Control method and device for electric power assistance of equipment and electronic equipment

Abstract

The invention relates to the technical field of equipment control, and provides an equipment electric power assisting control method and device and electronic equipment. The method comprises the steps of determining a target moving speed of a to-be-moved device according to an acting force applied by a user to the to-be-moved device; acquiring the current posture of the to-be-moved equipment and the current inclination angle of the ground where the to-be-moved equipment is located; determining electric compensation thrust of the to-be-moved equipment according to the target speed, the current attitude and the current inclination angle; and driving the to-be-moved equipment based on the electric compensation thrust so as to enable the to-be-moved equipment to reach the target speed. Through the setting, the electric compensation thrust can be adaptively adjusted according to the user acting force, the current posture of the equipment and the ground inclination angle, so that the adaptive capacity and the control effect of the electric power of the equipment to various use scenes are improved.

Description

Technical Field

[0001] This application relates to the field of equipment control technology, and in particular to a control method, device and electronic device for electric power assistance of equipment. Background Technology

[0002] Heavy electronic devices often require considerable force to move. For example, operating tables weigh approximately 300kg-1000kg, and moving them manually requires a force of 100N-300N, causing significant inconvenience for medical staff. To address this issue, an electric power assist system can be added to the electronic device. This system uses closed-loop control to drive a motor and generate electrically compensated thrust, thus assisting in moving the device. However, current electric power assist systems typically use fixed closed-loop control parameters, resulting in poor adaptability to different usage scenarios and reduced control effectiveness. Summary of the Invention

[0003] In view of this, embodiments of this application provide a control method, apparatus, and electronic device for electric power assistance of a device, which can improve the adaptability and control effect of electric power assistance of a device for various usage scenarios.

[0004] The first aspect of this application provides a control method for electric power assistance in a device, including:

[0005] The target speed of the mobile device is determined based on the force applied by the user to the mobile device.

[0006] Obtain the current attitude of the mobile device and the current tilt angle of the ground on which the mobile device is located;

[0007] Determine the electric compensation thrust of the mobile device to be moved based on the target velocity, current attitude, and current tilt angle;

[0008] The device is driven by electric compensation thrust to achieve the target speed.

[0009] This embodiment first determines the target speed of the mobile device based on the force applied by the user, and obtains the current attitude of the mobile device and the current tilt angle of the ground. Then, it determines the electric compensation thrust of the mobile device based on the target speed, current attitude, and current tilt angle. Finally, it drives the mobile device based on the electric compensation thrust to achieve the target speed. With this configuration, the electric compensation thrust obtained when implementing electric assistance is determined by the user's force, current attitude, and ground tilt angle. This means the electric compensation thrust can be adaptively adjusted according to the user's force, the device's current attitude, and the ground tilt angle, thus improving the adaptability and control effect of the electric assistance for various usage scenarios.

[0010] In one implementation of this application, determining the electric compensation thrust of the mobile device to be moved based on the target velocity, current attitude, and current tilt angle includes:

[0011] Determine the target parameters for closed-loop control based on the current attitude and tilt angle;

[0012] The electric assist system of the device to be operated is closed-loop controlled according to the target parameters and target speed, and the electric compensation thrust is determined based on the results of the closed-loop control.

[0013] In one implementation of this application, the target parameters for closed-loop control are determined based on the current attitude and current tilt angle, including:

[0014] From the parameter mapping relationship obtained in advance through calibration, find the closed-loop control parameters that are suitable for the current attitude and the current tilt angle, and use them as target parameters; wherein, the parameter mapping relationship records the closed-loop control parameters that are suitable for different equipment attitudes and different ground tilt angles respectively.

[0015] In one implementation of this application, the closed-loop control parameters that are compatible with both the current attitude and the current tilt angle are searched from the parameter mapping relationship obtained in advance through calibration, and used as target parameters, including:

[0016] Determine the calibrated tilt angle corresponding to the current tilt angle;

[0017] From the parameter mapping relationship, find the closed-loop control parameters corresponding to the current attitude under the calibrated tilt angle, and use them as the target parameters.

