equipment, determining current external force information according to the dynamic parameters in response to a driving operation of the electronic equipment, and controlling the two motors to work according to the current external force information to drive the two drive wheels to move. The method can control the two-wheel differential chassis of the electronic equipment based on the driving operation, can guarantee the safety of the movement of the electronic equipment, and can realize flexible control of the two-wheel differential chassis.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electronic devices, in particular to a chassis control method and device, an electronic device and a computer readable storage medium. BACKGROUND

[0002] A two-wheel differential chassis can realize small-radius turning by using the speed difference between the two driving wheels, and has good flexibility. In addition, the two-wheel differential chassis can share gravity with the auxiliary wheels, so 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, warehouse handling trolleys, and electric wheelchairs. How to control the two-wheel differential chassis is very important. SUMMARY

[0003] Therefore, it is necessary to provide a chassis control method and device based on driving operation to control the two-wheel differential chassis of an electronic device, an electronic device and a computer readable storage medium.

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

[0005] determining the dynamic parameters of the electronic device;

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

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

[0008] In one of the embodiments, the determination of the dynamic parameters of the electronic device comprises:

[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, determining the dynamic parameters of the electronic device as preset dynamic parameters.

[0011] In one of the embodiments, the determination of the dynamic parameters of the electronic device comprises:

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

[0013] In one of the embodiments, the dynamic parameters of the electronic device include friction torques of the two driving wheels, mass of the body and load of the electronic device, and moment of inertia of the electronic device.

[0014] The method for identifying the dynamic parameters of the electronic device includes:

[0015] In the case that the two driving wheels are driven by the same torque, the first rotational speed, the friction torque, and the first torque of the two driving wheels are measured.

[0016] According to the mass, the moment of inertia, the radius, the first rotational speed, the friction torque, and the first torque of the two driving wheels, and the slope of the location where the electronic device is located, the mass of the body and the load of the electronic device is determined.

[0017] In the case that the two driving wheels are driven by opposite torques, the second rotational speed and the second torque of the two driving wheels are measured.

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

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

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

[0021] In one of the embodiments, the method further includes:

[0022] The current external force information is filtered to obtain target external force information.

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

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

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

[0026] According to the current external force information, the rotational speed and the rotational acceleration of a first driving wheel are determined, the first driving wheel being any one of the two driving wheels.

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

[0028] control the first motor to work according to the torque of the first motor, so as to drive the first driving wheel to move.

[0029] In a second aspect, the application further provides a chassis control device applied to an electronic device, the electronic device comprising a two-wheel differential chassis and two motors, the two-wheel differential chassis comprising two driving wheels, and the two motors corresponding to the two driving wheels one by one, the device comprising:

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

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

[0032] a control unit configured 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 application further provides an electronic device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the above method when executing the computer program.

[0034] In a fourth aspect, the application further provides an electronic device comprising a processor, a two-wheel differential chassis and two motors, the processor being electrically connected to the two motors respectively, the two-wheel differential chassis comprising two driving wheels, and the two motors being electrically connected to the two driving wheels one by one;

[0035] the processor is configured 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 parameter 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 configured to work according to the control instruction, so as to drive the two driving wheels to move.

[0039] In a fifth aspect, the application further provides a computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the steps of the above method.

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

[0041] In the embodiment of the present application, the electronic device comprises a two-wheel differential chassis and two motors, the two-wheel differential chassis comprises two drive wheels, and the two motors correspond to the two drive wheels one by one; the dynamic parameters of the electronic device are determined, in response to a driving operation on 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 drive wheels to move. It can be seen that 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, and in the absence of the driving force on the electronic device, the two-wheel differential chassis does not move, so the safety of the movement of the electronic device can be ensured. 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 ensured, and the two-wheel differential chassis can be accurately controlled based on the determined external force information, so that flexible control of the two-wheel differential chassis can be achieved. Further, since the external force information is determined based on the dynamic parameters of the electronic device, a special sensor for detecting the external force is not needed, the number of sensors in the electronic device can be reduced, and thus the cost and complexity of the electronic device can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the description of the embodiments of the present application or the related art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0043] Figure 1 is a flowchart of a chassis control method provided by an embodiment of the present application;

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

[0045] Figure 3 is a flowchart of another chassis control method provided by an embodiment of the present application;

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

[0047] Figure 5 is a force analysis diagram of a drive wheel provided by an embodiment of the present application;

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

[0049] Figure 7 is a top view schematic diagram of 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 torque and rotational speed of the drive wheel changing with time in a parameter identification process provided by an embodiment of the present application;

[0051] Figure 9 is a flowchart of another chassis control method provided by an embodiment of the present application;

[0052] Figure 10 is a structural schematic diagram of an electronic device provided by an embodiment of the present application;

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

[0054] Figure 12 is a structural schematic diagram of another electronic device provided by an embodiment of the present application;

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

[0056] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0057] In order to better understand the embodiments of the present application, the related art will be introduced first.

