Device control method, device control apparatus, storage medium, and electronic device

Abstract

The application discloses a device control method and device, a storage medium and an electronic device; in the case that the wheel of the target device meets a preset load imbalance condition, a statistical distribution characteristic value corresponding to a current value of a motor driving the wheel is acquired; based on the statistical distribution characteristic value and the current value of the motor, a speed correction amount of the motor is determined; for the speed correction amount of each motor, if the speed correction amount exceeds a second preset range, the speed correction amount is adjusted to a second preset value; the speed correction amounts of the motors are averaged to obtain a speed correction amount average; the speed correction amount of each motor is subtracted from the speed correction amount average to obtain a new speed correction amount of each motor; if the speed correction amount exceeds the second preset range, the speed correction amount is adjusted to a second preset value in the second preset range; and the angular velocity of the motor is adjusted according to the speed correction amount. In this way, the situation that the wheel load imbalance of the device leads to damage of the wheel and associated components can be solved or improved.

Description

Technical Field

[0001] This application relates to the field of computer technology, and more specifically to a device control method, apparatus, storage medium, and electronic device. Background Technology

[0002] In vehicles such as four-way vehicles that travel on wheels, wheel assembly errors and uneven loads can easily lead to unbalanced loads between wheels, which can damage the wheels and their related components.

[0003] Taking a four-way vehicle as an example, as a heavy-duty material handling device in the warehousing and logistics field, it is mainly used in scenarios involving the transfer of heavy-duty, high-load materials. However, under high load conditions, track geometry errors and wheel assembly errors are amplified, leading to significant internal forces between the motors. This manifests as an uneven load, with one side of the motor being heavily loaded and overcurrent, while the other side is lightly loaded and idling. In this situation, if adjustments are not made in time, it is highly likely to damage the motor-driven wheels, affecting the normal operation of the four-way vehicle. Summary of the Invention

[0004] This application provides a device control method, apparatus, storage medium, and electronic device that can balance the load on multiple wheels in a target device, effectively solving or improving the situation where uneven load on multiple wheels causes damage to the wheels and their associated components.

[0005] This application provides a device control method, including: When the wheels in the target device meet the preset load imbalance condition, obtain the statistical distribution characteristic value corresponding to the current value of the motor driving the wheels; Based on the statistical distribution characteristic value and the current value of the motor, the speed correction amount corresponding to the motor is determined; For the speed correction amount of each motor, if the speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range; The average speed correction of the motor is calculated to obtain the average speed correction. Subtract the average speed correction value from the speed correction value of each motor to obtain the new speed correction value for each motor. For each motor, if the new speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range. The angular velocity of the motor is adjusted according to the speed correction amount corresponding to the motor, so as to make the load of the multiple wheels balanced.

[0006] Accordingly, embodiments of this application provide a device control apparatus, including: The acquisition unit is used to acquire the statistical distribution characteristic value corresponding to the current value of the motor driving the wheel when the wheel in the target device meets the preset load imbalance condition; The determining unit is used to determine the speed correction amount corresponding to the motor based on the statistical distribution characteristic value and the current value of the motor; The first adjustment unit is used to adjust the speed correction amount of each motor to a second preset value within the second preset range if the speed correction amount exceeds the second preset range. The first calculation unit is used to calculate the average value of the speed correction amount of the motor to obtain the average speed correction amount; The second calculation unit is used to subtract the average speed correction value from the speed correction value of each motor to obtain the new speed correction value of each motor. The second adjustment unit is used to adjust the speed correction amount to a second preset value within the second preset range if the speed correction amount exceeds the second preset range. The correction unit is used to adjust the angular velocity of the motor according to the speed correction amount corresponding to the motor, so as to balance the load of the multiple wheels.

[0007] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a computer program adapted for loading by a processor to execute steps in any of the device control methods provided in embodiments of this application.

[0008] Furthermore, embodiments of this application also provide an electronic device, including a processor and a memory, wherein the memory stores an application program, and the processor is used to run the application program in the memory to implement the device control method provided in embodiments of this application.

[0009] This application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. When the processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, causing the electronic device to perform the steps in the device control method provided in this application.

[0010] This application embodiment obtains the statistical distribution characteristic value corresponding to the current value of the motor driving the wheel when the wheels in the target device meet the preset load imbalance condition; based on the statistical distribution characteristic value and the motor current value, determines the speed correction amount corresponding to the motor; for each motor speed correction amount, if the speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range; the average speed correction amount of the motors is calculated to obtain the average speed correction amount; the average speed correction amount of each motor is subtracted from the speed correction amount of each motor to obtain the new speed correction amount of each motor; for each new speed correction amount of each motor, if the speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range; according to the speed correction amount corresponding to the motor, the angular velocity of the motor is adjusted to make the load of multiple wheels balanced. Therefore, when there is an imbalance in the load on multiple wheels of the target equipment, a statistical distribution characteristic value is calculated based on the current value of the motor of each wheel. Based on the statistical distribution characteristic value and the current value, the speed correction amount for each motor is determined. The speed correction amount is then used to adjust the angular velocity of the motor in a timely manner to balance the load on multiple wheels. This can effectively solve or improve the situation where the wheels and their related components are damaged due to the imbalance in the load on multiple wheels in the equipment. At the same time, by limiting the speed correction amount and projecting it with zero mean, the average speed of the whole vehicle can be maintained during load distribution, reducing the impact of balancing on speed tracking and further improving the control efficiency of the equipment. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram illustrating an implementation scenario of a device control method provided in an embodiment of this application; Figure 2 This is a schematic flowchart of a device control method provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the device control apparatus provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0013] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0014] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified. Furthermore, the use of "based on" implies openness and inclusivity, because processes, steps, calculations, or other actions "based on" one or more conditions or values ​​may in practice be based on additional conditions or values ​​beyond those stated.

[0015] This application provides a device control method, apparatus, storage medium, and electronic device. The device control apparatus can be integrated into an electronic device, which can be a server, a terminal, or other similar device.

[0016] The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. The terminal can include, but is not limited to, four-way vehicles, computers, mobile phones, smart voice interaction devices, smart home appliances, in-vehicle terminals, and aircraft. The terminal and server can be directly or indirectly connected via wired or wireless communication, and this application does not impose any restrictions.

[0017] Please see Figure 1 Taking the integration of equipment control devices into electronic devices as an example, Figure 1This is a schematic diagram illustrating an implementation scenario of the device control method provided in this application. The electronic device, when the wheels in the target device meet a preset load imbalance condition, obtains the statistical distribution characteristic value corresponding to the current value of the motor driving the wheels; based on the statistical distribution characteristic value and the motor current value, determines the speed correction amount corresponding to the motor; for each motor's speed correction amount, if the speed correction amount exceeds a second preset range, adjusts the speed correction amount to a second preset value within the second preset range; calculates the average speed correction amount of the motors to obtain the average speed correction amount; subtracts the average speed correction amount from each motor's speed correction amount to obtain a new speed correction amount for each motor; for each motor's new speed correction amount, if the speed correction amount exceeds a second preset range, adjusts the speed correction amount to a second preset value within the second preset range; and adjusts the angular velocity of the motors according to the corresponding speed correction amount to achieve balanced load on multiple wheels.

[0018] It should be noted that, Figure 1 The illustrated scenario of the device control method is merely an example. The implementation environment of the device control method described in this application is intended to more clearly illustrate the technical solutions of this application and does not constitute a limitation on the technical solutions provided in this application. Those skilled in the art will recognize that, with the evolution of data processing and the emergence of new business scenarios, the technical solutions provided in this application are equally applicable to similar technical problems.

[0019] The solutions provided in this application are specifically illustrated through the following embodiments. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments.

[0020] This embodiment will be described from the perspective of a device control device, which can be integrated into an electronic device, which can be a terminal and / or a server, and this application does not impose any limitations on it.

[0021] Please see Figure 2 , Figure 2 This is a schematic flowchart of a device control method provided in an embodiment of this application. The device control method includes: In step 101, when the wheels in the target device meet the preset load imbalance condition, the statistical distribution characteristic value corresponding to the current value of the motor driving the wheels is obtained.

[0022] The target device can be a device that moves by controlling at least two wheels. For example, the target device can be a handling device that performs handling tasks by controlling the rotation of at least two wheels. The target device can include at least one degree of freedom of movement, such as translational degrees of freedom in at least one of the X (forward / backward), Y (left / right), and Z (up / down) directions in the horizontal plane. At least two wheels can be configured in one degree of freedom of movement, and each wheel can be driven by an independent servo motor. The current value can be the current value of the motor for each wheel. The motor can be a motor that drives the wheels to rotate, and each wheel is driven by a motor. For example, when the target device moves using four wheels in one degree of freedom of movement, each wheel is driven by a separate motor. The statistical distribution characteristic value can be information describing the distribution characteristics of the current values ​​of the motors of multiple wheels, such as the average, standard deviation, and median of the current values ​​of multiple motors. The preset load imbalance condition can be a condition used to measure whether there is a load imbalance among the wheels in the target device.