[0018] In one implementation of this application, the current tilt angle includes a horizontal angular component and a vertical angular component; determining the calibrated tilt angle corresponding to the current tilt angle includes:

[0019] The target angle value is obtained by weighted summation of the horizontal and vertical angle components.

[0020] Determine the angular range within which the target angle value lies;

[0021] The tilt angle that has been pre-calibrated and corresponds to the angle range is taken as the calibrated tilt angle.

[0022] In one implementation of this application, the weighting coefficients for the weighted summation of the vertical angular components are positively correlated with the slope of the ground where the mobile device is located.

[0023] In one implementation of this application, the target parameters include speed loop PI parameters and current loop PI parameters.

[0024] In one implementation of this application, the center of gravity of the mobile device is related to its current attitude, and the electric compensation thrust is positively correlated with the target distance, which is the distance between the center of gravity and the position where the force is applied.

[0025] A second aspect of this application provides a control device for electric power assistance in a device, comprising:

[0026] The speed determination module is used to determine the target speed of the mobile device based on the force applied by the user to the mobile device.

[0027] The parameter acquisition module is used to acquire the current attitude of the device to be moved and the current tilt angle of the ground on which the device is located;

[0028] The electric assist determination module is used to determine the electric compensation thrust of the mobile device to be moved based on the target speed, current attitude, and current tilt angle.

[0029] The equipment control module is used to drive the device to be moved based on electric compensated thrust, so that the device to be moved can reach the target speed.

[0030] A third aspect of this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the device electric assist control method provided in the first aspect of this application.

[0031] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the device electric assist control method provided in the first aspect of this application.

[0032] The fifth aspect of this application provides a computer program product that, when run on an electronic device, causes the electronic device to execute the device electric assist control method provided in the first aspect of this application.

[0033] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0034] Figure 1 This is a flowchart of a control method for electric power assistance of a device provided in an embodiment of this application;

[0035] Figure 2 This is an operational schematic diagram of detecting ground tilt information using a two-dimensional tilt sensor, provided in an embodiment of this application.

[0036] Figure 3 This is a schematic diagram illustrating the principle of the dual closed-loop PI control method provided in the embodiments of this application;

[0037] Figure 4 This is a schematic diagram of the trolley arm of the surgical trolley provided in the embodiments of this application;

[0038] Figure 5 This is a schematic diagram of the structure of a control device for electric power assistance provided in an embodiment of this application;

[0039] Figure 6 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0040] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail. Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0041] Currently, heavy-duty electronic devices typically incorporate electric power assist systems. These systems drive a motor through closed-loop control to generate electrically compensated thrust, thereby assisting users in pushing the electronic devices more easily. However, conventional electric power assist systems usually use fixed closed-loop control parameters, resulting in poor adaptability to different usage scenarios and a decline in control performance. To address this technical problem, embodiments of this application provide a control method, apparatus, and electronic device for electric power assist, which can improve the adaptability and control performance of electric power assist for various usage scenarios. For more specific technical implementation details of the embodiments of this application, please refer to the method embodiments described below.

[0042] It should be understood that the implementing entities of the various method embodiments of this application are various types of electronic devices equipped with electric power assist systems, such as operating carts, surgical robots, electric vehicles, and electric wheelchairs, etc. The embodiments of this application do not impose any restrictions on the specific type of the electronic device.

[0043] Please see Figure 1 This application illustrates a control method for electric power assistance of a device, comprising:

[0044] 101. Determine the target speed of the mobile device based on the force applied by the user to it;

[0045] The device to be moved is the electronic device that the user needs to move. It can be any type of electronic device equipped with an electric power assist system. A push-pull force sensor on the device can detect the force applied by the user, which can be either a push or a pull force. For example, assuming the device to be moved is a surgical cart, a push-pull force sensor can be installed at the handle of its body. By detecting the push or pull force applied by the user, the force exerted by the user on the surgical cart can be determined.