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

[0059] The electronic device provided with the two-wheel differential chassis can respond to the speed instruction issued by the electronic device, and control the two-wheel differential chassis to move according to the speed in the speed instruction. However, in the case of being touched or misoperated by external force, the electronic device cannot adjust the speed instruction 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 1This is a flowchart illustrating a chassis control method provided in an embodiment of this application. The chassis control method is applied to an electronic device. The electronic device may include a two-wheel differential chassis and two motors. The two-wheel differential chassis includes two drive wheels. Each of the two motors corresponds one-to-one with one of the two drive wheels; that is, one motor controls the movement of one drive wheel. The driving method between the drive wheels and the motors can be a hub motor driving the drive wheels, a wheel-side motor driving the drive wheels, or a motor drive axle driving the drive wheels, etc. The motors can be stepper motors, servo motors, three-phase asynchronous motors, etc., and 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 the electronic equipment.

[0062] The dynamic parameters of electronic devices may differ depending on the load, i.e., the weight of the load. Therefore, in order to smoothly control the movement of electronic devices based on actuation operations, the dynamic parameters of the electronic devices can be determined before the electronic devices respond to the actuation operations to move.

[0063] The dynamic parameters of an electronic device can include the frictional torque of the two drive wheels, the mass of the electronic device and its load, and the moment of inertia of the electronic device. The frictional torque of the drive wheels is the frictional torque of the drive wheels rotating around their own axes. The mass of the electronic device and its load is the combined mass of the electronic device and its load.

[0064] The moment of inertia of an electronic device is the moment of inertia of the electronic device rotating about an axis perpendicular to the device's plane of motion. An electronic device may include its main body and two drive wheels. It may also include multiple auxiliary wheels, such as two, three, four, five, or six. Since auxiliary wheels are small and lightweight, their influence can be ignored; in this case, the electronic device can consist of its main body and two drive wheels. Therefore, the moment of inertia of an electronic device can be understood as the moment of inertia of its main body and two drive wheels, or as the moment of inertia of its main body, two drive wheels, and all auxiliary wheels. Auxiliary wheels are the wheels in an electronic device other than the drive wheels. Auxiliary wheels may include casters and / or support wheels. Casters are movable casters that can rotate freely in all directions, i.e., they can rotate 360°. Support wheels are fixed wheels that can only rotate in a fixed direction.

[0065] For example, Figure 2 This is a schematic diagram of the force analysis of a two-wheel differential chassis disclosed in an embodiment of this application. Figure 2 As shown, is the moment of inertia of the electronic device around the Z axis. is the driving force of the electronic device. is the moment of the driving force of the electronic device. is the moment of the right drive wheel. is the friction between the right drive wheel and the ground.

[0066] 102. In response to the driving operation on the electronic device, the current external force information is determined according to the kinetic 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, during the process of the driving force acting on the electronic device, the electronic device can detect the driving operation in real time, periodically or at a fixed time, and then can respond to the driving operation to determine the current external force information according to the kinetic parameters of the electronic device. The external force information can include the size of the external force and the size of the moment of the external force.

[0068] The driving operation can be a pushing force or a pulling force applied to the electronic device by a person or an object. The way to apply the driving force can be direct application or indirect application through remote, remote control or key, etc.

[0069] 103. The two motors are controlled to work according to the current external force information to drive the two drive 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 drive wheels to move.

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

[0072] In 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, so 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 ensured. 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 ensured, and the two-wheel differential chassis can be accurately controlled based on the determined external force information, and flexible control of the two-wheel differential chassis can be realized. Further, since the external force information is determined based on the dynamic parameters of the electronic device, a sensor for detecting the external force is not needed, the number of sensors in the electronic device can be reduced, and thus the cost and complexity of the electronic device can be reduced.

[0073] Figure 3 is a flowchart of another chassis control method provided by the embodiment of the application. The chassis control method is applied to an electronic device. The electronic device can 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. As shown in the figure, Figure 3 The chassis control method can 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, 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, determine the dynamic parameters of the electronic device as a preset dynamic parameter.

[0075] The electronic device has a dynamic parameter identification function. The electronic device can be provided with a physical button or a function button capable of controlling the dynamic parameter identification function. The user can turn on the dynamic parameter identification function through this physical button or function button, or turn off the dynamic parameter identification function through this physical button or function button.

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

[0077] After the electronic device detects the user's opening operation for turning on the dynamic parameter identification function, the dynamic parameter identification function can be turned on in response to the opening 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 enabled, or can detect the current load weight after the dynamic parameter identification function is enabled. The current load weight is the weight of the current load, i.e., the weight of the load currently placed on the electronic device.

[0079] The electronic device can include a weight detection apparatus, and the current load weight can be detected by the weight detection apparatus. The electronic device can also detect the current load weight in other ways.

[0080] The electronic device can 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, it indicates that a load is placed on the electronic device, and step 302 can be performed. If the current load weight is less than the first threshold value, it indicates that no load is placed on the electronic device, or the weight of the load placed is small and can be ignored, and step 303 can be performed.

[0081] 302. Determine the dynamic parameters of the electronic device using a dynamic parameter identification method.