[0023] In one embodiment, the target device can be a four-way shuttle (referred to as a four-way vehicle). A four-way vehicle is an intelligent warehousing and logistics device designed to run on rack tracks. It has the ability to move linearly in two mutually perpendicular directions in a horizontal plane: the X-axis (front-back) and the Y-axis (left-right). Through two sets of independent drive wheel systems, the four-way vehicle can travel in four directions: front, back, left, and right, hence the name "four-way vehicle." In some implementation scenarios, the four-way vehicle can be used as a heavy-duty handling device, applied to high-load material transfer scenarios involving heavy weights (e.g., 1200 kg, 800 kg).

[0024] Optionally, when acquiring the motor current value, a low-pass filter can be used to remove current spike noise under high load. For example, a second-order Butterworth low-pass filter (with a cutoff frequency of 50 Hz) can be used to filter the motor current, thereby improving the accuracy of current sampling.

[0025] There are several ways to obtain the statistical distribution characteristic value corresponding to the current value of the motor driving the wheel. For example, the current value of the motor can include the current current value and the historical current value of the motor. The current current value can be the current value of the motor when the wheel it drives meets the preset load imbalance condition. In this way, the current current value and the historical current value can be weighted and summed based on the first preset weight corresponding to the current current value and the second preset weight corresponding to the historical current value to obtain the target current value corresponding to the motor. Based on the target current value corresponding to the motor, the statistical distribution characteristic value is calculated.

[0026] The historical current value can be the current value collected during the historical sampling period. The first preset weight can be the weight corresponding to the current current value. The second preset weight can be the weight corresponding to the historical current value. The target current value can be the result of a weighted sum of the historical current value and the current current value.

[0027] For example, suppose the first preset weight corresponding to the current current value I0 is 0.4. This historical current value can include the current values ​​sampled in the last three sampling periods, namely I1, I2, and I3. Here, I1 is the current value sampled in the previous sampling period, with a corresponding second preset weight of 0.3. I2 is the current value sampled in the previous sampling period of I1, with a corresponding second preset weight of 0.2. I3 is the current value sampled in the previous sampling period of I2, with a corresponding second preset weight of 0.1. Therefore, based on the first preset weight corresponding to the current current value and the second preset weight corresponding to the historical current values, a weighted sum of the current current value and the historical current values ​​can be performed to obtain the target current value Im corresponding to the motor, expressed as: Im=0.4×I0+0.1×I3+0.2×I2+0.3×I1 Then, statistical distribution characteristic values ​​can be calculated based on the target current values ​​corresponding to multiple motors of the target device. For example, the average of the target current values ​​of multiple motors can be calculated to obtain the statistical distribution characteristic values.

[0028] Therefore, this application embodiment uses a sliding weighted average method to calculate the statistical distribution characteristic value corresponding to the current value of the motor driving each wheel based on historical current values ​​and current current values. This avoids the influence of instantaneous fluctuations in motor current on the calculation results, thereby improving the accuracy of the statistical distribution characteristic value.

[0029] Optionally, the preset load imbalance condition may include at least one of the following: the motor current value meets the preset current difference condition, the motor temperature meets the preset temperature condition, and the motor torque deviation value is within a preset difference range.

[0030] The preset current difference condition can be used to measure the current difference between the motors of multiple wheels, indicating a lack of load balance among the wheels. The preset temperature condition can be used to measure the temperature difference between the motors of multiple wheels, indicating a lack of load balance among the wheels. The torque deviation value describes the torque difference between the motors of multiple wheels and can be used to measure the internal force between the wheels in the target device. The preset difference range can be used to measure the torque deviation value between the motors of multiple wheels, indicating a lack of load balance among the wheels.

[0031] Optionally, the preset current difference condition includes at least one of the following: the current variation coefficient obtained based on the current value is within a preset coefficient range, and the difference between the integral values ​​of the current values ​​is greater than a preset difference threshold.

[0032] The coefficient of variation (CV) can be a statistical indicator used to measure the dispersion or volatility of current data. The preset coefficient range can be a range used to measure the abnormal fluctuations in the current values ​​of multiple motors; for example, it can be a range of 11% to 30%, 10% to 20%, etc. The specific value range can be set according to actual conditions, and this embodiment does not limit it. The difference in the integral values ​​of the current values ​​can be the difference in the integral values ​​of the current values ​​of different motors within a preset time period. The preset difference threshold can be a threshold used to measure the abnormal fluctuations in the current values ​​of different motors.

[0033] There are several ways to calculate the coefficient of variation of current based on the current values ​​of multiple motors. For example, the average and standard deviation can be calculated based on the absolute values ​​of the current values ​​of the motors of multiple wheels. Then, the standard deviation can be divided by the average value, and then multiplied by 100% to obtain the coefficient of variation of current.

[0034] Therefore, by using the current variation coefficient to measure whether there is an abnormality in the fluctuation of motor current, the embodiments of this application can eliminate the influence of current level differences, more objectively reflect the dispersion of current values ​​of multiple motors, and thus more accurately assess whether there is an unbalanced load on multiple wheels.

[0035] For example, if the coefficient of variation of the current corresponding to the motors of multiple wheels is within a preset coefficient range, and / or, the difference in the integral value of the current value of the motors of multiple wheels is greater than a preset difference threshold, then it can be determined that the current value of the motors of multiple wheels of the target device meets the preset current difference condition.

[0036] In one embodiment, the preset temperature condition includes at least one of the following: the temperature difference between two motors in the motor is within a preset temperature difference range, and the temperature of one motor in the motor is greater than a preset temperature threshold.

[0037] The preset temperature difference range can be used to measure the abnormal temperature difference between the motors of multiple wheels, and can be used to assess whether the temperature difference between the motors of multiple wheels is not in line with the load balance among the wheels. For example, if the temperature difference between two motors in a multi-wheeled device falls within this preset temperature difference range, it indicates that the temperature difference between the motors of multiple wheels is abnormal, that is, it indicates that the multiple wheels of the target device are under unbalanced load. This preset temperature difference range can be 5℃-10℃, etc., and the specific temperature difference range can be set according to actual conditions. The preset temperature threshold can be used to measure the abnormal temperature of the motors of multiple wheels, and can be used to assess whether the temperature of the motors of multiple wheels is not in line with the load balance among the wheels. For example, if the temperature value of at least one motor is greater than this preset temperature threshold, it indicates that there is an abnormal motor temperature among the multiple wheeled devices, and can be used to indicate that the multiple wheels of the target device are under unbalanced load. In one example, this preset temperature threshold can be a temperature threshold such as 55℃, 58℃, or 60℃.

[0038] In one embodiment, the temperature rise of the motors of multiple wheels in the target device can be predicted. When it is predicted that the temperature of the motor will exceed a preset temperature threshold (e.g., 55°C) after a preset time, it can be determined that the multiple wheels in the target device meet the preset load imbalance condition. The load balancing process of the multiple wheels in the target device can be performed in advance. For example, the load of the target device can be reduced in advance and the adjustment range of the angular velocity of the motor based on the speed correction amount can be increased.

[0039] There are several ways to predict the temperature rise of the motors of multiple wheels in the target device. For example, the temperature value of the motors can be predicted after a preset time based on the current temperature and current value of the motors of multiple wheels in the target device. The preset time can be 10 seconds, 15 seconds, etc., and the specific value of the preset time can be set according to actual needs. This application embodiment does not limit this.

[0040] Optionally, a temperature prediction coefficient can be obtained. The value of the temperature prediction coefficient can be related to the load condition of the target device, so that the temperature value of the motor after a preset time can be predicted based on the current temperature value, current value and temperature prediction coefficient of the motors of multiple wheels in the target device.

[0041] For example, the following formula can be used to predict the temperature of the motors after a preset time, based on the current temperature and current values ​​of the motors of multiple wheels in the target device: T_pred=T_current+k×∫(I²) dt Where T_pred represents the predicted temperature of the motor after a preset time, T_current represents the current temperature of the motor, and I represents the current current of the motor. k can be the temperature prediction coefficient, which can be greater under high load than under low load. dt represents the derivative of variable t, where t can represent time.

[0042] In one embodiment, the internal forces of multiple wheels in the target device can be calculated, and the results can be used to determine whether the multiple wheels in the target device meet a preset load imbalance condition. For example, the vector sum and average value of the current values ​​of each motor can be calculated. Then, the difference between the vector sum and the average value can be calculated and multiplied by the torque coefficient to obtain the torque deviation value, which is the internal force among the multiple wheels. When the torque deviation value is greater than a preset threshold (e.g., 8 amperes), it can be determined that the multiple wheels in the target device meet the preset load imbalance condition, thereby triggering load balancing processing for the target device.

