CN110371170A - Intelligent power assisting device, system and the method for controlling its offer power-assisted - Google Patents
Intelligent power assisting device, system and the method for controlling its offer power-assisted Download PDFInfo
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- CN110371170A CN110371170A CN201810333896.3A CN201810333896A CN110371170A CN 110371170 A CN110371170 A CN 110371170A CN 201810333896 A CN201810333896 A CN 201810333896A CN 110371170 A CN110371170 A CN 110371170A
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- assisting device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides a kind of Intelligent power assisting device, system and provides the method for power-assisted for controlling it, the Intelligent power assisting device includes: assist controller, control member and state sampling mechanism, wherein, the state sampling mechanism is connected to the control member, and the state sampling mechanism is configured for sensing the state change of the control member and generates corresponding electric signal according to the state change of the control member；The assist controller is configured for receiving the electric signal that the state sampling mechanism generates, and controls the Intelligent power assisting device in response to the electric signal and provide power-assisted.The present invention greatly reduces the cost and complexity that Intelligent power assisting device carries out Power assisted control by control member and state sampling mechanism, effectively increases the reliability and stability of Power assisted control.
Description
Technical field
The present invention relates to Intelligent booster tool technical field, more particularly it relates to a kind of Intelligent power assisting device,
Intelligent force aid system and the corresponding method for controlling its offer power-assisted.
Background technique
Existing intelligence servomechanism robotic exoskeleton, in terms of be widely used, but in them
It is some there is relative complex operating process and donning process, for basis robot power-assisted application adaptability is poor, cost
It is high.
Therefore, a kind of Intelligent power assisting device for being able to solve the above problem is needed.
Summary of the invention
A kind of Intelligent power assisting device, system and the method for controlling its offer power-assisted provided by the invention, Neng Goushi
The application environment for answering a variety of robots solves, cost poor for the robot power-assisted application adaptability on basis in the prior art
High problem.
The first aspect of the present invention provides a kind of Intelligent power assisting device, and the Intelligent power assisting device includes: Power assisted control
Device, control member and state sampling mechanism, wherein
The state sampling mechanism is connected to the control member, and the state sampling mechanism is configured for described in sensing
The state change of control member and corresponding electric signal is generated according to the state change of the control member；
The assist controller is configured for receiving the electric signal that the state sampling mechanism generates, and responds
The Intelligent power assisting device is controlled in the electric signal, and power-assisted is provided.
According to the first aspect of the invention, the first possible embodiment of first aspect is provided, wherein the behaviour
Vertical component includes the component of pull rod, rocking bar or button form.
According to the first aspect of the invention or the first of first aspect possible embodiment there is provided first aspects
Second of possible embodiment, wherein the state sampling mechanism includes slide rheostat, the slide rheostat includes
Resistance wire and sliding end, the sliding end are connected directly or indirectly to the control member, and the sliding end follow it is described
The change in location of control member moves on the resistance wire, to generate corresponding voltage sample value.
Second according to the first aspect of the invention is possible, and embodiment there is provided the third possibility of first aspect
Embodiment, wherein the state sampling mechanism further includes being arranged between the slide rheostat and the control member
Link mechanism, the link mechanism include at least one connecting rod, and the link mechanism can become the state of the control member
Change the sliding end for being transmitted to the slide rheostat.
Any of according to the first aspect of the invention to the third possible embodiment of first aspect, provide
4th kind of possible embodiment of first aspect, wherein the Intelligent power assisting device further includes Inertial Measurement Unit, it is described used
Property measuring unit is configured for measuring the motion state of the Intelligent power assisting device.
The 4th kind according to the first aspect of the invention is possible, and embodiment there is provided the 5th kind of possibility of first aspect
Embodiment, wherein the Inertial Measurement Unit is configured specifically for measuring the Intelligent power assisting device at least one side
Upward acceleration and angular speed or angular acceleration at least one direction.
Any of according to the first aspect of the invention to the 5th kind of possible embodiment of first aspect, provide
6th kind of possible embodiment of first aspect, wherein the Intelligent power assisting device further comprises driving the intelligent power-assisted
The mobile driving device of device, the driving device includes at least one motor, at least one described motor is configured for
At least one of advance power-assisted and power steering are provided to the Intelligent power assisting device under the control of the assist controller.