[0046] After detecting the force applied by the user to the mobile device, the target speed of the mobile device is determined based on this force; that is, the force is mapped to the desired speed of the mobile device. In practice, the mobile device can be pre-set with appropriate moving speeds corresponding to various magnitudes of force, creating a force-vehicle speed mapping relationship. Based on this mapping relationship, the force currently applied by the user can be mapped to the target speed. In subsequent closed-loop control, the target speed can be used as the input to the speed loop.

[0047] 102. Obtain the current attitude of the device to be moved and the current tilt angle of the ground on which the device is located;

[0048] In the control method provided in this application embodiment, the magnitude of the electric compensation thrust is related to both the attitude of the device to be moved and the ground tilt angle. Therefore, it is necessary to obtain the current attitude of the device to be moved and the current tilt angle of the ground on which the device to be moved is located. The attitude of the device to be moved can be obtained through devices such as a control unit. For example, the overall control unit of a surgical cart can reflect the retraction / extension of the cart arm. A tilt sensor can be installed on the chassis of the device to be moved to detect the tilt angle of the ground on which the device to be moved is located.

[0049] 103. Determine the electric compensation thrust of the device to be moved based on the target velocity, current attitude, and current tilt angle;

[0050] After obtaining the target speed of the mobile device, its current attitude, and the current tilt angle of the ground, the electric compensation thrust of the mobile device is determined based on these parameters. Since the target speed is determined by the force applied by the user to the mobile device, this allows for adaptive adjustment of the electric compensation thrust according to the user's force, the device's current attitude, and the ground tilt angle. This effectively improves the adaptability and control performance of the device's electric assist in various usage scenarios.

[0051] In one implementation of this application, determining the electric compensation thrust of the mobile device to be moved based on the target velocity, current attitude, and current tilt angle includes:

[0052] (1) Determine the target parameters for closed-loop control based on the current attitude and current tilt angle;

[0053] (2) Perform closed-loop control on the electric assist system of the device to be operated according to the target parameters and target speed, and determine the electric compensation thrust based on the results of the closed-loop control.

[0054] In the control method provided in this application embodiment, the electric assist system of the device to be used can be controlled in a closed loop, such as PI closed-loop control or PID closed-loop control, to generate the required electric compensation thrust. Based on the current attitude and current tilt angle, target parameters for the closed-loop control (e.g., PI parameters or PID parameters) can be determined. These target parameters are closed-loop control parameters that are adapted to both the current attitude and current tilt angle. Then, using the target speed as the input to the closed-loop control, the electric assist system is controlled in a closed loop according to the target parameters, and the electric compensation thrust is determined based on the result of the closed-loop control. This setup enables adaptive closed-loop control based on the current attitude and current ground tilt angle of the device to be used, thereby achieving accurate determination of the electric compensation thrust and improving the scene adaptability of the device's electric assist.

[0055] In one implementation of this application, the target parameters for closed-loop control are determined based on the current attitude and current tilt angle, including:

[0056] From the parameter mapping relationship obtained in advance through calibration, find the closed-loop control parameters that are suitable for the current attitude and the current tilt angle, and use them as target parameters; wherein, the parameter mapping relationship records the closed-loop control parameters that are suitable for different equipment attitudes and different ground tilt angles respectively.

[0057] In practice, the appropriate closed-loop control parameters can be pre-defined under various equipment attitudes and ground tilt angles through calibration, thus establishing a corresponding parameter mapping relationship. Based on the current attitude and tilt angle, the appropriate closed-loop control parameters can then be found using this mapping relationship, serving as the target parameters. This parameter mapping relationship can be represented as a parameter mapping table; by looking up the table based on the current attitude and tilt angle, the appropriate closed-loop control parameters can be found.