[0043] In one embodiment, the device control method provided in this application can use a data structure of a single-wheel state container (WheelData) and a global monitor (WheelOdometry) for data acquisition and processing. WheelData can include elements such as motion quantity, electrical quantity, heat, anomaly management, and metadata. Motion quantity can include information such as the current / previous pulse, current / previous timestamp, instantaneous speed, and filtered speed. Electrical quantity can include information such as current current, current history queue, window size, average current, and current anomaly flag. Heat can include information such as current temperature and temperature anomaly flag. Anomaly management can include information such as valid flags, error messages, continuous anomaly counts, persistent anomaly flags, last valid speed, and asymmetric state values. The metadata can include information such as wheel name and motor identifier (ID). WheelOdometry can include information such as configuration parameters and operating status. The configuration parameters can include physical constants (wheel diameter, transmission ratio, pulse count, sampling period, etc.), physical limits (speed, acceleration, current, temperature, etc.), statistical thresholds (speed, speed difference, speed ratio, current, temperature, minimum detection speed, etc.), and continuous anomaly thresholds. The operating status can include information such as wheel list, current buffer, and asymmetric detection state machine.

[0044] In step 102, the speed correction amount corresponding to the motor is determined based on the statistical distribution characteristic value and the motor current value.

[0045] The speed correction amount can be a parameter used to adjust the angular velocity of the motor.

[0046] There are several ways to determine the speed correction amount of a motor based on statistical distribution characteristic values ​​and motor current values. For example, the load indication coefficient can be obtained, which is used to indicate the load status of the target equipment; the speed correction amount of the motor can be determined based on statistical distribution characteristic values, motor current values, and load indication coefficient.

[0047] The load indication coefficient can be a coefficient associated with the load condition of the target device. It can be used to adjust the speed correction of the motor based on the load condition of the target device, thereby matching the current load condition of the target device and improving the accuracy of speed correction.

[0048] The value of this load indication coefficient can vary depending on the load conditions. For example, the specific value of the load indication coefficient can be determined based on the load conditions of the target device.

[0049] Optionally, different load indication coefficients can correspond to different load ranges. The load indication coefficient is positively correlated with the load range. The larger the load, the larger the load indication coefficient determined based on the corresponding load range.

[0050] For example, multiple load ranges can be set for the target device, such as (0, 50 kg), (50 kg, 90 kg), (90 kg, 120 kg), etc. Each load range can be configured with a corresponding load indication coefficient. For example, the load indication coefficient for the load range (0, 50 kg) is 0.02, the load indication coefficient for the load range (50 kg, 90 kg) is 0.03, and the load indication coefficient for the load range (90 kg, 120 kg) is 0.05, etc. Thus, the corresponding load indication coefficient can be determined based on the load range into which the target device's load falls.

[0051] In one embodiment, there are several ways to determine the speed correction amount for each motor based on the statistical distribution characteristic value, the motor current value, and the load indication coefficient. For example, the difference between the current value and the statistical distribution characteristic value of each motor can be calculated, and then the difference can be multiplied by the load indication coefficient to obtain the speed correction amount for each motor. For example, it can be expressed as: Δω_i=-k_share×(I_f_i-I_avg) Where k_share is the load indication coefficient, which can be a dynamic droop coefficient. Δω_i can be the speed correction amount corresponding to the i-th motor in the target device. I_f_i can be the current value of the i-th motor in the target device. I_avg can be the statistical distribution characteristic value.

[0052] In related equipment control methods, the angular velocity of each wheel needs to be calculated based on the required linear velocity of the entire vehicle. Since the angular velocities of all wheels are consistent, the motor uses this angular velocity as a reference to control wheel rotation. In this embodiment, considering the uneven load distribution among multiple wheels, the same angular velocity can cause over-constraint on multiple wheels, leading to collisions or compression between them, and consequently damaging the wheels and related components. Therefore, in this embodiment, the speed correction amount for each motor can be determined based on the actual load of each wheel. This allows for targeted speed correction of the motors corresponding to each wheel, thereby improving or eliminating the uneven load distribution among multiple wheels in the target equipment.

[0053] In this embodiment, the motor controller is balanced, providing each motor with a different speed reference to achieve load sharing among multiple wheels within an allowable error / elasticity range. For example, unavoidable geometric errors are released through mechanical or control compliance, preventing one side from being constantly fully loaded. The motor driver maintains its speed mode and speed increment control, but instead of providing each motor with the exact same speed reference, the controller determines the corresponding speed correction based on the current (approximate torque) of each motor, thereby achieving load sharing and balancing. Specifically, this embodiment uses a reference value proportional to the load of the target device to fine-tune the speed correction. For motors with high current (i.e., high torque), a slightly smaller speed reference is given to reduce their tolerance for geometric errors; for motors with low current, a slightly larger speed reference is given to allow them to share more load pressure. This achieves the release of internal forces among multiple wheels in the target device with minimal speed difference, causing the motor current to naturally converge to a uniform state, thus achieving load balancing among multiple wheels.

[0054] In one embodiment, to further improve the accuracy of the determined speed correction amount, the current error can be integrated so that different motors can automatically find a suitable correction amount through time accumulation.

[0055] There are several ways to determine the speed correction amount of the motor based on the statistical distribution characteristic value, the motor current value, and the load indication coefficient. For example, the deviation of the motor current value at the current moment can be calculated based on the statistical distribution characteristic value and the motor current value at the current moment; the current value deviation can be integrated, and the first correction amount component can be obtained based on the integration result and the load indication coefficient; the second correction amount component can be determined based on the speed correction amount of the motor at the previous moment; and the speed correction amount of the motor can be determined based on the first correction amount component and the second correction amount component.

[0056] The current deviation value can be the difference between the statistical distribution characteristic value and the current value of the motor at the current moment. The first correction component and the second correction component can be components of the speed correction.

[0057] Optionally, a leakage integrator can be used to calculate the corresponding speed correction for the motor. The leakage integrator can be used to measure the average signal amplitude over a period of time.

[0058] For example, for each motor, first calculate the current deviation: e_i = I_avg - I_f_i. Then, use the difference equation of the leakage integrator to generate the equalized speed correction in a unified direction:

[0059] Where Δω_int_i[k] can represent the speed correction amount corresponding to the current moment of the motor, and Δω_int_i[k-1] can represent the speed correction amount corresponding to the previous moment of the motor. It can represent the second correction component. This can be represented as the first correction component. e_i > 0 indicates that the current load on the motor is too low, and the angular velocity should be increased. e_i < 0 indicates that the current load on the motor is too high, and the angular velocity should be decreased. `leak` can be represented as a leakage term, which can be used to gradually release stale corrections to prevent long-term residue. In a specific embodiment, k_share can be 0.3, and `leak` can be 1.5, etc.

[0060] Optionally, since current feedback is more susceptible to friction, static friction switching, and quantization errors at very low speeds, the balance control of the motor should be gradually reduced. For example, before determining the corresponding speed correction amount for the motor based on statistical distribution characteristics, the motor's current value, and the load indication coefficient, the ratio of the absolute value of the motor's reference angular velocity to a preset angular velocity can be calculated. If the ratio falls within a first preset range, the load indication coefficient for the motor is determined based on the ratio; if the ratio does not fall within the first preset range, the load indication coefficient for the motor is determined based on a first preset value within the first preset range.

[0061] The preset angular velocity can be a predetermined angular velocity used to indicate a lower angular velocity. The first preset range can be a preset numerical range, for example, it can include the range of 0-1. The first preset value can be a value taken when the ratio does not fall within the first preset range.

[0062] For example, the load indication coefficient corresponding to the motor , fade = clamp(|ω_cmd| / ω_fade, 0, 1). Here, k_share is the initial load indication coefficient determined based on the load condition of the motor, and |ω_cmd| / ω_fade is the ratio of the absolute value of the reference angular velocity of the motor to the preset angular velocity. |ω_cmd| is the absolute value of the reference angular velocity of the motor, and ω_fade is the preset angular velocity. For example, ω_fade can be 20 radians per second (20 rad / s). The clamp function is used to limit a value between an upper limit and a lower limit. When this value exceeds the range of the minimum and maximum values, a value between the minimum and maximum values is selected for use. For example, the load indication coefficient corresponding to the motor can be limited within the range of 0 - 1.

[0063] Optionally, in order to make the load balancing control work when load distribution is really needed, the calculation of the speed correction amount can be controlled to avoid misinterpreting the zero drift, friction, and static compensation during no-load as load differences. For example, in response to the motor of the target device satisfying the preset angular velocity condition, the speed correction amount of the motor can be cleared, and the calculation of the speed correction amount can be stopped; the preset angular velocity condition includes that the reference angular velocity of the motor is less than the preset angular velocity threshold, or the average absolute current value of the motor is less than the preset current threshold.