The 5th kind of possible embodiment or the 6th kind of possible embodiment according to the first aspect of the invention, provide
7th kind of possible embodiment of first aspect, wherein the assist controller is configured specifically for:
The motion state for the Intelligent power assisting device that the Inertial Measurement Unit measures is obtained, and according to the movement
State determines that the Intelligent power assisting device is currently in the state of horizontally advancing, climbing state, turn condition or other states
One, and thereby determine that the Intelligent power assisting device apply power-assisted type.
The 7th kind according to the first aspect of the invention is possible, and embodiment there is provided the 8th kind of possibility of first aspect
Embodiment, wherein the assist controller is configured specifically for:
Determine that the intelligence helps in the motion state of the Intelligent power assisting device measured by the Inertial Measurement Unit
Power device does not have angular speed and in when horizontally advancing state or climbing state, and Xiang Suoshu Intelligent power assisting device is provided to advance and be helped
Power；
Wherein the tilt angle of the size of the advance power-assisted and pull rod or the control member of rocking bar form is positively correlated, or should
The advanced speed of the size of advance power-assisted and the Intelligent power assisting device is positively correlated.
The 7th kind according to the first aspect of the invention is possible, and embodiment there is provided the 9th kind of possibility of first aspect
Embodiment, wherein the assist controller is configured specifically for:
Determine that the intelligence helps in the motion state of the Intelligent power assisting device measured by the Inertial Measurement Unit
When power device persistently has angular acceleration or angular speed, Xiang Suoshu Intelligent power assisting device provides power steering, or to the intelligence
It can power assisting device offer power steering and advance power-assisted；
The angular speed that wherein size of the power steering and the Inertial Measurement Unit measure is positively correlated, the advance power-assisted
The tilt angle of size and pull rod or the control member of rocking bar form is positively correlated or the size and the intelligence of the advance power-assisted
The advanced speed of power assisting device is positively correlated.
Any of according to the first aspect of the invention to the 9th kind of possible embodiment of first aspect, provide
Tenth kind of possible embodiment of first aspect, wherein the control member is pull rod or rocking bar, the state sampling mechanism
It is arranged on the end of the pull rod or rocking bar, and the state sampling mechanism can be with the inclination of the pull rod or rocking bar
And generate corresponding electric signal.
Any of according to the first aspect of the invention to the tenth kind of possible embodiment of first aspect, provide
A kind of possible embodiment of the tenth of first aspect, wherein the assist controller is arranged to and the control member one
It is made or the assist controller is arranged on the inside of the control member.
The 6th kind of possible embodiment according to the first aspect of the invention is into a kind of the tenth possible embodiment
Either one or two of, the 12nd kind of possible embodiment of first aspect is provided, wherein the Intelligent power assisting device further wraps
Include PID controller (proportional-integral-derivative controller, proportional integral differential control
Device), the PID controller is configured for:
The electric signal and the motion state that measures of the Inertial Measurement Unit obtained according to the assist controller at least it
One determines the target speed value of the Intelligent power assisting device, and the target speed value is then sent at least one described motor,
And after at least one described motor carries out speed adjustment according to the target speed value, at least one motor is obtained
Speed return value carries out feedback control.
The second aspect of the present invention provides a kind of intelligent force aid system, and the intelligence force aid system includes any of the above-described
The Intelligent power assisting device, wherein the intelligence force aid system is intelligent mobile robot, the Intelligent power assisting device is set
It sets in the main body of the intelligent mobile robot.
According to the second aspect of the invention, the first possible embodiment according to second aspect is provided, wherein institute
Stating intelligent mobile robot includes luggage case or stream carrier vehicle.
The third aspect of the present invention provides a kind of method for controlling Intelligent power assisting device offer power-assisted, wherein institute
Stating Intelligent power assisting device includes: assist controller, control member and state sampling mechanism, which comprises
The state sampling mechanism obtains the state of the control member, and is generated according to the state change of control member
Corresponding electric signal；
The assist controller controls the Intelligent power assisting device in response to the electric signal and provides power-assisted.
According to the third aspect of the invention we, the first possible embodiment of the third aspect is provided, wherein the shape
State sampling mechanism includes slide rheostat, and the slide rheostat includes resistance wire and sliding end, the sliding end directly or
It is connected to the control member in succession, the state sampling mechanism obtains the state of the control member, and according to control member
State change generate corresponding electric signal and include:
The sliding end follows the change in location of the control member to move on the resistance wire, to generate corresponding electricity
Press sampled value.