[0058] In one implementation of this application, the closed-loop control parameters that are compatible with both the current attitude and the current tilt angle are searched from the parameter mapping relationship obtained in advance through calibration, and used as target parameters, including:

[0059] (1) Determine the calibrated tilt angle corresponding to the current tilt angle;

[0060] (2) From the parameter mapping relationship, find the closed-loop control parameters corresponding to the current attitude under the calibrated tilt angle and use them as target parameters.

[0061] Within the selectable angle range of ground tilt, there are countless possible tilt angle values ​​if further subdivided. Calibrating all these tilt angle values ​​to find suitable closed-loop control parameters would result in excessive data storage and is entirely unnecessary. Therefore, a certain number of tilt angle values ​​can be selected and calibrated within the selectable angle range according to a preset method. To ensure the safe movement of electronic equipment, the ground tilt angle is generally required to be within 10° when activating the electric power assist system. For example, tilt angle values ​​such as 0.5°, 1.5°, ..., 9.5° can be selected for calibration. If considering downhill scenarios, the ground tilt angle can also be negative, such as -0.5°, -1.5°, ..., -9.5°. Specifically, the calibrated tilt angle corresponding to the current tilt angle is found, and then the closed-loop control parameters corresponding to the current attitude under the condition of the calibrated tilt angle are found from the parameter mapping relationship and used as the target parameters. For example, assuming the current tilt angle is 1.8° and the current attitude of the device to be moved is attitude A, we can find the closest calibrated tilt angle of 1.5° to 1.8°. Then, from the parameter mapping relationship, we find the closed-loop control parameter corresponding to attitude A under the condition of tilt angle 1.5°, and use it as the target parameter. If the current attitude of the device to be moved is attitude B, then from the parameter mapping relationship, we find the closed-loop control parameter corresponding to attitude B under the condition of tilt angle 1.5°, and use it as the target parameter, and so on.

[0062] In one implementation of this application, the current tilt angle includes a horizontal angular component and a vertical angular component; determining the calibrated tilt angle corresponding to the current tilt angle includes:

[0063] (1) The horizontal and vertical angle components are weighted and summed to obtain the target angle value;

[0064] (2) Determine the angle range within which the target angle value is located;

[0065] (3) The tilt angle corresponding to the angle range that has been calibrated in advance is taken as the calibrated tilt angle.

[0066] For each calibrated tilt angle, a corresponding angle range can be set. Additionally, a two-dimensional tilt sensor mounted on the equipment chassis can detect the corresponding tilt angle information, including horizontal and vertical angle components, denoted as the X-direction and Y-direction angle components, respectively. By weighted summing of the X-direction and Y-direction angle components, the target angle value can be obtained. Then, the angle range within which the target angle value falls can be determined. Finally, the tilt angle corresponding to this angle range can be used as the calibrated tilt angle for the current tilt angle. For example, assuming the calibrated dip angles are β1, β2, β3, β4, and β5, where β1 corresponds to the angle range of (0°, 1°], β2 to (1°, 2°], β3 to (2°, 3°], β4 to (3°, 4°], and β5 to (4°, 5°], the target angle value β can be calculated using the formula β = AX + BY, where X represents the angle component in the X direction, Y represents the angle component in the Y direction, and A and B are weighting coefficients. Then, based on the magnitude of β, the angle range within which β lies can be determined, thus identifying the corresponding calibrated dip angle. For instance, assuming β is 1.5°, its angle range is (1°, 2°], therefore the corresponding calibrated dip angle can be determined as β2, and so on.

[0067] In one implementation of this application, the weighting coefficients for the weighted summation of the vertical angular components are positively correlated with the slope of the ground where the mobile device is located.

[0068] In the weighted summation of the target angle value, the weight coefficient of the vertical angle component can be positively correlated with the slope of the ground where the device is located; that is, the greater the ground slope, the greater the weight coefficient of the vertical angle component. For example, assuming the target angle value β = AX + BY, if the ground slope is greater, the weight coefficient B of the Y-direction angle component will be greater. By setting it this way, when the ground slope is large, the role of the Y-direction angle component is more prominent in calculating the target angle value, which can improve the rationality and accuracy of the tilt angle calculation to a certain extent.