[0064] Here, the average absolute current value can be the average of the absolute values of the current values and can be used to determine whether there is really a load level that needs to be balanced currently. For example, the average absolute current value I_abs_avg = mean(|I_f_1|, |I_f_2|, |I_f_3|, |I_f_4|), where |I_f_1|, |I_f_2|, |I_f_3|, |I_f_4| can respectively represent the absolute values of the current values of the first motor to the fourth motor of the target device. mean can represent the function for calculating the average value.

[0065] For example, when |ω_cmd| < the preset angular velocity threshold (such as 2 rad / s), the integral correction amount and the correction amount memory can be directly cleared to prevent the motors from fighting each other when stopping. The load balancing control can be turned off during light load / no-load. For example, when I_abs_avg < I_enable_th, the integration is no longer continued, and the integral correction amount is directly cleared. Here, I_enable_th can represent the preset current threshold and can be used to determine whether the target device is in a light load or no-load situation. For example, the specific value of the preset current threshold can be set according to the actual situation, such as 2 amperes, 3 amperes, etc., and the embodiments of this application do not limit this here.

[0066] In step 103, for each motor speed correction amount, if the speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range.

[0067] The second preset range can be a range comprised of a set minimum speed correction amount and a maximum speed correction amount. The minimum speed correction amount can be the minimum speed correction amount allowed when performing load balancing control based on the device control method provided in this application embodiment. The maximum speed correction amount can be the maximum speed correction amount allowed when performing load balancing control based on the device control method provided in this application embodiment. The second preset value can be a set value within the second preset range, for example, it can be either the maximum speed correction amount or the minimum speed correction amount.

[0068] Therefore, by adjusting the speed correction amount to the second preset value within the second preset range when the speed correction amount exceeds the second preset range, the speed correction amount of the motor can be limited to prevent the phenomenon of continuous accumulation of integral term and deterioration of system response due to actuator saturation (windup).

[0069] In step 104, the average value of the speed correction amount of the motor is calculated to obtain the average speed correction amount.

[0070] The average speed correction value can be the average value of the speed correction value of the motor.

[0071] In step 105, the speed correction amount of each motor is subtracted from the average speed correction amount to obtain the new speed correction amount of each motor.

[0072] The new speed correction for each motor can be obtained by subtracting the average speed correction from the original speed correction. Therefore, by subtracting the average speed correction from the original speed correction for each motor, a zero-mean projection of the motor's speed correction can be achieved.

[0073] In step 106, for each motor, if the new speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range.

[0074] Therefore, by limiting the speed correction of the motor and projecting it to zero mean, and then limiting it again, the sum of the speed correction of the four motors can be made to be 0. This allows the load balancing control in this embodiment to only redistribute the load without changing the average speed of the vehicle, thereby reducing the impact of balancing on speed following and improving the control efficiency of load balancing-based devices.

[0075] In one embodiment, assuming the target device includes four wheels and four motors corresponding to the four wheels, the speed correction of a single motor can be limited to prevent the phenomenon of continuous accumulation of integral terms and deterioration of system response due to actuator saturation. The limited speed correction Δω_int_i corresponding to the i-th motor is Δω_int_i = clamp(Δω_int_i, -Δω_max, +Δω_max).

[0076] Where Δω_int_i is the speed correction amount for the i-th motor, -Δω_max is the minimum speed correction amount, and Δω_max is the maximum speed correction amount. Δω_max can take values ​​such as 6 rad / s and 5 rad / s.

[0077] After limiting the speed, the speed corrections of the four motors can be projected with a zero mean. For example, the mean speed correction Δω_mean = mean(Δω_int_1, Δω_int_2, Δω_int_3, Δω_int_4) can be calculated. Then, the new speed correction Δω_bal_i = Δω_int_i - Δω_mean for each motor is calculated. After projection, the speed can be limited again. This ensures that the sum of the speed corrections of the four motors is 0, allowing the load balancing control in this embodiment to only redistribute the load without changing the average speed of the entire vehicle. This reduces the first-order impact of load balancing on speed tracking and odometer readings, improving the control efficiency of load-balancing-based devices.

[0078] Optionally, a slope limit can be applied to the speed correction to make it smoother. For example, the slope-limited speed correction Δω_lim_i = slew(Δω_prev_i, Δω_bal_i, slew_rate, dt). Here, the slew function can be a function that limits the rate of change, Δω_prev_i can be the speed correction after limiting at the previous moment, Δω_bal_i is the speed correction at the current moment, and slew_rate can represent the limiting parameter, which can be the maximum rate of change of the speed correction. Then, it can be superimposed with the reference angular velocity to obtain the adjusted reference angular velocity ω_ref_hat_i = ω_cmd + Δω_lim_i. Finally, the unified direction reference can be converted back to the motor's own direction, and then converted into the information required by the driver for transmission.

[0079] In this way, the reference angular velocity can directly follow the upper-level control command and is no longer slowed down by the overall equalization control strategy provided in this application embodiment. The speed correction between the four motors still changes smoothly, avoiding instantaneous inrush current, and especially improving the overall speed following in no-load scenarios.

[0080] In step 107, the angular velocity of the motor is adjusted according to the corresponding speed correction amount of the motor so that the load of multiple wheels is balanced.

[0081] Load balancing refers to a state where the load borne by each wheel in the target device is balanced. A balanced state means that the load shared by each wheel in the target device is the same or similar. This application embodiment uses active intervention to correct the angular velocity of the motor using speed correction, thereby balancing the actual load state of each wheel driven by the motor. This effectively eliminates the phenomenon of overload or overcurrent on one side of the motor or light-load idling caused by improper load distribution, and improves the motor's thermal load and mechanical wear.

[0082] When adjusting the angular velocity of a motor based on its corresponding speed correction, it is necessary to collect the actual operating angular velocity of the motor, adjust the reference angular velocity according to the speed correction, and then control the motor based on the difference between the adjusted reference angular velocity and the actual operating angular velocity of the motor, so that the actual operating angular velocity of the motor is close to or reaches the adjusted reference angular velocity.

[0083] The reference angular velocity can be an angular velocity determined based on control commands to the target device, and can be used to indicate the desired angular velocity that the motor needs to achieve.

[0084] Because motor speed fluctuations are significant during startup or braking under high load conditions, and pulse noise and mechanical vibration are more severe, traditional filtering methods cannot accurately determine the actual operating angular velocity of the motor. To address this, an adaptive window filtering mechanism can be used to collect the actual operating angular velocity of the motor based on its actual load conditions. For example, the filtering window can be expanded to 10 sampling periods during high-load startup / braking phases, and reduced to 5 sampling periods during steady-state operation. This balances the smoothness of filtering sampling with response speed, improving the accuracy of motor speed control.

[0085] Optionally, there are several ways to adjust the angular velocity of the motor based on the speed correction amount corresponding to the motor. For example, the target sampling period can be determined based on the load of the target device, the operating angular velocity of the motor can be filtered based on the target sampling period, and the filtered operating angular velocity can be obtained. The angular velocity of the motor can then be adjusted based on the filtered operating angular velocity, the corresponding reference angular velocity of the motor, and the speed correction amount.

[0086] The target number of sampling periods can be determined based on the load conditions, and can also be the number of sampling periods used to collect the motor's operating angular velocity. The operating angular velocity can be the actual angular velocity of the motor during operation.

[0087] There are several ways to filter the motor's operating angular velocity based on the target number of sampling periods to obtain the filtered operating angular velocity. For example, multiple operating angular velocities of the motor collected in the sampling periods of the target number of sampling periods can be obtained; and the multiple operating angular velocities can be averaged to obtain the filtered operating angular velocity.

[0088] Among them, the number of multiple operating angular velocities and the number of target sampling periods, for example, if the number of target sampling periods is 8, then the 8 operating angular velocities of the motor can be obtained by collecting 8 consecutive sampling periods.

[0089] There are several ways to adjust the motor's angular velocity based on the filtered operating angular velocity, the motor's corresponding reference angular velocity, and the speed correction amount. For example, the motor's corresponding reference angular velocity can be corrected based on the speed correction amount to obtain the corrected reference angular velocity. The speed difference between the filtered operating angular velocity and the corrected reference angular velocity can then be calculated, and the motor's angular velocity can be adjusted based on the speed difference.

[0090] There are several ways to adjust the motor's angular velocity based on the speed difference. For example, when the filtered operating angular velocity is greater than the corrected reference angular velocity, the current output to the motor can be reduced according to the speed difference, so that the motor's operating angular velocity approaches the corrected reference angular velocity. Conversely, when the filtered operating angular velocity is less than the corrected reference angular velocity, the current output to the motor can be increased according to the speed difference, thereby increasing the motor's operating angular velocity and bringing it closer to the corrected reference angular velocity, thus achieving load balancing among multiple wheels.