[0082] Different loads of the electronic device, i.e., different weights of the loads, result in different dynamic parameters of the electronic device. Therefore, in order to control the motion of the electronic device smoothly 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 can include the friction torque of the two driving wheels, the mass of the body and the load of the electronic device, and the moment of 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 the load of the electronic device is the mass of the body of the electronic device and the current load, i.e., the mass of the body of the electronic device plus the load. The moment of inertia of the electronic device is the moment of inertia of the electronic device rotating around an axis perpendicular to the electronic device, i.e., the moment of inertia of the electronic device rotating around an axis perpendicular to the motion plane of the electronic device.

[0084] The derivation process of the dynamic equation of the electronic device is described 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 body of the electronic device. is the angular velocity of the center of mass of the body of the electronic device. is the radius of the two driving wheels. is a width of the electronic device, i.e., a width of the two-wheel differential chassis, i.e., a width of the body of the electronic device. is an angle of rotation of the right drive wheel. is a derivative with respect to time, i.e., a rotational speed of the right drive wheel. is an angle of rotation of the left drive wheel. is a derivative with respect to time, i.e., a rotational speed of the left drive wheel. is an angle of rotation of the right drive wheel. is a derivative with respect to time, i.e., a rotational speed of the left drive wheel.

[0088] After the derivation of Formula 1 with respect to time, the following can be represented:

[0089] (2)

[0090] is a derivative with respect to time, i.e., an acceleration of the center of mass of the body of the electronic device. is a derivative with respect to time, i.e., an angular acceleration of the center of mass of the body of the electronic device. is a derivative with respect to time, i.e., an angular acceleration of the center of mass of the body of the electronic device. is a derivative with respect to time, i.e., an angular acceleration of the center of mass of the body of the electronic device. is a derivative with respect to time, i.e., an angular acceleration of the center of mass of the body of the electronic device. is a derivative with respect to time, i.e., an angular acceleration of the center of mass of the body of the electronic device. is a derivative with respect to time, i.e., an angular acceleration of the center of mass of the body of the electronic device.

[0091] Figure 4 is a schematic diagram of force analysis on a forward direction of an electronic device provided by an embodiment of the present application. Figure 5 is a schematic diagram of force analysis on a drive wheel provided by an embodiment of the present application. As shown in Figure 4 and Figure 5 shown, is a torque of the drive wheel, i.e., a torque of the motor. is a friction torque of the drive wheel rotating around its own rotation axis. is a friction between the drive wheel and the ground. is a mass of the body of the electronic device and the load. is a gravitational acceleration. is a weight of the body of the electronic device and the load. is an external force. is a mass of the drive wheel. is a weight of the drive wheel. is a force between the body of the electronic device and the drive wheel. N is a supporting force of the ground on the electronic device, is a force between the body of the electronic device and the auxiliary wheel. is 1 or 2. In the case of 1, the drive wheel is the right drive wheel. In the case of 2, the drive wheel is the left drive wheel. Based on Figures 4-5The force analysis shown, the dynamics equation of the drive wheel can be expressed as follows:

[0092] (3)

[0093] is the moment of inertia of the drive wheel. is the slope of the location where the electronic device is located, that is, the angle between the movement direction of the electronic device and the plane.

[0094] The formula 3 can be obtained by arrangement:

[0095] (4)

[0096] Figure 6 is a force analysis schematic diagram of the body of the electronic device provided by an embodiment of the application. Based on Figure 4 and Figure 6 the force analysis, the dynamics equation of the movement of the body of the electronic device can be expressed as follows:

[0097] (5)

[0098] (6)

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

[0100] The dynamics equation of the drive wheel and the dynamics equation of the movement of the body of the electronic device are solved, that is, the formula 4 and the formula 5 are solved, and the following formula 7 can be obtained:

[0101] (7)

[0102] is the torque of the right drive wheel, is the torque of the left drive wheel, is the friction torque of the right drive wheel rotating around its own rotation shaft, is the friction torque of the left drive wheel rotating around its own rotation shaft.

[0103] Substituting in the formula 2 into the formula 7 can obtain:

[0104] (8)

[0105] Thus, the simultaneous equation of the dynamics equation of the drive wheel and the dynamics equation of the movement of the body of the electronic device is obtained.

[0106] Figure 7 is a top view schematic diagram of the force analysis of the two-wheel differential chassis in the yaw direction provided by an embodiment of the application. Based onFigure 7 The dynamics equation of the rotation of the body of the electronic device can be expressed as follows according to the force analysis of the electronic device:

[0107] (9)

[0108] Related to the weight of the load. The friction torque between the auxiliary wheels and the ground. For example, assuming that the electronic device is provided with 4 auxiliary wheels, the component of the resultant force of the friction between the 4 auxiliary wheels and the ground in the y-axis is balanced by the friction in the y-axis of the driving wheel, and the friction torque of the 4 auxiliary wheels is .

