CN108897329A - A kind of robot speed's control method, device, equipment and storage medium - Google Patents
A kind of robot speed's control method, device, equipment and storage medium Download PDFInfo
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- CN108897329A CN108897329A CN201811151708.1A CN201811151708A CN108897329A CN 108897329 A CN108897329 A CN 108897329A CN 201811151708 A CN201811151708 A CN 201811151708A CN 108897329 A CN108897329 A CN 108897329A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000033001 locomotion Effects 0.000 claims abstract description 80
- 230000015654 memory Effects 0.000 claims description 22
- 238000005303 weighing Methods 0.000 claims description 11
- 230000006870 function Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000013179 statistical model Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a kind of robot speed's control method, device, equipment and storage mediums.This method includes：Obtain the commodity weight in counter robot；Obtain the pitch angle of the counter robot；The predetermined movement speed of the counter robot is adjusted according to the commodity weight and pitch angle, realizes and speed control is carried out according to counter robot commodity weight and tilt angle, to guarantee operation stability and the safety of counter robot.
Description
Technical field
The present embodiments relate to Robot Control Technology more particularly to a kind of robot speed's control method, device, set
Standby and storage medium.
Background technique
Counter robot is a kind of intelligent mobile robot.Intelligent mobile robot is a collection environment sensing, dynamically determines
The multi-functional integrated system in one such as plan, conduct programming, behaviour control and execution.Intelligent mobile robot by move mode into
Row divides, including：Wheeled mobile robot, walking mobile robot, snake-shaped robot, caterpillar mobile robot, creeper
Device people etc..For intelligent mobile robot, the moving stability of movement speed and intelligent mobile robot is closely bound up.
Summary of the invention
The present invention provides a kind of robot speed's control method, device, equipment and storage medium, to realize according to counter machine
Device people commodity weight and tilt angle carry out speed control, to guarantee operation stability and the safety of counter robot.
In a first aspect, this method obtains counter machine the embodiment of the invention provides a kind of robot speed's control method
Commodity weight in people；
Obtain the pitch angle of the counter robot；
The predetermined movement speed of the counter robot is adjusted according to the commodity weight and pitch angle.
Further, the commodity weight obtained in counter robot includes：
Control the commodity weight in weighing sensor acquisition counter robot.
Further, the pitch angle for obtaining the counter robot includes：
It controls gyroscope and obtains the pitch angle.
Further, the predetermined movement speed that the counter robot is adjusted according to the commodity weight and pitch angle
Including：
According to the preset matching relationship of the commodity weight and movement velocity, predetermined movement speed is determined；
The predetermined movement speed is adjusted according to the pitch angle.
Further, after the predetermined movement speed according to pitch angle adjustment, including：
The counter robot is controlled to be moved according to the predetermined movement speed.
Second aspect, the embodiment of the invention also provides a kind of robot speed's control device, which includes：
Commodity weight obtains module, for obtaining the commodity weight in counter robot；
Pitch angle obtains module, for obtaining the pitch angle of the counter robot；
Movement velocity adjusts module, for adjusting the default of the counter robot according to the commodity weight and pitch angle
Movement velocity.
Further, the commodity weight acquisition module includes：
Commodity weight acquiring unit, for controlling the commodity weight in weighing sensor acquisition counter robot.
Further, the movement velocity adjustment module includes：
Movement velocity determination unit determines pre- for the preset matching relationship according to the commodity weight and movement velocity
If movement velocity；
Movement velocity adjustment unit, for adjusting the predetermined movement speed according to the pitch angle.
The third aspect, the embodiment of the invention also provides a kind of robot speeds to control equipment, which includes：Memory
And one or more processors；
The memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes robot speed's control method as described in any in first aspect.
Fourth aspect, it is described the embodiment of the invention also provides a kind of storage medium comprising computer executable instructions
Computer executable instructions by computer processor when being executed for executing the robot speed as described in any in first aspect
Spend control method.