[0091] The preset load imbalance conditions can include multiple load imbalance conditions, each with a different degree of load imbalance. Under different load imbalance conditions, the target equipment can be controlled differently.

[0092] Optionally, the preset load imbalance condition may include a first load imbalance condition and a second load imbalance condition. The degree of load imbalance corresponding to the first load imbalance condition is less than the degree of load imbalance corresponding to the second load imbalance condition.

[0093] The step of adjusting the angular velocity of the motor according to the speed correction amount of the motor may include: adjusting the angular velocity of the motor according to the speed correction amount of the motor when the first load imbalance condition is met; or, increasing the speed correction amount of the motor to obtain the increased speed correction amount when the second load imbalance condition is met; and adjusting the angular velocity of the motor based on the increased speed correction amount.

[0094] Optionally, if the second load imbalance condition is met, the load on the target device can be reduced to further improve the load imbalance between the wheels of the target device.

[0095] In one embodiment, if the second load imbalance condition is met, a warning log can also be output periodically (e.g., every 30 seconds) based on the current operating status of the target device, so that relevant technicians can perform anomaly checks based on the output warning log.

[0096] In one embodiment, to ensure that the target device can accurately and smoothly reach the destination, the speed correction amount can be reduced based on the distance between the current position of the target device and the destination, so that the speed correction amount tends to be 0 when reaching the destination, avoiding additional speed correction affecting the target device's arrival at the destination. For example, when the target device is in motion, the speed correction amount can be reduced based on the target distance between the current position of the target device and the destination, resulting in at least one reduced speed correction amount; based on at least one reduced speed correction amount, the angular velocity of the motor is further adjusted to control the target device to reach the destination based on the adjusted angular velocity.

[0097] The target distance can be the distance between the current location of the target device and the destination.

[0098] Therefore, based on at least one reduced speed correction amount, the angular velocity of the motor is further adjusted so that the target equipment can reach the destination accurately and smoothly, avoiding interference from additional speed correction amount on the operation control of the target equipment, thus preventing the situation where the target equipment cannot reach the destination smoothly and accurately.

[0099] Optionally, the preset load imbalance condition may also include a third load imbalance condition. If the wheels in the target device meet the third load imbalance condition, the load on the target device may be reduced, and an early warning operation may be performed.

[0100] The third load imbalance condition can be used to determine whether there is a serious load imbalance anomaly among the multiple wheels of the target device.

[0101] For example, it can reduce the load on the target equipment by 50% and trigger an audible and visual alarm to prompt relevant technicians to check the wheel sets or track conditions of multiple wheels on the target equipment.

[0102] Optionally, the second and / or third load imbalance conditions include the connection error between the track segments traveled by the wheels meeting a preset error condition. For example, the second load imbalance condition may also include a connection error of less than 2 mm, and the third load imbalance condition may also include a connection error greater than or equal to 2 mm.

[0103] Optionally, the preset load imbalance condition may also include a fourth load imbalance condition. If the wheels in the target device meet the fourth load imbalance condition, the target device is controlled to stop moving, and fault description information corresponding to the target device is generated.

[0104] The fourth load imbalance condition can be used to determine whether multiple wheels of the target device are faulty. The fault description information can be information describing the faults existing in the target device, such as the wheel set numbers of the multiple faulty wheels in the target device, and a detailed fault description report.

[0105] Therefore, based on the first, second, third, and fourth load imbalance conditions, a fault classification mechanism can be added to address the risk of fault propagation in high-load scenarios. This avoids direct shutdown strategies for anomalies caused by load imbalance among multiple components in the target device, effectively improving the accuracy of load balancing control for multiple components in the target device.

[0106] In one specific embodiment, the first load imbalance condition may include a current variation coefficient within the range of 11.6%-30%, a motor temperature difference of <5℃, and a torque deviation of <8A (amperes). Correspondingly, when multiple wheels of the target device meet the first load imbalance condition, it indicates that the target device is in a state of slight load imbalance.

[0107] The second load imbalance condition may include a current variation coefficient within the range of 30%-60%, a temperature difference between motors within the range of 5-10℃, a torque deviation value within the range of 8-15A, and a track connection error of less than 2 mm. Correspondingly, when multiple wheels of the target equipment meet the second load imbalance condition, it indicates that the target equipment is in a moderate abnormal situation of load imbalance.

[0108] The third load imbalance condition may include a current variation coefficient > 60%, a motor temperature > 45℃ among the motors corresponding to multiple wheels of the target equipment, a torque deviation ≥ 15A, and a track connection error ≥ 2mm. Correspondingly, when multiple wheels of the target equipment meet the third load imbalance condition, it indicates that the target equipment is in a severely abnormal state of load imbalance.

[0109] The fourth load imbalance condition can include the number of times the target device exhibits abnormal behavior is greater than or equal to a preset number. This abnormal behavior can include the current value of a single motor in one of the target device's multiple wheels exceeding a preset temperature threshold (e.g., 120% of the rated current value), and / or the temperature of a motor in one of the target device's multiple wheels exceeding a preset temperature threshold (e.g., 55°C). The preset number of occurrences can be 5, and this specific value can be set according to actual conditions.

[0110] The target device uses multiple motors to drive multiple wheels in parallel under the same degree of freedom. In related equipment control methods, each motor often uses the same speed reference for driving. When there are mechanical resistances, track geometric errors, uneven load distribution, etc., the load imbalance among the multiple wheels of the target device will occur. To achieve the same speed, different currents need to be input, resulting in one side of the target device having a very low current and another side having a very high current. This can cause friction or wear between the wheels, as well as overheating of the motor on the high current side. If adjustments are not made in time, it will lead to damage to multiple wheels and related components such as motors in the target device, especially under high load and track conditions.

[0111] To address this issue, this embodiment calculates a statistical distribution characteristic value based on the motor current value of each wheel when there is an unbalanced load on multiple wheels of the target device. Based on the statistical distribution characteristic value and the current value, a speed correction amount is determined for each motor. This speed correction amount is then used to adjust the angular velocity of the motors in a timely manner, ensuring a balanced load on all wheels. This effectively solves or improves the problem of damage to wheels and related components caused by unbalanced loads on multiple wheels, further enhancing device control efficiency. Furthermore, this embodiment configures multi-level load imbalance conditions. When a certain level of load imbalance exists on multiple wheels of the target device, corresponding level load balancing measures are implemented, enabling tiered processing of load imbalances and improving the accuracy of load balancing.

[0112] Based on the equipment control method provided in this application embodiment, the uneven load on multiple wheels of the target equipment can be effectively improved during equipment operation, especially under high load and track conditions. Specifically, after implementing the equipment control method provided in this application embodiment, the current variation coefficient of the motors of multiple wheels of the target equipment is significantly improved, the risk of overcurrent and overtemperature is significantly reduced, and the equipment operates smoothly without frequent fluctuations. It is evident that this application embodiment can effectively solve or improve the situation where uneven load on multiple wheels in the equipment leads to damage to the wheels and their associated components.

[0113] As can be seen from the above, this embodiment of the application obtains the statistical distribution characteristic value corresponding to the current value of the motor driving the wheel when the wheel in the target device meets the preset load imbalance condition; based on the statistical distribution characteristic value and the current value of the motor, it determines the speed correction amount corresponding to the motor; for each motor speed correction amount, if the speed correction amount exceeds the second preset range, it adjusts the speed correction amount to the second preset value within the second preset range; it calculates the average speed correction amount of the motors to obtain the average speed correction amount; it subtracts the average speed correction amount from the speed correction amount of each motor to obtain the new speed correction amount of each motor; for each new speed correction amount of each motor, if the speed correction amount exceeds the second preset range, it adjusts the speed correction amount to the second preset value within the second preset range; and it adjusts the angular velocity of the motor according to the speed correction amount corresponding to the motor so that the load of multiple wheels is balanced. Therefore, when there is an imbalance in the load on multiple wheels of the target equipment, a statistical distribution characteristic value is calculated based on the current value of the motor of each wheel. Based on the statistical distribution characteristic value and the current value, the speed correction amount for each motor is determined. The speed correction amount is then used to adjust the angular velocity of the motor in a timely manner to balance the load on multiple wheels. This can effectively solve or improve the situation where the wheels and their related components are damaged due to the imbalance in the load on multiple wheels in the equipment. At the same time, by limiting the speed correction amount and projecting it with zero mean, the average speed of the whole vehicle can be maintained during load distribution, reducing the impact of balancing on speed tracking and further improving the control efficiency of the equipment.

[0114] To better implement the above methods, embodiments of the present invention also provide a device control apparatus, which can be integrated into an electronic device, which can be a terminal.