[0109] Substituting and in formula 4 into formula 9 can obtain:

[0110] (10)

[0111] Since , and substituting in formula 2 into formula 10 can obtain:

[0112] (11)

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

[0114] The formula 11 can be obtained by rearranging:

[0115] (12)

[0116] Thus, the dynamics equation of the rotation of the body of the electronic device is obtained.

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

[0118] (13)

[0119] Let , , substituting and into formula 13 can obtain:

[0120] (14)

[0121] Since is much larger than and , the in formula 14 can be approximated as Rearranging equation 14, we have

[0122] (15)

[0123] Let , , , Rearranging equation 15, we have

[0124] (16)

[0125] where is a unit matrix, , , .

[0126] Thus, the equation 16 of the dynamics of the electronic device is obtained; it can be seen that the parameters involved in equation 16 include the mass, moment of inertia, radius, rotational speed and torque of the two driving wheels, the acceleration of gravity, the width of the electronic device, and the slope of the location where the electronic device is located.

[0127] The mass, moment of inertia and radius of the two driving wheels, and the width of the electronic device, are fixed when the electronic device is manufactured, so the mass, moment of inertia and radius of the two driving wheels, and the width of the electronic device, are known quantities. The acceleration of gravity is a constant and is also a known quantity. The rotational speed and torque of the two driving wheels (i.e. the torque of the motor) can be measured.

[0128] Therefore, the electronic device can determine the dynamics parameters of the electronic device, i.e. the friction torque of the two driving wheels, the mass of the body and load of the electronic device, and the moment of inertia of the electronic device, etc., using the dynamics parameter identification method according to the mass, moment of inertia, radius, rotational speed and torque of the two driving wheels, the width of the electronic device, and the slope of the location where the electronic device is located.

[0129] In the case that the electronic device is loaded, located on a flat ground, and no driving force is applied to the electronic device, the electronic device can control the two motors to drive the two driving wheels to move with the same torque, i.e. in the case that the two driving wheels are driven by the same torque, the first rotational speed, the friction torque and the first torque of the two driving wheels can be measured, and the mass of the body of the electronic device and the load can be determined according to the mass, the rotational inertia, the radius, the first rotational speed, the friction torque and the first torque of the two driving wheels, and the slope of the location where the electronic device is located. The electronic device can control the two motors to drive the two driving wheels to move with opposite torques, i.e. in the case that the two driving wheels are driven by opposite torques, the second rotational speed and the second torque of the two driving wheels can be measured, and the rotational inertia of the electronic device can be determined according to the mass, the rotational inertia, the radius, the second rotational speed, the friction torque and the second torque of the two driving wheels, and the width of the electronic device. The same torque can be understood as the torque with the same direction, or the torque with the same direction and size. The opposite torque can be understood as the torque with the opposite direction, or the torque with the same size but opposite direction. Details are described below.

[0130] The dynamics parameter identification function can be used in the case that the electronic device is loaded, located on a flat ground, and no driving force is applied to the electronic device. At this time, formula 14 can be degenerated as:

[0131] (17)

[0132] In the process of identifying parameters using the dynamics parameter identification function (i.e. method), the rotational speed of the driving wheel is low and changes little, and in the case that the direction of the friction torque is opposite to the rotational direction of the driving wheel (i.e. the direction of the driving torque is opposite), it can be considered as a positive constant multiplied by the direction of the friction torque. Since the problem of the direction of the friction torque and the rotational direction of the driving wheel has been considered by means of symbols in the force analysis process, only the size of the friction torque can be identified, and the direction of the friction torque is not considered. The friction torque can be written as:

[0133] (18)

[0134] is the friction torque of the driving wheel, i.e. the expected friction torque of the driving wheel, i.e. . is a sign function. is the direction of the friction torque, and in the case that the direction of the friction torque is opposite to the rotational direction of the driving wheel, is positive. is the estimated or measured friction torque of the driving wheel.

[0135] Substitute formula 18 into formula 17 to obtain:

[0136] (19)

[0137] exist When >0, the formula above in Formula 19 can be:

[0138] (20)

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

[0140] (twenty one)

[0141] Formulas 20 and 21 are two linear equations. During parameter identification, the two drive wheels can be driven with the same torque. The torque can be increased from 0 and determined based on the torque at the instant when the speed of the drive wheel is greater than 0. The torque of the drive wheel at the instant when its rotational speed is greater than 0 can be determined as... Alternatively, the product of the torque of the drive wheel at the instant when its rotational speed is greater than 0 and the coefficient can be used to determine the value. .

[0142] Figure 8 This is a schematic diagram illustrating the changes in torque and rotational speed of the drive wheel over time during a parameter identification process provided in an embodiment of this application. Figure 8 As shown, it can be Stay a certain period of time Integrating Equation 20 yields:

[0143] (twenty two)

[0144] According to formula 22, we can obtain Then you can Determine the mass of the electronic device body and its load. .

[0145] After stopping the application of torque to the drive wheels and bringing them to a standstill, an opposite torque can be used to drive both drive wheels. The absolute value of the torque starts from 0 and increases until the drive wheels begin to rotate. Then, a constant value is maintained, and the rotational speed and torque of the drive wheels are recorded. Finally, equation 21 can be integrated based on the rotational speed and torque of the drive wheels to obtain:

[0146] (twenty three)

[0147] According to formula 23, Then you can Determine the moment of inertia of electronic equipment .