According to the third aspect of the invention we or the third aspect the first is possible embodiment there is provided the third aspect
Second of possible embodiment, wherein the Intelligent power assisting device further includes Inertial Measurement Unit, the method also includes institutes
State the motion state that Inertial Measurement Unit measures the Intelligent power assisting device.
Second according to the third aspect of the invention we is possible, and embodiment there is provided the third possibility of the third aspect
Embodiment, wherein the motion state that the Inertial Measurement Unit measures the Intelligent power assisting device includes: that the inertia is surveyed
Amount unit measures the acceleration of the Intelligent power assisting device at least one direction and angular speed at least one direction
Or angular acceleration.
Any of according to the third aspect of the invention we to the third possible embodiment of the third aspect, provide
4th kind of possible embodiment of the third aspect, wherein the Intelligent power assisting device further comprises driving the intelligent power-assisted
The mobile driving device of device, the driving device includes at least one motor, and the assist controller is in response to the telecommunications
Number control Intelligent power assisting device provides power-assisted and includes:
Before at least one of described motor provides under the control of the assist controller to the Intelligent power assisting device
Into at least one of power-assisted and power steering.
The 4th kind of possible reality of the third possible embodiment or the third aspect according to the third aspect of the invention we
Mode is applied, the 5th kind of possible embodiment of the third aspect is provided, wherein the assist controller is in response to the telecommunications
Number control Intelligent power assisting device provides power-assisted and includes:
The motion state for the Intelligent power assisting device that the Inertial Measurement Unit measures is obtained, and according to the movement
State determines that the Intelligent power assisting device is currently in the state of horizontally advancing, climbing state, turn condition or other states
One, and thereby determine that the Intelligent power assisting device apply power-assisted type.
The 5th kind according to the third aspect of the invention we is possible, and embodiment there is provided the 6th kind of possibility of the third aspect
Embodiment, wherein the assist controller, which controls the Intelligent power assisting device in response to the electric signal, provides power-assisted packet
It includes:
Determine that the intelligence helps in the motion state of the Intelligent power assisting device measured by the Inertial Measurement Unit
Power device does not have angular speed and in when horizontally advancing state or climbing state, and Xiang Suoshu Intelligent power assisting device is provided to advance and be helped
Power；
Wherein the tilt angle of the size of the advance power-assisted and pull rod or the control member of rocking bar form is positively correlated, or should
The advanced speed of the size of advance power-assisted and the Intelligent power assisting device is positively correlated.
The 5th kind according to the third aspect of the invention we is possible, and embodiment there is provided the 7th kind of possibility of the third aspect
Embodiment, wherein the assist controller controls the Intelligent power assisting device in non-automatic shifting in response to the electric signal
Mobile offer power-assisted in the case where dynamic includes:
When the Inertial Measurement Unit measures the Intelligent power assisting device and persistently there is angular acceleration or angular speed, to institute
It states Intelligent power assisting device and power steering is provided, or provide power steering and advance power-assisted to the Intelligent power assisting device；
The angular speed that wherein size of the power steering and the Inertial Measurement Unit measure is positively correlated, the advance power-assisted
The tilt angle of size and pull rod or the control member of rocking bar form is positively correlated or the size and the intelligence of the advance power-assisted
The advanced speed of power assisting device is positively correlated.
The 4th kind of possible embodiment according to the third aspect of the invention we to the third aspect the 7th kind of possible reality
Apply any of mode, provide the 8th kind of possible embodiment of the third aspect, wherein the Intelligent power assisting device into
One step includes PID controller, which comprises
The fortune that the electric signal and the Inertial Measurement Unit that the PID controller is obtained according to the assist controller measure
At least one dynamic state determines the target speed value of the Intelligent power assisting device；
Then the target speed value is sent at least one described motor；And
After at least one described motor carries out speed adjustment according to the target speed value, the PID controller is obtained
The speed return value of at least one motor carries out feedback control.
The fourth aspect of the present invention provides a kind of Intelligent power assisting device, wherein the Intelligent power assisting device includes storage
Device, processor and storage are on a memory and the computer program that can run on a processor, the processor execute
It can be realized the function of the assist controller in method described in any of the above embodiments when the computer program.