[0115] For example, such as Figure 3 The diagram shown is a structural schematic of a device control apparatus provided in an embodiment of this application. The device control apparatus may include an acquisition unit 201, a determination unit 202, a first adjustment unit 203, a first calculation unit 204, a second calculation unit 205, a second adjustment unit 206, and a correction unit 207, as follows: The acquisition unit 201 is used to acquire the statistical distribution characteristic value corresponding to the current value of the motor driving the wheel when the wheel in the target device meets the preset load imbalance condition; The determining unit 202 is used to determine the speed correction amount of the motor based on the statistical distribution characteristic value and the current value of the motor; The first adjustment unit 203 is used to adjust the speed correction amount of each motor to the second preset value within the second preset range if the speed correction amount exceeds the second preset range. The first calculation unit 204 is used to calculate the average value of the speed correction amount of the motor to obtain the average value of the speed correction amount. The second calculation unit 205 is used to subtract the average speed correction value from the speed correction value of each motor to obtain the new speed correction value of each motor. The second adjustment unit 206 is used to adjust the speed correction amount to the second preset value within the second preset range if the speed correction amount exceeds the second preset range. The correction unit 207 is used to adjust the angular velocity of the motor according to the corresponding speed correction amount of the motor, so as to make the load of multiple wheels balanced.

[0116] In some embodiments, the device control apparatus is further configured to: Obtain the load indicator coefficient, which is used to indicate the load status of the target device.

[0117] Determine unit 202, used for: Based on the statistical distribution characteristic value, the motor current value, and the load indication coefficient, the corresponding speed correction amount of the motor is determined.

[0118] In some embodiments, different load indication coefficients correspond to different load ranges, and the load indication coefficients are positively correlated with the load ranges.

[0119] In some embodiments, the determination of the motor speed correction based on statistical distribution characteristic values, motor current values, and load indication coefficient is specifically used for: Based on the statistical distribution characteristic value and the current value of the motor at the current moment, calculate the deviation of the current value of the motor at the current moment; The current deviation is integrated, and the first correction component is obtained based on the integration result and the load indication coefficient. Based on the speed correction amount of the motor at the previous moment, determine the second correction amount component; Based on the first correction component and the second correction component, the speed correction amount corresponding to the motor is determined.

[0120] In some embodiments, the device control apparatus is further configured to: For the motor, calculate the ratio of the absolute value of the motor's reference angular velocity to the preset angular velocity; If the ratio falls within the first preset range, the load indication coefficient corresponding to the motor is determined based on the ratio. If the ratio does not fall within the first preset range, the load indication coefficient corresponding to the motor is determined based on the first preset value within the first preset range.

[0121] In some embodiments, the motor current value includes the current current value and historical current values ​​of the motor, wherein the current current value is the current value of the motor when the wheels it drives meet a preset load imbalance condition; the acquisition unit 201 is used to: Based on the first preset weight corresponding to the current current value and the second preset weight corresponding to the historical current value, the current current value and the historical current value are weighted and summed to obtain the target current value corresponding to the motor. Calculate the statistical distribution characteristic value based on the target current value corresponding to the motor.

[0122] In some embodiments, when the target device is in motion, the device control device is further configured to: The speed correction is reduced based on the target distance between the current position of the target device and the destination, resulting in at least one reduced speed correction. Based on at least one reduced speed correction amount, the angular velocity of the motor is further adjusted to control the target device to reach the endpoint based on the adjusted angular velocity.

[0123] In some embodiments, the preset load imbalance condition includes at least one of the following: the motor current value meets the preset current difference condition, the motor temperature meets the preset temperature condition, and the motor torque deviation value is within a preset difference range.

[0124] In some embodiments, the preset current difference condition includes at least one of the following: the current variation coefficient obtained based on the current value is within a preset coefficient range and the difference between the integral values ​​of the current values ​​is greater than a preset difference threshold.

[0125] In some embodiments, the preset temperature condition includes at least one of the following: the temperature difference between two motors is within a preset temperature difference range, and the temperature of one motor is greater than a preset temperature threshold.

[0126] In some embodiments, the preset load imbalance condition includes a first load imbalance condition and a second load imbalance condition. The correction unit 207 is configured to: If the first load imbalance condition is met, the angular velocity of the motor is adjusted according to the corresponding speed correction amount; or, Under the condition of the second load imbalance, the speed correction amount of the motor is increased to obtain the increased speed correction amount. The angular velocity of the motor is adjusted based on the increased speed correction amount.

[0127] In some embodiments, when the second load imbalance condition is met, the equipment control device is further configured to: Reduce the load on the target device.

[0128] In some embodiments, the preset load imbalance condition further includes a third load imbalance condition, and the equipment control device is further configured to: If the wheels in the target device meet the third load imbalance condition, reduce the load on the target device and execute an early warning operation.

[0129] In some embodiments, the preset load imbalance condition further includes a fourth load imbalance condition, and the equipment control device is further configured to: If the wheels in the target device meet the fourth load imbalance condition, control the target device to stop moving and generate corresponding fault description information for the target device.

[0130] In some embodiments, the correction unit is configured to: The number of target sampling periods is determined based on the load condition of the target device; The operating angular velocity of the motor is filtered based on the target number of sampling periods to obtain the filtered operating angular velocity; The motor's angular velocity is adjusted based on the filtered operating angular velocity, the corresponding reference angular velocity of the motor, and the speed correction amount.

[0131] In some embodiments, the above-mentioned filtering of the motor's operating angular velocity based on the target sampling period number to obtain the filtered operating angular velocity is specifically used for: Acquire multiple operating angular velocities of the motor collected within the target number of sampling periods; The average of multiple operating angular velocities is used to obtain the filtered operating angular velocity.

[0132] In some embodiments, the above-mentioned adjustment of the motor's angular velocity based on the filtered operating angular velocity, the corresponding reference angular velocity of the motor, and the speed correction amount is specifically used for: Based on the speed correction amount, the reference angular velocity corresponding to the motor is corrected to obtain the corrected reference angular velocity; Calculate the velocity difference between the filtered running angular velocity and the corrected reference angular velocity; The angular velocity of the motor is adjusted based on the speed difference.

[0133] In some embodiments, the device control apparatus is further configured to: In response to the target device's motor meeting the preset angular velocity condition, the motor's speed correction is reset to zero, and the calculation of the speed correction is stopped; The preset angular velocity conditions include the motor's reference angular velocity being less than a preset angular velocity threshold, or the motor's average absolute current value being less than a preset current threshold.

[0134] In practice, each of the above units can be implemented as an independent entity or can be arbitrarily combined to be implemented as the same or several entities. For the specific implementation of each of the above units, please refer to the previous method embodiments, which will not be repeated here.

[0135] As can be seen from the above, in this embodiment of the application, the acquisition unit 201 acquires the statistical distribution characteristic value corresponding to the current value of the motor driving the wheel when the wheel in the target device meets the preset load imbalance condition; the determination unit 202 determines the speed correction amount corresponding to the motor based on the statistical distribution characteristic value and the current value of the motor; the first adjustment unit 203 adjusts the speed correction amount of each motor to the second preset value within the second preset range if the speed correction amount exceeds the second preset range; the first calculation unit 204 calculates the average speed correction amount of the motor to obtain the average speed correction amount; the second calculation unit 205 subtracts the average speed correction amount from the speed correction amount of each motor to obtain the new speed correction amount of each motor; the second adjustment unit 206 adjusts the speed correction amount of each motor to the second preset value within the second preset range if the new speed correction amount exceeds the second preset range; and the correction unit 207 adjusts the angular velocity of the motor according to the speed correction amount corresponding to the motor to make the load of multiple wheels balanced. Therefore, when there is an imbalance in the load on multiple wheels of the target equipment, a statistical distribution characteristic value is calculated based on the current value of the motor of each wheel. Based on the statistical distribution characteristic value and the current value, the speed correction amount for each motor is determined. The speed correction amount is then used to adjust the angular velocity of the motor in a timely manner to balance the load on multiple wheels. This can effectively solve or improve the situation where the wheels and their related components are damaged due to the imbalance in the load on multiple wheels in the equipment. At the same time, by limiting the speed correction amount and projecting it with zero mean, the average speed of the whole vehicle can be maintained during load distribution, reducing the impact of balancing on speed tracking and further improving the control efficiency of the equipment.

[0136] This application also provides an electronic device, such as... Figure 4 The diagram shows a schematic representation of the structure of an electronic device according to an embodiment of this application. This electronic device can be a terminal; specifically: The electronic device 300 includes a processor 301 with one or more processing cores, a memory 302 with one or more computer-readable storage media, and a computer program stored in the memory 302 and executable on the processor. The processor 301 and the memory 302 are electrically connected. Those skilled in the art will understand that the electronic device structure shown in the figures does not constitute a limitation on the electronic device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0137] The processor 301 is the control center of the electronic device 300. It connects various parts of the electronic device 300 through various interfaces and lines. By running or loading software programs and / or modules stored in the memory 302, and calling data stored in the memory 302, it performs various functions of the electronic device 300 and processes data, thereby monitoring the electronic device 300 as a whole.