[0148] 303、determine the dynamics parameter of the electronic device as the preset dynamics parameter.

[0149] The electronic device can store the preset dynamics parameter. The preset dynamics parameter is the dynamics parameter of the electronic device without load.

[0150] Since the dynamics parameter of the electronic device is fixed when the electronic device has no load, the preset dynamics parameter can be determined in advance and stored in the electronic device before the electronic device is shipped.

[0151] In the case where the current load weight is less than the first threshold, the electronic device can determine the dynamics parameter of the electronic device as the preset dynamics parameter, i.e., determine the preset dynamics parameter as the dynamics parameter of the electronic device.

[0152] In the case where the current load weight is less than the first threshold, the dynamics parameter of the electronic device is not identified, which can reduce unnecessary processing of the electronic device, thereby reducing the power consumption of the electronic device and saving the processing resources of the electronic device.

[0153] 304、in response to the driving operation on the electronic device, determine the current external force information according to the dynamics parameter.

[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, during the process of the driving force acting on the electronic device, the electronic device can detect the driving operation in real time, periodically or at a fixed time, and then can determine the current external force information according to the dynamics parameter of the electronic device in response to the driving operation on the electronic device.

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

[0156] The electronic device can determine the current external force information according to the dynamics parameter of the electronic device, and the current rotation speed, current rotation acceleration and current torque of the two driving wheels, using an extended Kalman filter. Details are described below.

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

[0158] (24)

[0159] (25)

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

[0161] The electronic device determines current external force information After that, the current external force information may be filtered to obtain target external force information. The electronic device may filter the current external force information using a low-pass filtering method, such as Kalman filtering.

[0162] When the driving force has noise and the driving force changes, the interaction force between the object (such as the user's hand, object, etc.) that applies the driving force and the chassis also changes. Therefore, the determined current external force information may be filtered to avoid the influence of noise on the external force information and improve the accuracy of the determined external force information, thereby improving the accurate control of the chassis.

[0163] In the case where the driving force sensitivity requirement is very high, the electronic device may detect the current external force information using a force sensor.

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

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

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

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

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

[0169] In the case of 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 drive wheels to move.

[0170] Correspondingly, the electronic device can determine the rotation speed and rotation acceleration of the first drive wheel according to the target external force information, can determine the torque of the first motor according to the rotation speed and rotation acceleration of the first drive wheel, and can control the first motor to work according to the torque of the first motor to drive the first drive wheel to move.

[0171] In order to make the whole present a light quality and easy to control compliance effect, the electronic device can be designed by referring to the admittance control idea used by the mechanical arm. The acceleration and angular acceleration of the center of mass of the electronic device body can be represented as follows:

[0172] (26)

[0173] is the angular velocity of the center of mass of the body of the desired electronic device. is is the angular acceleration of the center of mass of the body of the desired electronic device. is the linear velocity of the center of mass of the body of the desired electronic device. is is the acceleration of the center of mass of the body of the desired electronic device. is the linear velocity of the center of mass of the body of the real electronic device. is the angular velocity of the center of mass of the body of the electronic device. and are preset inertia parameters, which are determined by the designer to reflect the mass and inertia of the whole system. and are preset damping parameters. is the torque of the determined external force. is the determined external force.

[0174] can be measured first and can be determined according to formula 1 and , then , the external force information and formula 26 can be used to determine and can be calculated according to and and the kinematic formula , integrating time can obtain . is the desired rotational speed of the right drive wheel. is the desired rotational speed of the left drive wheel. The rotational speed of the left drive wheel can be determined according to the rotational speed of the right drive wheel and the desired rotational speed difference between the two drive wheels. The torque of the motor is determined. The electronic device can determine the torque of the motor using proportional plus derivative (PD) control, proportional integral derivative (PID) control, sliding mode control, preset performance control, etc. The following is an example of PD control.

[0175] The torque applied to the motor is:

[0176] (27)

[0177] is the feedforward torque, used to balance the inertia and friction torque, etc. is the feedback torque, used to make the state of the drive wheel track the desired state. and . is the proportional gain. is the derivative gain.

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

[0179] In some embodiments, after the electronic device determines the current external force information, the two motors can be controlled 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 the control.

[0180] In some embodiments, after the electronic device determines the current external force information, the electronic device can first determine an absolute value of a difference between a value of the current external force and a value of the external force used to control the motor, and then determine whether the absolute value is greater than or equal to a 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 motor can continue to be driven using the previous external force information.

[0181] As can be seen, in the case where the change in the external force is large, the motor is driven using the latest external force information, and in the case where the change in the external force is small, the motor is driven using the previous external force information, which can ensure the stability of the control of the electronic device.