[0069] like Figure 2 The diagram shown illustrates the operation of detecting ground tilt information using a two-dimensional tilt sensor. Figure 2 The left side indicates an uphill situation. Using a two-dimensional tilt sensor installed on the equipment chassis, the X-direction and Y-direction angular components of the ground tilt angle can be detected, and the corresponding ground slope is +5°. Figure 2 The right side indicates a downhill situation. Using the two-dimensional tilt sensor installed on the equipment chassis, the X-direction and Y-direction angular components of the ground tilt angle can also be detected, and the corresponding ground slope is -5°.

[0070] In one implementation of this application, the target parameters include speed loop PI parameters and current loop PI parameters.

[0071] This application embodiment can perform dual-closed-loop PI control on the electric assist system of the device under test, that is, PI closed-loop control of the current loop and acceleration loop. The force applied by the user, after being mapped to the target speed, can be used as the input of the speed loop. After passing through the PI regulator, dual-closed-loop control is performed, with the speed loop as the outer loop and the current loop as the inner loop. The PI regulator outputs motor control commands to drive the motor, thereby generating corresponding electric compensation thrust to realize the electric assist of the device.

[0072] As an example, suppose the ground tilt angles have been calibrated as β1, β2, β3, β4, and β5, and the device to be moved is a surgical trolley. It has two extreme working conditions, which correspond to the retracted state and the open state of the trolley arm, respectively.

[0073] The speed loop PI can be expressed as:

[0074] Fv(λ)=Kp v λ+Ki v λ

[0075] The velocity loop PI parameters adapted for each device posture and each calibrated tilt angle can be obtained through pre-calibration, as shown in Table 1 below:

[0076] Table 1

[0077] ground slope contraction state Open state <![CDATA[β1]]> <![CDATA[Fv1(Kp1 v ,Ki1 v )]]> <![CDATA[Fv6(Kp6 v ,Ki6 v )]]> <![CDATA[β2]]> <![CDATA[Fv2(Kp2 v ,Ki2 v )]]> <![CDATA[Fv7(Kp7 v Ki7 v )]]> <![CDATA[β3]]> <![CDATA[Fv3(Kp3 v Ki3 v )]]> <![CDATA[Fv8(Kp8 v ,Ki8 v )]]> <![CDATA[β4]]> <![CDATA[Fv4(Kp4 v ,Ki4 v )]]> <![CDATA[Fv9(Kp9 v Ki9 v )]]> <![CDATA[β5]]> <![CDATA[Fv5(Kp5 v ,Ki5 v )]]> <![CDATA[Fv 10 (Kp10 v ,Ki10 v )]]>

[0078] In Table 1, Fv1(Kp1) v Ki1 v ) indicates the adapted velocity loop PI parameters, Fv2(Kp2), when the equipment is in a retracted state and the ground tilt angle is β1. v Ki2 v This indicates the adapted velocity loop PI parameters, Fv6(Kp6), when the equipment is in a retracted state and the ground tilt angle is β2. v Ki6 v ) indicates the appropriate speed loop PI parameters when the equipment is in an open state and the ground tilt angle is β1, and so on.

[0079] Similarly, assuming the ground tilt angles have been calibrated as β1, β2, β3, β4, and β5, and the device to be moved is a surgical trolley, there are two extreme working conditions, corresponding to the contracted state and the open state of the trolley arm, respectively.