The embodiment of the present invention is by obtaining the commodity weight in counter robot；Obtain the pitching of the counter robot
Angle；The predetermined movement speed that the counter robot is adjusted according to the commodity weight and pitch angle, solves because of overweight or ground
The mobile unstable problem of shape complexity bring counter robot, realize according to counter robot commodity weight and tilt angle into
Row speed control, to guarantee operation stability and the safety of counter robot.
Detailed description of the invention
Fig. 1 is a kind of flow chart for robot speed's control method that the embodiment of the present invention one provides；
Fig. 2 is a kind of flow chart of robot speed's control method provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of structural schematic diagram for robot speed's control device that the embodiment of the present invention three provides；
Fig. 4 is the structural schematic diagram that a kind of robot speed that the embodiment of the present invention four provides controls equipment.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart for robot speed's control method that the embodiment of the present invention one provides, and the present embodiment can fit
Application scenarios for counter robot speed control.It is answered but it is understood that the technical program is readily applicable to other
The case where with robot speed is adjusted according to the information of acquisition simply by the presence of needs in scene.This method can be by machine
People speed control apparatus executes.The robot speed, which controls equipment, can be server, computer, Control card etc..This implementation
In robot be illustrated by taking counter robot as an example, the counter robot be provided with Control card as robot speed control
Control equipment.Referring to Fig.1, specifically comprise the following steps：
Commodity weight in S110, acquisition counter robot.
Counter robot in the present embodiment is that a kind of carrying commodity cruise the robot sold, the counter robot
It is provided with counter, for placing commodity.The present embodiment is not construed as limiting the move mode of counter robot, and the present embodiment is with wheeled
It is illustrated for movement.Commodity weight in counter robot refers to the weight for the commodity that counter robot carries.
The present embodiment is not construed as limiting the acquisition modes of the commodity weight in counter robot, using the goods of wheel type mobile
The artificial example of cabinet-type air conditioner device can be the wheel load by detection counter robot setting and the wheel of bottom, and then be converted according to wheel load
Obtain the commodity weight in counter robot.
S120, the pitch angle for obtaining the counter robot.
Pitch angle in the present embodiment can be the angle of counter robot moving direction and ground horizontal line, when counter machine
When device people is in upward slope state, the angle of pitch angle is positive；When counter robot is in descending state, the angle of pitch angle is
It is negative；When counter robot is parallel with ground horizontal line, the angle of pitch angle is zero.
The present embodiment is not construed as limiting the acquisition modes of the pitch angle of counter robot, the present embodiment with obliquity sensor into
It is illustrated for the measurement of row pitch angle.Obliquity sensor is also referred to as dipmeter, inclinometer, level meter, inclinometer, through common
In the level angle measure of the change of system, which can be simple spirit level, be also possible to modernization
Electrolevel.
S130, the predetermined movement speed that the counter robot is adjusted according to the commodity weight and pitch angle.
The movement velocity of counter robot in the present embodiment refers to that the wheel for being set to counter robot bottom is driven
Afterwards, so that the speed that counter robot obtains.The speed can be angular speed either linear velocity, which can be by taking turns
Encoder is arranged on son to measure.In general, angular displacement or straight-line displacement can be converted into electric signal by encoder, and then according to this
Speed is calculated in electric signal.
The present embodiment is not construed as limiting the control mode of the movement velocity of counter machine, and counter robot can pass through control
The modes such as torque, angular speed (or linear velocity) and the displacement of motor carry out motion control.The present embodiment by taking speed control as an example into
Row illustrates, in the present embodiment, speed control is that control counter robot is moved according to predetermined movement speed.
In the present embodiment, the present embodiment adjusts the default fortune of the counter robot according to the commodity weight and pitch angle
Dynamic speed, controls counter robot again later and is moved according to predetermined movement speed.
The present embodiment is to the predetermined movement speed for adjusting the counter robot according to the commodity weight and pitch angle
Specific implementation is not construed as limiting.