The fifth aspect of the present invention provides a kind of computer storage medium, wherein the computer storage medium stores
There is computer program, the computer program can be realized the Power assisted control in method described in any of the above embodiments when executed
The function of device.
It Intelligent power assisting device that embodiment of the present invention provides, intelligent force aid system and is mentioned for controlling Intelligent power assisting device
For the method for power-assisted, by using the control member being arranged in main body and the state Sampling Machine being connected with control member
Structure can adapt to the application environment of a variety of robots, greatly reduce the Power assisted control cost and complexity of Intelligent power assisting device,
Effectively increase the reliability and stability of Power assisted control.To keep the above objects, features and advantages of the present invention more than you know, hereafter
Embodiment of the present invention will be described in detail in conjunction with attached drawing.
Detailed description of the invention
The present invention will be described solely by reference to the non-limiting example of attached drawing now, in the accompanying drawings:
Fig. 1 shows the Intelligent power assisting device of an embodiment according to the present invention and the schematic diagram of intelligent force aid system；
Fig. 2 shows the signals of the Intelligent power assisting device of another embodiment according to the present invention and intelligent force aid system
Figure；
Fig. 3 shows the state sampling mechanism of an embodiment according to the present invention and the schematic diagram of control member；
Fig. 4 is shown for the Intelligent power assisting device of an embodiment according to the present invention and intelligent force aid system
The schematic diagram of advance power-assisted and power steering；
Fig. 5 shows the speed of Intelligent power assisting device and intelligent force aid system for an embodiment according to the present invention
Closed-loop control flow chart；
Fig. 6 shows the signal that the control member of another embodiment according to the present invention is combined with assist controller
Figure；
Fig. 7 shows the method for controlling Intelligent power assisting device offer power-assisted of an embodiment according to the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to of the invention
Specific embodiment is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain
The present invention is not intended to limit the present invention.
Fig. 1 shows the Intelligent power assisting device of an embodiment according to the present invention and the schematic diagram of intelligent force aid system.
As shown in fig. 1, the Intelligent power assisting device includes: assist controller 120, control member 130 and state sampling
Mechanism 140.The intelligence force aid system 100 includes that (main body, which can be, for example to be filled for the Intelligent power assisting device and main body 110
Set the shell of main body or the shell of system body).The intelligence force aid system can be the movement of any required offer power-assisted
Equipment, such as can be intelligent mobile robot, including luggage case, stream carrier vehicle or help vehicle platform etc. various can provide is helped
The equipment of power.
The control member 130 can be arranged in the main body 110.The state sampling mechanism 140 is connected to institute
Control member 130 is stated, the state sampling mechanism is configured for sensing the state change of the control member and according to institute
The state change for stating control member generates corresponding electric signal.The assist controller 120 is configured for receiving the state
The electric signal that sampling mechanism 140 generates, and control the Intelligent power assisting device in response to the electric signal and power-assisted is provided.
The control member is the component of pull rod, rocking bar or button form.Alternatively, the control member can also be using this
Field technical staff be readily apparent that other control the mobile component of the Intelligent power assisting device.Embodiment shown in Fig. 1
In, the control member 130 is the pull rod that body front part is arranged in.
In the embodiment of intelligent force aid system shown in Fig. 1, the intelligence force aid system is stream carrier vehicle.It is helping
In force mode, the intelligence force aid system can be without automatically moving or following operation automatically, but in state sampling
(for example, control member is tilted a certain angle, with a fixed angular speed when state that mechanism senses the control member changes
Rotate or pressed by touch) electric signal is generated, it is provided so that assist controller controls the Intelligent power assisting device
Power-assisted, so that the power of people or machine very little can haul Intelligent power assisting device movement.Moreover, by using control member and
Connected state sampling mechanism, can adapt to the application environment of a variety of robots, greatly reduces Intelligent power assisting device
Control cost and complexity, effectively increase the reliability and stability of Power assisted control.
Fig. 2 shows the signals of the Intelligent power assisting device of another embodiment according to the present invention and intelligent force aid system
Figure.
Preferably, in the embodiment of intelligent force aid system shown in Fig. 2, intelligent force aid system 100 ' is luggage case.