[0138] In this embodiment, the processor 301 in the electronic device 300 loads the instructions corresponding to the processes of one or more applications into the memory 302 according to the following steps, and the processor 301 runs the applications stored in the memory 302 to realize various functions: When the wheels in the target device meet the preset load imbalance condition, the statistical distribution characteristic value corresponding to the current value of the motor driving the wheels is obtained; based on the statistical distribution characteristic value and the motor current value, the speed correction amount corresponding to the motor is determined; for each motor speed correction amount, if the speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range; the average speed correction amount of the motors is calculated to obtain the average speed correction amount; the average speed correction amount is subtracted from the speed correction amount of each motor to obtain the new speed correction amount of each motor; for each new speed correction amount of each motor, if the speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range; according to the speed correction amount corresponding to the motor, the angular velocity of the motor is adjusted to make the load of multiple wheels balanced.

[0139] This solution obtains the statistical distribution characteristic value of the current value of the motor driving the wheels when the wheels in the target device meet the preset load imbalance condition; based on the statistical distribution characteristic value and the motor current value, it determines the speed correction amount corresponding to the motor; for each motor speed correction amount, if the speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range; the average speed correction amount of the motors is calculated to obtain the average speed correction amount; the average speed correction amount is subtracted from the speed correction amount of each motor to obtain the new speed correction amount of each motor; for each new speed correction amount of each motor, if the speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range; according to the speed correction amount of each motor, the angular velocity of the motor is adjusted to make the load of multiple wheels balanced. Therefore, when there is an imbalance in the load on multiple wheels of the target equipment, a statistical distribution characteristic value is calculated based on the current value of the motor of each wheel. Based on the statistical distribution characteristic value and the current value, the speed correction amount for each motor is determined. The speed correction amount is then used to adjust the angular velocity of the motor in a timely manner to balance the load on multiple wheels. This can effectively solve or improve the situation where the wheels and their related components are damaged due to the imbalance in the load on multiple wheels in the equipment. At the same time, by limiting the speed correction amount and projecting it with zero mean, the average speed of the whole vehicle can be maintained during load distribution, reducing the impact of balancing on speed tracking and further improving the control efficiency of the equipment.

[0140] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0141] Optional, such as Figure 4 As shown, the electronic device 300 also includes: a touch display screen 303, a radio frequency circuit 304, an audio circuit 305, an input unit 306, and a power supply 307. The processor 301 is electrically connected to the touch display screen 303, the radio frequency circuit 304, the audio circuit 305, the input unit 306, and the power supply 307. Those skilled in the art will understand that... Figure 4 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0142] The touch display screen 303 can be used to display a graphical user interface (GUI) and receive operation commands generated by the user interacting with the GUI. The touch display screen 303 may include a display panel and a touch panel. The display panel can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the electronic device. These graphical user interfaces can be composed of graphics, text, icons, video, and any combination thereof. Optionally, the display panel can be configured using a liquid crystal display (LCD), organic light-emitting diode (OLED), or other similar technologies. The touch panel can be used to collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel), generate corresponding operation commands, and execute the corresponding program according to the operation commands. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch location and the signal generated by the touch operation, transmitting the signal to the touch controller. The touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends it to the processor 301. It can also receive and execute commands from the processor 301. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it transmits the information to the processor 301 to determine the type of touch event. Subsequently, the processor 301 provides corresponding visual output on the display panel based on the type of touch event. In this embodiment, the touch panel and the display panel can be integrated into the touch display screen 303 to achieve input and output functions. However, in some embodiments, the touch panel and the touch display screen 303 can be implemented as two independent components to achieve input and output functions. That is, the touch display screen 303 can also be used as part of the input unit 306 to achieve input functions.

[0143] The radio frequency circuit 304 can be used to transmit and receive radio frequency signals to establish wireless communication with network devices or other electronic devices, and to transmit and receive signals with network devices or other electronic devices.

[0144] Audio circuitry 305 can be used to provide an audio interface between a user and an electronic device via a speaker and a microphone. Audio circuitry 305 converts received audio data into electrical signals, transmits them to the speaker, and the speaker converts them into sound signals for output. Conversely, the microphone converts collected sound signals into electrical signals, which are then received by audio circuitry 305, converted back into audio data, and then processed by processor 301 before being transmitted via radio frequency circuitry 304 to, for example, another electronic device, or output to memory 302 for further processing. Audio circuitry 305 may also include an earphone jack to facilitate communication between peripheral headphones and electronic devices.

[0145] The input unit 306 can be used to receive input numbers, characters, or user characteristic information (such as fingerprints, iris, facial information, etc.), and to generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control.

[0146] Power supply 307 is used to supply power to various components of electronic device 300. Optionally, power supply 307 can be logically connected to processor 301 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. Power supply 307 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0147] although Figure 4 As not shown in the diagram, the electronic device 300 may also include a camera, sensor, wireless fidelity module, Bluetooth module, etc., which will not be described in detail here.

[0148] In the above embodiments, the descriptions of each embodiment have different focuses. Parts not described in detail in a particular embodiment can be found in the relevant descriptions of other embodiments. It should be noted that the electronic device provided in this application's embodiments and the device control method described in the above embodiments belong to the same concept, and its specific implementation process is detailed in the above method embodiments, and will not be repeated here.

[0149] As can be seen from the above, the electronic device provided in this application embodiment can obtain the statistical distribution characteristic value corresponding to the current value of the motor driving the wheel when the wheel in the target device meets the preset load imbalance condition; determine the speed correction amount corresponding to the motor based on the statistical distribution characteristic value and the current value of the motor; for each motor speed correction amount, if the speed correction amount exceeds the second preset range, adjust the speed correction amount to the second preset value within the second preset range; calculate the average speed correction amount of the motor to obtain the average speed correction amount; subtract the average speed correction amount from the speed correction amount of each motor to obtain the new speed correction amount of each motor; for each new speed correction amount of each motor, if the speed correction amount exceeds the second preset range, adjust the speed correction amount to the second preset value within the second preset range; adjust the angular velocity of the motor according to the speed correction amount corresponding to the motor so that the load of multiple wheels is balanced. Therefore, when there is an imbalance in the load on multiple wheels of the target equipment, a statistical distribution characteristic value is calculated based on the current value of the motor of each wheel. Based on the statistical distribution characteristic value and the current value, the speed correction amount for each motor is determined. The speed correction amount is then used to adjust the angular velocity of the motor in a timely manner to balance the load on multiple wheels. This can effectively solve or improve the situation where the wheels and their related components are damaged due to the imbalance in the load on multiple wheels in the equipment. At the same time, by limiting the speed correction amount and projecting it with zero mean, the average speed of the whole vehicle can be maintained during load distribution, reducing the impact of balancing on speed tracking and further improving the control efficiency of the equipment.

[0150] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by a computer program, or by a computer program controlling related hardware. The computer program can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0151] Therefore, embodiments of this application provide a computer-readable storage medium storing a computer program that can be loaded by a processor to execute the steps of any of the device control methods provided in embodiments of this application. For example, the computer program can execute the following steps: When the wheels in the target device meet the preset load imbalance condition, the statistical distribution characteristic value corresponding to the current value of the motor driving the wheels is obtained; based on the statistical distribution characteristic value and the motor current value, the speed correction amount corresponding to the motor is determined; for each motor speed correction amount, if the speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range; the average speed correction amount of the motors is calculated to obtain the average speed correction amount; the average speed correction amount is subtracted from the speed correction amount of each motor to obtain the new speed correction amount of each motor; for each new speed correction amount of each motor, if the speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range; according to the speed correction amount corresponding to the motor, the angular velocity of the motor is adjusted to make the load of multiple wheels balanced.

[0152] This solution obtains the statistical distribution characteristic value of the current value of the motor driving the wheels when the wheels in the target device meet the preset load imbalance condition; based on the statistical distribution characteristic value and the motor current value, it determines the speed correction amount corresponding to the motor; for each motor speed correction amount, if the speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range; the average speed correction amount of the motors is calculated to obtain the average speed correction amount; the average speed correction amount is subtracted from the speed correction amount of each motor to obtain the new speed correction amount of each motor; for each new speed correction amount of each motor, if the speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range; according to the speed correction amount of each motor, the angular velocity of the motor is adjusted to make the load of multiple wheels balanced. Therefore, when there is an imbalance in the load on multiple wheels of the target equipment, a statistical distribution characteristic value is calculated based on the current value of the motor of each wheel. Based on the statistical distribution characteristic value and the current value, the speed correction amount for each motor is determined. The speed correction amount is then used to adjust the angular velocity of the motor in a timely manner to balance the load on multiple wheels. This can effectively solve or improve the situation where the wheels and their related components are damaged due to the imbalance in the load on multiple wheels in the equipment. At the same time, by limiting the speed correction amount and projecting it with zero mean, the average speed of the whole vehicle can be maintained during load distribution, reducing the impact of balancing on speed tracking and further improving the control efficiency of the equipment.