In one embodiment, it can be and first establish historical data set, wherein the historical data set includes commodity weight
Movement velocity when amount, pitch angle and the robot stabilized movement of corresponding counter, further according to the historical data set using returning
Method obtains statistical model, confirms commodity weight and the corresponding predetermined movement speed of pitch angle according to the statistical model later.
The embodiment of the present invention is by obtaining the commodity weight in counter robot；Obtain the pitching of the counter robot
Angle；The predetermined movement speed that the counter robot is adjusted according to the commodity weight and pitch angle, solves because of overweight or ground
The mobile unstable problem of shape complexity bring counter robot, realize according to counter robot commodity weight and tilt angle into
Row speed control, to guarantee operation stability and the safety of counter robot.
Embodiment two
Fig. 2 is a kind of flow chart of robot speed's control method provided by Embodiment 2 of the present invention, and the present embodiment is upper
It states and further refines on the basis of embodiment, referring to Fig. 2, specifically comprise the following steps：
S210, control weighing sensor obtain the commodity weight in counter robot.
In the present embodiment, weighing sensor is actually a kind of quality signal to be changed into what measurable electric signal exported
Device.
In one embodiment, weighing sensor is set in weighing-appliance.Weighing-appliance is mainly by load bearing system (such as scale
Disk, scale body), power transmission converting system (such as lever transmission system, weighing sensor) and indicating value system (such as dial, electronical display
Instrument) three parts composition.The weighing-appliance is located at commodity bottom, for measuring the weight of commodity.
In the present embodiment, the Control card in counter robot can control weighing sensor and claim to lift-on-lift-off commodity
Weight, obtains the weight of commodity.
S220, control gyroscope obtain the pitch angle.
In the present embodiment, gyroscope is a kind of obliquity sensor, is opposite with the moment of momentum sensitivity shell of high-speed rotator
Angular movement detection device of the inertial space around one or two axis for being orthogonal to the axis of rotation.Utilize angular movement made of other principles
Detection device plays the also referred to as gyroscope of said function.
In this implementation, the Control card in counter robot can control gyroscope and obtain counter robot and ground level
Pitch angle formed by line.
S230, according to the preset matching relationship of the commodity weight and movement velocity, determine predetermined movement speed.
The present embodiment is not construed as limiting the specific implementation for the preset matching relationship for obtaining commodity weight and movement velocity.
In one embodiment, it can be and first establish data acquisition system, wherein the data acquisition system includes commodity weight and corresponding
Movement velocity when the robot stabilized movement of counter obtains statistical model using homing method further according to the data acquisition system.According to
The preset matching relationship of the available commodity weight of the statistical model and movement velocity.
In one embodiment, the corresponding movement velocity of commodity weight is confirmed according to the preset matching relationship, by movement speed
Degree is used as predetermined movement speed.
S240, the predetermined movement speed is adjusted according to the pitch angle.
The present embodiment is not construed as limiting the specific implementation for adjusting the predetermined movement speed according to the pitch angle.
In one embodiment, adjustment amplitude is determined according to pitch angle, predetermined movement speed is reduced according to the adjustment amplitude.Its
In, the absolute value direct proportionality of the adjustment amplitude and the pitch angle.That is the absolute value of pitch angle is bigger, the adjustment width
It spends bigger.The adjustment amplitude and the relationship of pitch angle can be set according to the preparation of historical data or actual counter robot
It sets.
S250, the control counter robot are moved according to the predetermined movement speed.
The present embodiment is not construed as limiting the control mode of the movement velocity of counter machine, and counter robot can pass through control
The modes such as torque, angular speed (or linear velocity) and the displacement of motor carry out motion control.The present embodiment by taking speed control as an example into
Row illustrates, in the present embodiment, speed control is that control counter robot is moved according to predetermined movement speed.