Control member 130 ' is the pull rod of luggage case, and pull rod can be held and by manipulator (for example, operator or operation machine)
Luggage case is pulled to be moved.The pull rod also may alternatively be rocking bar, button or those skilled in the art it is conceivable that
Other operating members.State sampling mechanism 140 is arranged on the end of pull rod or rocking bar, and the state sampling mechanism 140
Corresponding electric signal can be generated with the inclination of the pull rod or rocking bar.
Fig. 3 shows the state sampling mechanism of an embodiment according to the present invention and the schematic diagram of control member.
Preferably, as shown in figure 3, the state sampling mechanism 140 includes slide rheostat, the slide rheostat includes
Resistance wire 141 and sliding end 142, the sliding end are connected directly or indirectly to the control member 130, and the sliding end
142 follow the state change of the control member 130 to move on the resistance wire 141, to generate corresponding voltage sample value.
A sampling end 143 is connected on the sliding end, the sampling end 143 can sample relevant voltage sampled value generated.
A termination power (VCC) for slide rheostat 141, the other end are grounded (GND).Such as those skilled in the art it is contemplated that, can also
So that the fixing end of the slide rheostat is connected with the control member, drive sliding end sliding can also be real by fixing end
Existing said effect, both belong to the scheme of equivalent replacement.
Preferably, the state sampling mechanism further includes being arranged between the slide rheostat and the control member
Link mechanism 144.Link mechanism 144 can manipulate the sliding end 142 of slide rheostat.The link mechanism 144 may include
At least one connecting rod.Although in the embodiment depicted in fig. 3, the link mechanism 144 is only illustrated as including a connecting rod,
But it may occur to persons skilled in the art that the link mechanism 144 may include two, three or more connecting rod.The company
Linkage is configured for the state change (for example, inclination or rotational action) of the control member being transmitted to the sliding change
Hinder the sliding end of device.
Preferably, shaft coupling or this field can have been used between the control member 130 and the link mechanism 144
Other the non-flexible connecting components known are attached；Similarly, between the link mechanism 144 and the sliding end 142
It can be attached using shaft coupling or other non-flexible connecting components known in the art, for example to be sent out in the control member
When raw inclination, the sliding end of the slide rheostat can be made in the resistance wire according to the magnitude of inclination of the control member
On slide into different location, thus generate corresponding voltage sample value.Therefore, according to the voltage of slide rheostat sliding end 142
Sampled value, it can be learnt that the state change (for example, magnitude of inclination) of control member.
Fig. 4 is shown for the Intelligent power assisting device of an embodiment according to the present invention and intelligent force aid system
The schematic diagram of advance power-assisted and power steering.
Preferably, the Intelligent power assisting device can also include Inertial Measurement Unit 150, the Inertial Measurement Unit 150
It is configured for measuring the motion state of the Intelligent power assisting device.The Inertial Measurement Unit 150 is configured specifically for surveying
It measures the acceleration of the Intelligent power assisting device at least one direction and angular speed at least one direction or angle accelerates
Degree.For example, Inertial Measurement Unit can be used for measuring the acceleration in tri- directions xyz and the angular speed in three directions.Work as z-axis
When the acceleration measurement of (for example, axis in horizontal direction) is g, illustrate that main body is in level.If main body in turn condition,
Three axis angular rate meters can directly measure the angular speed currently rotated.As it may occur to persons skilled in the art that, inertia measurement
Unit can be the motion sensor for detecting angular acceleration, such as MPU9250 or MPU6050.It can certainly be used
The motion sensor or Inertial Measurement Unit of his model.
Preferably, the assist controller is configured specifically for: obtaining the intelligence that the Inertial Measurement Unit measures
The motion state of energy power assisting device, and determine that the Intelligent power assisting device is currently at according to the motion state and horizontally advance
One in state, climbing state, turn condition or other states, and thereby determine that and helped to Intelligent power assisting device application
The type of power.
The assist controller can receive the data of state sampling mechanism and Inertial Measurement Unit acquisition, form control institute
It states Intelligent power assisting device and the instruction of power-assisted is provided, be sent to the dynamical system of the Intelligent power assisting device.The dynamical system can
With for example including driving device, the driving device may include at least one motor 160 for driving the wheel of the main body, institute
Stating motor can be such as hub motor or other motors known in the art.It is configured at least one described motor
At least one of advance power-assisted and power steering are provided to the Intelligent power assisting device under the control of the assist controller.?