[0182] In the chassis control method shown in Figure 3 In the case where the current load weight is greater than or equal to the first threshold value, the dynamics parameter identification method is used to determine the dynamics parameter of the electronic device, which can ensure the accuracy of the determined dynamics parameter of the 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. In the case where the current load weight is less than the first threshold value, the dynamics parameter of the electronic device is determined as a preset dynamics parameter, 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 no external force sensor, force sensor, torque sensor, etc. is needed, the number of sensors in the electronic device can be reduced, thereby reducing the cost and complexity of the electronic device.

[0183] Figure 9 is a flow diagram 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 can 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. As shown in Figure 9 The chassis control method can 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, in the case where the change in the load weight of the electronic device is greater than or equal to the second threshold value, perform step 902, use a dynamics parameter identification method to determine the dynamics parameter of the electronic device, in the case where the change in the load weight of the electronic device is less than the second threshold value, perform step 903, keep the dynamics parameter of the electronic device unchanged.

[0185] The electronic device has a dynamics parameter identification function.

[0186] In one scenario, the dynamic parameter identification function can be automatically activated when the electronic device is started.

[0187] In another scenario, the electronic device can be equipped with a physical button or function button that controls the dynamic parameter identification function. Users can use this physical button or function button to enable or disable the dynamic parameter identification function.

[0188] After the dynamic parameter identification function is enabled, 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. Then, it can be determined whether the change in the load weight of the electronic device is greater than or equal to the second threshold. If 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. If 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 dynamic parameter identification methods to determine the dynamic parameters of electronic devices.

[0190] For a detailed description of step 902, please refer to the description of step 302.

[0191] 903. Keep the dynamic parameters of the electronic equipment constant.

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

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

[0194] 905. Control the two motors to work based on the current external force information, so as to drive the two drive wheels to move.

[0195] For a detailed description of steps 904-905, please refer to the description of steps 304-305.

[0196] exist Figure 9In the chassis control method shown, when the change in the load weight of the electronic device is greater than or equal to a second threshold, the dynamic parameters of the electronic device are determined using a dynamic parameter identification method. This allows the dynamic parameters of the electronic device to change with the load, ensuring the accuracy of the dynamic parameters and thus the accuracy of the external force information. This, in turn, enables accurate chassis control based on the external force information, improving the accuracy and compliance of 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 remain constant, reducing unnecessary processing steps, thereby lowering power consumption and conserving processing resources. Furthermore, since external force sensors, torque sensors, and other sensors are not required, the number of sensors in the electronic device can be reduced, thereby lowering the cost and complexity of the electronic device.

[0197] It should be understood that Figure 3 Corresponding embodiments and Figure 9 The corresponding embodiments can be combined. When the electronic device is first turned on or the dynamic parameter identification function is first turned on, the electronic device can execute steps 301-303. After the electronic device has been turned on for a period of time (i.e., a preset duration) or after the dynamic parameter identification function has been turned on for a period of time (i.e., a preset duration), the electronic device can execute steps 901-903.

[0198] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 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 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 torque commands to the motor. Upon receiving the torque command, the motor can operate accordingly to move the drive wheels. The motor can detect information such as the drive wheel's rotational speed, acceleration, and torque, and then send this information to the dynamic parameter identification module. After receiving this information, the dynamic parameter identification module can determine the electronic device's dynamic parameters—its current dynamic parameters—and then send these parameters to the external force observation module.

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

[0201] After the external force observation module receives the dynamic parameters of the electronic device, in the case of detecting the presence of driving force, the current external force information can be determined according to the dynamic parameters of the electronic device, and the current rotation speed, the current rotation acceleration and the current torque of the driving wheel, and then the current external force information can be sent to the admittance control module.

[0202] After the admittance control module receives the current external force information, the torque of the motor can be determined according to the current external force information, and then the torque instruction can be sent to the motor. After the motor receives the torque instruction, the motor can work according to the torque in the torque instruction to make the driving wheel move.

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

[0204] It should be understood that, although each step in the flowchart involved in each embodiment as described above is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the order of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or stages, which 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 sequential, but can be alternately executed with at least part of other steps or steps or stages in other steps.

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

[0206] Figure 11 is a structural schematic diagram of a chassis control device provided by an embodiment of the present application. Wherein, the chassis control device can be applied to an electronic device, the electronic device comprising a two-wheel differential chassis and two motors, the two-wheel differential chassis comprising two driving wheels, and the two motors corresponding to the two driving wheels one by one. The chassis control device can comprise:

[0207] The first determination unit 1101 is configured to determine a dynamic parameter of the electronic device.

[0208] The second determination unit 1102 is configured to determine current external force information according to the dynamic parameter in response to a driving operation of the electronic device.

[0209] The control unit 1103 is configured to control the two motors to work according to the current external force information to drive the two drive wheels to move.

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

[0211] In a case where the current load weight of the electronic device is greater than or equal to the first threshold value, determining the dynamic parameter of the electronic device by using a dynamic parameter identification method.

[0212] In a case where the current load weight of the electronic device is less than the first threshold value, determining the dynamic parameter of the electronic device as a preset dynamic parameter.