The embodiment of the present invention obtains the commodity weight in counter robot by control weighing sensor, and control gyroscope obtains
The pitch angle is taken, according to the preset matching relationship of the commodity weight and movement velocity, predetermined movement speed is determined, according to institute
It states pitch angle and adjusts the predetermined movement speed, control the counter robot and moved according to the predetermined movement speed,
It solves the problems, such as to realize because bring counter robot overweight or with a varied topography movement is unstable according to counter robot commodity
Weight and tilt angle carry out speed control, to guarantee operation stability and the safety of counter robot.
Embodiment three
Fig. 3 is a kind of structural schematic diagram for robot speed's control device that the embodiment of the present invention three provides, the present embodiment
The case where being applicable to robot speed's control, referring to Fig. 3, which is specifically included such as flowering structure：Commodity weight obtains module
310, pitch angle obtains module 320 and movement velocity adjusts module 330.
Commodity weight obtains module 310, for obtaining the commodity weight in counter robot.
Pitch angle obtains module 320, for obtaining the pitch angle of the counter robot.
Movement velocity adjusts module 330, for adjusting the counter robot according to the commodity weight and pitch angle
Predetermined movement speed.
The embodiment of the present invention is by obtaining the commodity weight in counter robot；Obtain the pitching of the counter robot
Angle；The predetermined movement speed that the counter robot is adjusted according to the commodity weight and pitch angle, solves because of overweight or ground
The mobile unstable problem of shape complexity bring counter robot, realize according to counter robot commodity weight and tilt angle into
Row speed control, to guarantee operation stability and the safety of counter robot.
On the basis of the above embodiments, the commodity weight acquisition module 310 includes：
Commodity weight acquiring unit, for controlling the commodity weight in weighing sensor acquisition counter robot.
On the basis of the above embodiments, the pitch angle acquisition module 320 includes：
Pitch angle acquiring unit obtains the pitch angle for controlling gyroscope.
On the basis of the above embodiments, the movement velocity adjustment module 330 includes：
Movement velocity determination unit determines pre- for the preset matching relationship according to the commodity weight and movement velocity
If movement velocity；
Movement velocity adjustment unit, for adjusting the predetermined movement speed according to the pitch angle.
On the basis of the above embodiments, described device further includes：
Motion-control module is moved for controlling the counter robot according to the predetermined movement speed.
Method provided by any embodiment of the invention can be performed in the said goods, has the corresponding functional module of execution method
And beneficial effect.
Example IV
Fig. 4 is the structural schematic diagram that a kind of robot speed that the embodiment of the present invention four provides controls equipment.Such as Fig. 4 institute
Show, which controls equipment and include：Processor 40, memory 41, input unit 42 and output device 43.The machine
The quantity of processor 40 can be one or more in people's speed control apparatus, in Fig. 4 by taking a processor 40 as an example.The machine
The quantity of memory 41 can be one or more in device people's speed control apparatus, in Fig. 4 by taking a memory 41 as an example.It should
Robot speed control equipment processor 40, memory 41, input unit 42 and output device 43 can by bus or
Person's other modes connect, in Fig. 4 for being connected by bus.In embodiment, robot speed, which controls equipment, can be service
Device, computer, Control card etc..In embodiment, by taking robot speed controls the Control card that equipment is counter robot as an example, into
Row description.
Memory 41 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence and module, the corresponding program instruction of robot speed's control method/module (example as described in any embodiment of that present invention
Such as, the commodity weight in robot speed's control device obtains module 310, pitch angle obtains module 320 and movement velocity adjustment
Module 330).Memory 41 can mainly include storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to equipment.This
Outside, memory 41 may include high-speed random access memory, can also include nonvolatile memory, for example, at least a magnetic
Disk storage device, flush memory device or other non-volatile solid state memory parts.In some instances, memory 41 can be further
Including the memory remotely located relative to processor 40, these remote memories can pass through network connection to equipment.It is above-mentioned
The example of network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Input unit 42 can be used for receiving the number or character information of input, and generates and set with robot speed's control
The related key signals input of standby user setting and function control, can also be the camera for obtaining image and acquisition
The pick up facility of audio data.Output device 43 may include the audio frequency apparatuses such as loudspeaker.It should be noted that input unit 42
It may be set according to actual conditions with the concrete composition of output device 43.