[0080] The current loop PI can be expressed as:

[0081] Fi(a)=Kp i a+Ki i a

[0082] The current loop PI parameters adapted for each device posture and each calibrated tilt angle can be obtained through pre-calibration, as shown in Table 2 below:

[0083] Table 2

[0084] ground slope contraction state Open state <![CDATA[β1]]> <![CDATA[Fi1(Kp1 i ,Ki1 i )]]> <![CDATA[Fi6(Kp6 i ,Ki6 i )]]> <![CDATA[β2]]> <![CDATA[Fi2(Kp2 i ,Ki2 i )]]> <![CDATA[Fi7(Kp7 i Ki7 i )]]> <![CDATA[β3]]> <![CDATA[Fi3(Kp3 i Ki3 i )]]> <![CDATA[Fi8(Kp8 i ,Ki8 i )]]> <![CDATA[β4]]> <![CDATA[Fi4(Kp4 i ,Ki4 i )]]> <![CDATA[Fi9(Kp9 i Ki9 i )]]> <![CDATA[β5]]> <![CDATA[Fi5(Kp5 i ,Ki5 i )]]> <![CDATA[Fi 10 (Kp10 i ,Ki10 i )]]>

[0085] In Table 2, Fi1(Kp1) i Ki1 i ) indicates the appropriate current loop PI parameters when the equipment is in a retracted state and the ground tilt angle is β1, Fi2(Kp2) i Ki2 i ) indicates the appropriate current loop PI parameters when the equipment is in a retracted state and the ground tilt angle is β2, Fi6(Kp6) i Ki6 i ) indicates the appropriate current loop PI parameters when the device is in an open state and the ground tilt angle is β1, and so on.

[0086] It should be noted that Tables 1 and 2 only list the PI parameters adapted to 5 ground tilt angles and 2 equipment attitudes respectively. In actual operation, more ground tilt angles and more equipment attitudes can be obtained through calibration.

[0087] like Figure 3 The diagram shown is a schematic representation of the dual closed-loop PI control method provided in this application embodiment. Figure 3 Taking the operating room cart as an example, when the user applies a push or pull force through the handle, the force sensor detects the force. The force controller then maps this force to a target speed, which becomes the input to the speed loop. Additionally, after receiving the current ground tilt angle detected by the tilt sensor and the current posture of the operating room cart (e.g., the state of the cart arm), the main controller selects closed-loop control parameters suitable for the current scenario based on these parameters: speed loop PI parameters and current loop PI parameters. Using the target speed as the speed loop input, and performing dual closed-loop PI control according to the selected speed loop and current loop PI parameters, the PI controller outputs motor control commands to drive the motor and generate the corresponding electric compensation thrust.

[0088] The generation of electric compensation thrust is a real-time adjustment process. That is, as the user pushes the device to be moved, changes in the user's force, ground tilt angle, and device attitude are detected in real time. If changes occur, the closed-loop control parameters are updated in real time based on the changed user force, ground tilt angle, and device attitude, thereby updating the electric compensation thrust accordingly. Furthermore, in Figure 3 In the dual-closed-loop PI control method shown, the adjustment frequency of speed and current is much higher than the detection frequency of ground tilt angle and equipment attitude, so as to ensure that the adjustment effect of dual-closed-loop PI control can be reflected every time the ground tilt angle or equipment attitude changes.

[0089] In one implementation of this application, the center of gravity of the mobile device is related to its current attitude, and the electric compensation thrust is positively correlated with the target distance, which is the distance between the center of gravity and the position where the force is applied.

[0090] Changes in the posture of the mobile device will cause a shift in its center of gravity. Figure 4 Taking the schematic diagram of the surgical trolley arm as an example, the trolley arm has different postures, such as a retracted state, an open state, and a semi-open state, which will cause the center of gravity of the surgical trolley to shift, thus affecting the electric compensation thrust of the entire vehicle. Specifically, let the target distance represent the distance between the center of gravity of the device to be moved and the position where the user's force is applied. Then, the electric compensation thrust required by the device to be moved is positively correlated with the target distance. That is, the larger the target distance, the larger the electric compensation thrust required.

[0091] 104. The device to be moved is driven by electric compensation thrust to enable it to reach the target speed.

[0092] After determining the electric compensation thrust of the device to be moved, the device is driven based on this electric compensation thrust to achieve the target speed. The electric compensation thrust affects the magnitude of the device's acceleration. Utilizing the electric compensation thrust generated in step 103, it is possible to achieve the target speed in a short time while ensuring safety and maintaining user comfort when pushing the device.