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

[0214] In a case where the change amount of the load weight of the electronic device is greater than or equal to the second threshold value, determining the dynamic parameter of the electronic device by using a dynamic parameter identification method.

[0215] In some embodiments, the dynamic parameter of the electronic device includes a friction torque of the two drive wheels, a mass of a body and a load of the electronic device, and a moment of inertia of the electronic device.

[0216] The first determination unit 1101 determines the dynamic parameter of the electronic device by using a dynamic parameter identification method, including:

[0217] In a case where the two drive wheels are driven by the same torque, measuring a first rotational speed, a friction torque, and a first torque of the two drive wheels.

[0218] According to the mass, the moment of inertia, the radius, the first rotational speed, the friction torque, and the first torque of the two drive wheels, and a slope of a position where the electronic device is located, determining the mass of the body and the load of the electronic device.

[0219] In a case where the two drive wheels are driven by opposite torques, measuring a second rotational speed and a second torque of the two drive wheels.

[0220] According to the mass, the moment of inertia, the radius, the second rotational speed, the friction torque, and the second torque of the two drive wheels, and a width of the electronic device, determining the moment of inertia of the electronic device.

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

[0222] In some embodiments, the chassis control apparatus can further include:

[0223] a filtering unit configured to filter the current external force information to obtain target external force information;

[0224] a control unit 1103 configured 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 rotating speed and the rotating 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 rotating speed and the rotating acceleration of the first driving wheel, the first motor being the motor corresponding to the first driving wheel among the two motors;

[0228] control the first motor to work according to the torque of the first motor to drive the first driving wheel to move.

[0229] The above-mentioned various units in the chassis control apparatus can be realized by software, hardware and combinations thereof in whole or in part. The above-mentioned various units can be embedded in or independent of the processor in the electronic device in hardware form, or can be stored in the memory in the electronic device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above-mentioned various units.

[0230] Figure 12 is another structural schematic diagram of an electronic device provided by an embodiment of the present application. The electronic device can 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 through a system bus. The processor of the electronic device is configured 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 operating system and the computer program in the non-volatile storage medium to run. The input / output interface of the electronic device is configured to exchange information between the processor and external devices. The computer program is executed by the processor to implement a chassis control method.

[0231] Those skilled in the art can understand that, Figure 12The structure shown in the figure is only a block diagram of part of the 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 can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

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

[0233] The processor is configured to determine a dynamic parameter of the electronic device.

[0234] The processor is further configured to determine current external force information according to the dynamic parameter in response to a driving operation of the electronic device.

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

[0236] The two motors are configured to work according to the control instruction to drive the two drive wheels to move.

[0237] In some embodiments, the processor determines the dynamic parameter of the electronic device by:

[0238] In a case where the current load weight of the electronic device is greater than or equal to a first threshold value, the processor determines the dynamic parameter of the electronic device using a dynamic parameter identification method.

[0239] In a case where the current load weight of the electronic device is less than the first threshold value, the processor determines the dynamic parameter of the electronic device as a preset dynamic parameter.

[0240] In some embodiments, the processor determines the dynamic parameter of the electronic device by:

[0241] In a case where the change amount of the load weight of the electronic device is greater than or equal to a second threshold value, the processor determines the dynamic parameter of the electronic device using a dynamic parameter identification method.

[0242] In some embodiments, the dynamic parameter of the electronic device includes a friction torque of the two drive wheels, a mass of the body and the load of the electronic device, and a moment of inertia of the electronic device.

[0243] The processor determines the dynamic parameter of the electronic device using a dynamic parameter identification method by:

[0244] The processor sends a first torque instruction to the two motors.

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

[0246] The processor determines the mass of the body and the load of the electronic device 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 where the electronic device is located;

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

[0248] The two motors drive the two drive wheels using opposite torques according to the second torque instruction, measure the second rotation speed and second torque of the two drive wheels, and send the second rotation speed and second torque of the two drive 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 drive wheels, and the width of the electronic device.

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

[0251] Determine the current external force information according to the kinetic parameters, and the current rotation speed, current rotation acceleration and current torque of the two drive wheels.

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

[0253] The processor generates a control instruction according to the current external force information includes:

[0254] Generating a control instruction according to the target external force information.

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

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

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

[0258] Generating a control instruction according to the torque of the first motor;

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

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

[0261] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the steps of the chassis control method.

[0262] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiments. Any reference to 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. The 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), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0263] Any technical features in the above embodiments can be combined, and for the sake of brevity, not all possible combinations are described above, however, any combination of these technical features is deemed to be within the scope of the present application.

[0264] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that, for ordinary skilled persons 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 should be subject to the appended claims.