[0153] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0154] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0155] Since the computer program stored in the computer-readable storage medium can execute the steps of any of the device control methods provided in the embodiments of this application, the beneficial effects that any of the device control methods provided in the embodiments of this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0156] According to one aspect of this application, a computer program product is provided, comprising a computer program stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, causing the electronic device to perform the methods provided in the various optional implementations of the above embodiments.

[0157] The above provides a detailed description of a device control method, apparatus, storage medium, and electronic device provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A device control method, characterized in that, include: When the wheels in the target device meet the preset load imbalance condition, obtain the statistical distribution characteristic value corresponding to the current value of the motor driving the wheels; Based on the statistical distribution characteristic value and the current value of the motor, the speed correction amount corresponding to the motor is determined; For the speed correction amount of each motor, if the speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range; The average speed correction of the motor is calculated to obtain the average speed correction. Subtract the average speed correction value from the speed correction value of each motor to obtain the new speed correction value for each motor. For each motor, if the new speed correction amount exceeds the second preset range, the speed correction amount is adjusted to the second preset value within the second preset range. The angular velocity of the motor is adjusted according to the speed correction amount corresponding to the motor, so as to make the load of the multiple wheels balanced.

2. The equipment control method as described in claim 1, characterized in that, The method further includes: Obtain a load indication coefficient, which is used to indicate the load status of the target device; The step of determining the speed correction amount corresponding to the motor based on the statistical distribution characteristic value and the motor current value includes: Based on the statistical distribution characteristic value, the current value of the motor, and the load indication coefficient, the speed correction amount corresponding to the motor is determined.

3. The equipment control method as described in claim 2, characterized in that, Different load indication coefficients correspond to different load ranges, and the load indication coefficients are positively correlated with the load ranges.

4. The equipment control method as described in claim 2, characterized in that, The step of determining the speed correction amount corresponding to the motor based on the statistical distribution characteristic value, the motor current value, and the load indication coefficient includes: Based on the statistical distribution characteristic value and the current value of the motor at the current moment, calculate the deviation of the current value of the motor at the current moment; The current value deviation is integrated, and a first correction component is obtained based on the integration result and the load indication coefficient. Based on the speed correction amount corresponding to the motor at the previous moment, determine the second correction amount component; Based on the first correction component and the second correction component, the speed correction amount corresponding to the motor is determined.

5. The equipment control method as described in claim 2, characterized in that, Before determining the speed correction amount corresponding to the motor based on the statistical distribution characteristic value, the motor current value, and the load indication coefficient, the method further includes: For the motor, calculate the ratio of the absolute value of the reference angular velocity of the motor to the preset angular velocity; If the ratio falls within a first preset range, the load indication coefficient corresponding to the motor is determined based on the ratio. If the ratio does not fall within the first preset range, the load indication coefficient corresponding to the motor is determined based on the first preset value within the first preset range.

6. The equipment control method as described in claim 1, characterized in that, The current value of the motor includes the current current value and the historical current value of the motor. The current current value is the current value of the motor when the wheel it drives meets the preset load imbalance condition. The step of obtaining the statistical distribution characteristic value corresponding to the current value of the motor driving the wheel includes: Based on the first preset weight corresponding to the current current value and the second preset weight corresponding to the historical current value, the current current value and the historical current value are weighted and summed to obtain the target current value corresponding to the motor. Calculate the statistical distribution characteristic value based on the target current value corresponding to the motor.

7. The equipment control method as described in claim 1, characterized in that, The target device is in motion, and the method further includes: The speed correction amount is reduced based on the target distance between the current position of the target device and the destination to obtain at least one reduced speed correction amount; Based on the at least one reduced speed correction amount, the angular velocity of the motor is further adjusted to control the target device to reach the endpoint based on the adjusted angular velocity.

8. The equipment control method as described in claim 1, characterized in that, The preset load imbalance conditions include at least one of the following: the motor current value meets the preset current difference condition, the motor temperature meets the preset temperature condition, and the motor torque deviation value is within a preset difference range.

9. The equipment control method as described in claim 8, characterized in that, The preset current difference condition includes at least one of the following: the current variation coefficient obtained based on the current value is within a preset coefficient range, and the difference between the integral values ​​of the current value and the preset difference threshold.

10. The equipment control method as described in claim 8, characterized in that, The preset temperature conditions include at least one of the following: the temperature difference between two motors in the motor is within a preset temperature difference range, and the temperature of one motor in the motor is greater than a preset temperature threshold.

11. The equipment control method according to any one of claims 1 to 10, characterized in that, The preset load imbalance conditions include a first load imbalance condition and a second load imbalance condition. Adjusting the angular velocity of the motor according to the corresponding speed correction amount includes: If the first load imbalance condition is met, the angular velocity of the motor is adjusted according to the speed correction amount corresponding to the motor; or, Under the condition of the second load imbalance, the speed correction amount corresponding to the motor is increased to obtain the increased speed correction amount. Based on the increased speed correction amount, the angular velocity of the motor is adjusted.

12. The equipment control method as described in claim 11, characterized in that, If the second load imbalance condition is met, the method further includes: Reduce the load on the target device.

13. The equipment control method as described in claim 11, characterized in that, The preset load imbalance condition also includes a third load imbalance condition, and the method further includes: If the wheels in the target device meet the third load imbalance condition, reduce the load on the target device and perform an early warning operation.

14. The equipment control method as described in claim 11, characterized in that, The preset load imbalance condition further includes a fourth load imbalance condition, and the method further includes: If the wheels in the target device meet the fourth load imbalance condition, the target device is controlled to stop moving, and fault description information corresponding to the target device is generated.

15. The equipment control method according to any one of claims 1-10, characterized in that, The step of adjusting the angular velocity of the motor according to the speed correction amount corresponding to the motor includes: The number of target sampling periods is determined based on the load condition of the target device; The operating angular velocity of the motor is filtered based on the target number of sampling periods to obtain the filtered operating angular velocity; The angular velocity of the motor is adjusted based on the filtered operating angular velocity, the corresponding reference angular velocity of the motor, and the speed correction amount.

16. The equipment control method as described in claim 15, characterized in that, The step of filtering the motor's operating angular velocity based on the target sampling period number to obtain the filtered operating angular velocity includes: Acquire multiple operating angular velocities of the motor collected during the sampling period of the target sampling period number; The multiple operating angular velocities are averaged to obtain the filtered operating angular velocity.

17. The equipment control method as described in claim 15, characterized in that, The step of adjusting the angular velocity of the motor based on the filtered operating angular velocity, the corresponding reference angular velocity of the motor, and the speed correction amount includes: Based on the speed correction amount, the reference angular velocity corresponding to the motor is corrected to obtain the corrected reference angular velocity; Calculate the velocity difference between the filtered running angular velocity and the corrected reference angular velocity; The angular velocity of the motor is adjusted based on the speed difference.

18. The equipment control method according to any one of claims 1-10, characterized in that, The method further includes: In response to the target device's motor meeting a preset angular velocity condition, the speed correction amount of the motor is cleared to zero, and the calculation of the speed correction amount is stopped; The preset angular velocity condition includes either the reference angular velocity of the motor being less than a preset angular velocity threshold, or the average absolute current value of the motor being less than a preset current threshold.

19. A device control apparatus, characterized in that, include: The acquisition unit is used to acquire the statistical distribution characteristic value corresponding to the current value of the motor driving the wheel when the wheel in the target device meets the preset load imbalance condition; The determining unit is used to determine the speed correction amount corresponding to the motor based on the statistical distribution characteristic value and the current value of the motor; The first adjustment unit is used to adjust the speed correction amount of each motor to a second preset value within the second preset range if the speed correction amount exceeds the second preset range. The first calculation unit is used to calculate the average value of the speed correction amount of the motor to obtain the average speed correction amount; The second calculation unit is used to subtract the average speed correction value from the speed correction value of each motor to obtain the new speed correction value of each motor. The second adjustment unit is used to adjust the speed correction amount to a second preset value within the second preset range if the speed correction amount exceeds the second preset range. The correction unit is used to adjust the angular velocity of the motor according to the speed correction amount corresponding to the motor, so as to balance the load of the multiple wheels.

20. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the steps of any of the methods described in claims 1 to 18.

21. A computer-readable storage medium, characterized in that, It includes a computer program that, when run on an electronic device, causes the electronic device to perform the steps of any of the methods described in claims 1 to 18.

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