[0093] This embodiment first determines the target speed of the mobile device based on the force applied by the user, and obtains the current attitude of the mobile device and the current tilt angle of the ground. Then, it determines the electric compensation thrust of the mobile device based on the target speed, current attitude, and current tilt angle. Finally, it drives the mobile device based on the electric compensation thrust to achieve the target speed. With this configuration, the electric compensation thrust obtained when implementing electric assistance is determined by the user's force, current attitude, and ground tilt angle. This means the electric compensation thrust can be adaptively adjusted according to the user's force, the device's current attitude, and the ground tilt angle, thus improving the adaptability and control effect of the electric assistance for various usage scenarios.

[0094] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0095] The above mainly describes a control method for electric power assistance in equipment. The following will describe a control device for electric power assistance in equipment.

[0096] Please see Figure 5 One embodiment of the control device for electric power assistance in this application includes:

[0097] The speed determination module 501 is used to determine the target speed of the mobile device based on the force applied by the user to the mobile device.

[0098] The parameter acquisition module 502 is used to acquire the current attitude of the mobile device and the current tilt angle of the ground where the mobile device is located;

[0099] The electric assist determination module 503 is used to determine the electric compensation thrust of the mobile device to be moved based on the target speed, current attitude and current tilt angle.

[0100] The equipment control module 504 is used to drive the device to be moved based on electric compensated thrust so that the device to be moved can reach the target speed.

[0101] In one implementation of this application, the electric power assist determination module includes:

[0102] The parameter determination submodule is used to determine the target parameters for closed-loop control based on the current attitude and current tilt angle.

[0103] The closed-loop control submodule is used to perform closed-loop control of the electric assist system of the device to be operated according to the target parameters and target speed, and to determine the electric compensation thrust based on the results of the closed-loop control.

[0104] In one implementation of this application, the parameter determination submodule includes:

[0105] The parameter lookup unit is used to find closed-loop control parameters that are compatible with the current attitude and current tilt angle from the parameter mapping relationship obtained in advance through calibration, and use them as target parameters; wherein, the parameter mapping relationship records the closed-loop control parameters that are compatible under different equipment attitudes and different ground tilt angles.

[0106] In one implementation of this application, the parameter lookup unit includes:

[0107] The tilt angle determination sub-unit is used to determine the calibrated tilt angle corresponding to the current tilt angle;

[0108] The parameter lookup subunit is used to find the closed-loop control parameters corresponding to the current attitude under the calibrated tilt angle from the parameter mapping relationship, and use them as target parameters.

[0109] In one implementation of this application, the current tilt angle includes a horizontal angular component and a vertical angular component; the tilt angle determination subunit includes:

[0110] The weighted summation subunit is used to perform weighted summation on the horizontal and vertical angle components to obtain the target angle value.

[0111] The range interval determination sub-unit is used to determine the angle range interval in which the target angle value is located;

[0112] The calibrated tilt angle determination sub-unit is used to take the tilt angle corresponding to the pre-calibrated angle range as the calibrated tilt angle.

[0113] In one implementation of this application, the weighting coefficients for the weighted summation of the vertical angular components are positively correlated with the slope of the ground where the mobile device is located.

[0114] In one implementation of this application, the target parameters include speed loop PI parameters and current loop PI parameters.

[0115] In one implementation of this application, the center of gravity of the mobile device is related to its current attitude, and the electric compensation thrust is positively correlated with the target distance, which is the distance between the center of gravity and the position where the force is applied.

[0116] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the device electric assist control method as described in any of the above embodiments.

[0117] This application also provides a computer program product that, when run on an electronic device, causes the electronic device to execute the control method for device electric assist as shown in any of the above embodiments.