Claims

1. A method of chassis control, characterized by, The method is applied to an electronic device, the electronic device comprising a two-wheel differential chassis and two motors, the two-wheel differential chassis comprising two drive wheels, the two motors corresponding to the two drive wheels one by one, the method comprising: determining the kinetic parameters of the electronic device by using a kinetic parameter identification method; determining current external force information according to the kinetic parameters in response to a driving operation of the electronic device; controlling the two motors to work according to the current external force information to drive the two drive wheels to move; the kinetic parameters of the electronic device include friction torque of the two drive wheels, mass of a body and a load of the electronic device, and moment of inertia of the electronic device; the determining the kinetic parameters of the electronic device by using the kinetic parameter identification method comprises: measuring first rotation speed, friction torque and first torque of the two drive wheels in the case that the two drive wheels are driven by the same torque; determining mass of the body and the load of the electronic device according to mass, moment of inertia, radius, first rotation speed, friction torque and first torque of the two drive wheels, and slope of a position where the electronic device is located; measuring second rotation speed and second torque of the two drive wheels in the case that the two drive wheels are driven by opposite torques; determining moment of inertia of the electronic device according to mass, moment of inertia, radius, second rotation speed, friction torque and second torque of the two drive wheels, and width of the electronic device.

2. The method of claim 1, wherein, the determining the kinetic parameters of the electronic device by using the kinetic parameter identification method comprises: determining the kinetic parameters of the electronic device by using the kinetic parameter identification method in the case that current load weight of the electronic device is greater than or equal to a first threshold value.

3. The method of claim 1, wherein, the determining the kinetic parameters of the electronic device by using the kinetic parameter identification method comprises: determining the kinetic parameters of the electronic device by using the kinetic parameter identification method in the case that a change amount of load weight of the electronic device is greater than or equal to a second threshold value.

4. The method of claim 1, wherein, the controlling the two motors to work according to the current external force information to drive the two drive wheels to move comprises: controlling the two motors to work according to the current external force information to drive the two drive wheels to move in the case that an absolute value of a difference between a value of current external force and a value of external force of a current control motor is greater than or equal to a fourth threshold value.

5. The method of claim 1, wherein, the determining current external force information according to the kinetic parameters comprises: determining current external force information according to the kinetic parameters, and current rotation speed, current rotational acceleration and current torque of the two drive wheels.

6. The method of claim 1, wherein, 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: controlling the two motors to work according to the target external force information.

7. The method of claim 1, wherein, the controlling the two motors to work according to the current external force information to drive the two drive wheels to move comprises: determine 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 a torque of a 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; control the first motor to work according to the torque of the first motor, so as to drive the first driving wheel to move.

8. A chassis control device characterized by comprising: The application is applied to an electronic device, the electronic device comprising a two-wheel differential chassis and two motors, the two-wheel differential chassis comprising two driving wheels, the two motors corresponding to the two driving wheels one by one, and the device comprising: a first determination unit configured to determine dynamic parameters of the electronic device by using a dynamic parameter identification method; a second determination unit configured to determine current external force information according to the dynamic parameters in response to a driving operation of the electronic device; a control unit configured to control the two motors to work according to the current external force information, so as to drive the two driving wheels to move; the dynamic parameters of the electronic device comprising friction torques of the two driving wheels, a mass of a body and a load of the electronic device, and a moment of inertia of the electronic device; the first determination unit determining the dynamic parameters of the electronic device by using the dynamic parameter identification method comprising: measuring first rotation speeds, friction torques and first torques of the two driving wheels in the case that the two driving wheels are driven by the same torque; determining the mass of the body and the load of the electronic device according to the mass, the moment of inertia, the radius, the first rotation speed, the friction torque and the first torque of the two driving wheels, and a slope of a position where the electronic device is located; measuring second rotation speeds and second torques of the two driving wheels in the case that the two driving wheels are driven by opposite torques; determining the moment of inertia of the electronic device according to the mass, the moment of inertia, the radius, the second rotation speed, the friction torque and the second torque of the two driving wheels, and a width of the electronic device.

9. An electronic device, comprising: The application relates to an electronic device, and the electronic device comprises a processor, a two-wheel differential chassis and two motors, the processor being electrically connected to the two motors respectively, the two-wheel differential chassis comprising two driving wheels, and the two motors being electrically connected to the two driving wheels one by one; the processor being configured to determine dynamic parameters of the electronic device by using a dynamic parameter identification method; the processor being further configured to determine current external force information according to the dynamic parameters in response to a driving operation of the electronic device; the processor being further configured to generate a control instruction according to the current external force information; the two motors being configured to work according to the control instruction, so as to drive the two driving wheels to move; the dynamic parameters of the electronic device comprising friction torques of the two driving wheels, a mass of a body and a load of the electronic device, and a moment of inertia of the electronic device; the processor determining the dynamic parameters of the electronic device by using the dynamic parameter identification method comprising: measuring first rotation speeds, friction torques and first torques of the two driving wheels in the case that the two driving wheels are driven by the same torque; determining the mass of the body of the electronic device and the load according to the mass, the moment of inertia, the radius, the first rotational speed, the frictional torque and the first torque of the two driving wheels, and the slope of the location where the electronic device is located; measuring the second rotational speed and the second torque of the two driving wheels in the case that the two driving wheels are driven by opposite torques; determining the moment of inertia of the electronic device according to the mass, the moment of inertia, the radius, the second rotational speed, the frictional torque and the second torque of the two driving wheels, and the width of the electronic device.

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

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