Software program, instruction and the module that processor 40 is stored in memory 41 by operation, thereby executing equipment
Various function application and data processing, that is, realize above-mentioned robot speed's control method.
Method provided by any embodiment of the invention can be performed in the said goods, has the corresponding functional module of execution method
And beneficial effect.
Embodiment five
The embodiment of the present invention five also provides a kind of storage medium comprising computer executable instructions, and the computer can be held
Row instruction is used to execute a kind of robot speed's control method when being executed by computer processor, including：
Obtain the commodity weight in counter robot；
Obtain the pitch angle of the counter robot；
The predetermined movement speed of the counter robot is adjusted according to the commodity weight and pitch angle.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
Robot speed's control method operation that executable instruction is not limited to the described above, can also be performed any embodiment of that present invention institute
Relevant operation in robot speed's control method of offer, and have corresponding function and beneficial effect.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be robot, personal computer, server or the network equipment etc.) executes machine described in any embodiment of that present invention
Device people's method for control speed.
It is worth noting that, in above-mentioned robot speed's control device, included each unit and module only according to
What function logic was divided, but be not limited to the above division, as long as corresponding functions can be realized；In addition, each
The specific name of functional unit is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized：With for realizing the logic gates of logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of robot speed's control method, which is characterized in that including：
Obtain the commodity weight in counter robot；
Obtain the pitch angle of the counter robot；
The predetermined movement speed of the counter robot is adjusted according to the commodity weight and pitch angle.
2. the method according to claim 1, wherein the commodity weight obtained in counter robot includes：
Control the commodity weight in weighing sensor acquisition counter robot.
3. the method according to claim 1, wherein the pitch angle for obtaining the counter robot includes：
It controls gyroscope and obtains the pitch angle.
4. the method according to claim 1, wherein described according to the commodity weight and pitch angle adjustment
The predetermined movement speed of counter robot includes：
According to the preset matching relationship of the commodity weight and movement velocity, predetermined movement speed is determined；
The predetermined movement speed is adjusted according to the pitch angle.
5. the method according to claim 1, wherein described adjust the predetermined movement speed according to the pitch angle
After degree, including：
The counter robot is controlled to be moved according to the predetermined movement speed.
6. a kind of robot speed's control device, which is characterized in that including：
Commodity weight obtains module, for obtaining the commodity weight in counter robot；
Pitch angle obtains module, for obtaining the pitch angle of the counter robot；
Movement velocity adjusts module, for adjusting the predetermined movement of the counter robot according to the commodity weight and pitch angle
Speed.
7. device according to claim 6, which is characterized in that the commodity weight obtains module and includes：
Commodity weight acquiring unit, for controlling the commodity weight in weighing sensor acquisition counter robot.
8. device according to claim 6, which is characterized in that the movement velocity adjusts module and includes：
Movement velocity determination unit determines default fortune for the preset matching relationship according to the commodity weight and movement velocity
Dynamic speed；
Movement velocity adjustment unit, for adjusting the predetermined movement speed according to the pitch angle.
9. a kind of robot speed controls equipment, which is characterized in that including：Memory and one or more processors；
The memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as robot speed's control method as claimed in any one of claims 1 to 5.
10. a kind of storage medium comprising computer executable instructions, which is characterized in that the computer executable instructions by
For executing such as robot speed's control method as claimed in any one of claims 1 to 5 when computer processor executes.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112388640A (en) * | 2020-11-27 | 2021-02-23 | 深圳优地科技有限公司 | Speed control method and device based on load, robot and storage medium |
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