[0118] Figure 6 This is a schematic diagram of an electronic device provided in an embodiment of this application. Figure 6 As shown, the electronic device 6 of this embodiment includes: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60. When the processor 60 executes the computer program 62, it implements the steps in the embodiments of the electric power assist control methods for the various devices described above, for example... Figure 1 Steps 101 to 104 are shown. Alternatively, when the processor 60 executes the computer program 62, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 5 The functions of modules 501 to 504 are shown.

[0119] The computer program 62 can be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 62 in the electronic device 6.

[0120] The processor 60 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0121] The memory 61 can be an internal storage unit of the electronic device 6, such as a hard disk or memory. The memory 61 can also be an external storage device of the electronic device 6, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 61 can include both internal and external storage units of the electronic device 6. The memory 61 is used to store the computer program and other programs and data required by the electronic device. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0122] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0123] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0124] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0125] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0126] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units through some interfaces, and may be electrical, mechanical, or other forms.

[0127] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0128] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0129] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0130] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A control method for electric power assistance in equipment, characterized in that, include: The target speed of the mobile device is determined based on the force applied by the user to the mobile device. Obtain the current attitude of the mobile device to be used and the current tilt angle of the ground on which the mobile device is located; The electric compensation thrust of the device to be moved is determined based on the target velocity, the current attitude, and the current tilt angle. The device to be moved is driven by the electric compensation thrust so that it reaches the target speed.

2. The method as described in claim 1, characterized in that, Determining the electric compensation thrust of the mobile device based on the target velocity, the current attitude, and the current tilt angle includes: Based on the current attitude and the current tilt angle, determine the target parameters for closed-loop control; The electric assist system of the device to be moved is controlled in a closed loop according to the target parameters and the target speed, and the electric compensation thrust is determined based on the result of the closed loop control.

3. The method as described in claim 2, characterized in that, The step of determining the target parameters for closed-loop control based on the current attitude and the current tilt angle includes: From the parameter mapping relationship obtained in advance through calibration, find the closed-loop control parameter that is suitable for both the current attitude and the current tilt angle, and use it as the target parameter; wherein, the parameter mapping relationship records the closed-loop control parameters that are suitable for different equipment attitudes and different ground tilt angles respectively.

4. The method as described in claim 3, characterized in that, The step of finding closed-loop control parameters that are compatible with both the current attitude and the current tilt angle from the parameter mapping relationship obtained in advance through calibration, and using these parameters as the target parameters, includes: Determine the calibrated tilt angle corresponding to the current tilt angle; From the parameter mapping relationship, find the closed-loop control parameter corresponding to the current attitude under the calibrated tilt angle, and use it as the target parameter.

5. The method as described in claim 4, characterized in that, The current tilt angle includes a horizontal angle component and a vertical angle component; determining the calibrated tilt angle corresponding to the current tilt angle includes: The target angle value is obtained by performing a weighted summation on the horizontal and vertical angle components. Determine the angular range within which the target angle value lies; The tilt angle corresponding to the pre-calibrated angle range is taken as the calibrated tilt angle.

6. The method as described in claim 5, characterized in that, The weighting coefficients for the weighted summation of the vertical angular components are positively correlated with the slope of the ground where the mobile device is located.

7. The method as described in claim 2, characterized in that, The target parameters include the velocity loop PI parameters and the current loop PI parameters.

8. The method according to any one of claims 2 to 7, characterized in that, The center of gravity of the device to be moved is related to the current attitude, and the electric compensation thrust is positively correlated with the target distance, which is the distance between the center of gravity and the position where the force is applied.

9. A control device for electric power assistance in equipment, characterized in that, include: The speed determination module is used to determine the target speed of the mobile device based on the force applied by the user to the mobile device. The parameter acquisition module is used to acquire the current attitude of the mobile device to be used and the current tilt angle of the ground on which the mobile device to be used is located; An electric assist determination module is used to determine the electric compensation thrust of the mobile device to be moved based on the target speed, the current attitude, and the current tilt angle. The equipment control module is used to drive the device to be moved based on the electric compensation thrust, so that the device to be moved reaches the target speed.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method for electric power assistance of the device as described in any one of claims 1 to 8.

Images