In one embodiment, the assist controller may include such as receiving port, processor and memory.
Preferably, the assist controller is configured specifically for: described in being measured by the Inertial Measurement Unit
The motion state of Intelligent power assisting device determines that the Intelligent power assisting device does not have angular speed and be in horizontally advance state or climb
When ramp shaped state, Xiang Suoshu Intelligent power assisting device provides advance power-assisted；The wherein size of the advance power-assisted and pull rod or rocking bar form
Control member tilt angle, as control member relative to vertical axis tilt angle (angle beta as shown in Figure 6) just
The advanced speed of the size of correlation or the advance power-assisted and the Intelligent power assisting device is positively correlated.
Preferably, the assist controller is configured specifically for: described in being measured by the Inertial Measurement Unit
When the motion state of Intelligent power assisting device determines that the Intelligent power assisting device persistently has angular acceleration or angular speed, Xiang Suoshu intelligence
Energy power assisting device provides power steering, or provides power steering and advance power-assisted to the Intelligent power assisting device；Wherein this turn
The angular speed measured to the size of power-assisted and the Inertial Measurement Unit is positively correlated, the size and pull rod or rocking bar of the advance power-assisted
The tilt angle of the control member of form is positively correlated or the advance of the size of the advance power-assisted and Intelligent power assisting device speed
Rate is positively correlated.
It in one embodiment, is such as stream carrier vehicle or when luggage case, Ke Yitong in the intelligent force aid system
It crosses mode as described below and the Intelligent power assisting device offer power-assisted is provided.When the state of the control member changes,
The state change (such as angle change) of the state sampling mechanism acquisition control member, determines tilt angle, and generate
Corresponding electric signal is then passed to assist controller.The assist controller is surveyed according at least to the electric signal and the inertia
At least one of the motion state for measuring unit measurement determines the target value or target velocity of power-assisted, and send driving instruction (such as
Specific currents sizes values) give the Intelligent power assisting device dynamical system (such as motor), or according to the electric signal with it is described
At least one of the motion state of Inertial Measurement Unit measurement determines specific currents sizes values and sends driving instruction to the intelligence
The dynamical system of energy power assisting device.The dynamical system drives the Intelligent power assisting device and described according to the driving instruction
Intelligent force aid system movement, to realize power-assisted.
For example, the operating mode of the Intelligent power assisting device can be such that manipulator by manipulating the body front part
Control member (such as pull rod) controls Intelligent power assisting device, and assist controller is determined to enter by state sampling mechanism and be helped
Force mode or non-assistant mode.For example, the control member when pull rod form is pulled by manipulator, so that control member is relative to water
Square to axis less than one set angle a (as shown in Figure 6) of angle when, main body enters assistant mode, works as behaviour
When vertical component is restored to greater than angle a, main body enters non-assistant mode.Preferably, a can be between 70 degree to 10 degree
Any one numerical value, for example, 70 degree, 60 degree, 50 degree, 40 degree, 30 degree, 20 degree, 10 degree etc..When control member is button, when pressing
When button is pressed, the Intelligent power assisting device can enter assistant mode, based on fixed power-assisted is provided.
It in one embodiment, can be in two kinds of assistant modes of the advance of the Intelligent power assisting device and turning
Two kinds of power-assisteds are provided, a part is advance power-assisted, and another part is power steering.The power steering can be with angular speed positive
It closes, the advance power-assisted can be positively correlated with state sampling mechanism sampled value or the advanced speed with the Intelligent power assisting device
It is positively correlated.
In one embodiment, the Intelligent power assisting device offer may be required during advance and turning to help
The motion state of power, the Intelligent power assisting device meeting copy operation hand provides power-assisted.In advance assistant mode, assist controller
The current operating conditions that the Intelligent power assisting device can be sampled by Inertial Measurement Unit, when the Intelligent power assisting device does not have
Angular speed and in horizontal linear advance or straight line climb when, assist controller can be manipulated according to state sampling mechanism
The state change of component, such as the gradient of pull rod or rocking bar provide power-assisted to main body, and power-assisted size can be with the gradient
It is positively correlated.
In one embodiment, Inertial Measurement Unit can measure the acceleration in 3 directions in rectangular coordinate system in space
Size is spent, when main body is located at level ground, z-axis acceleration should be the vector that the downward size in direction is g, when main body and horizontal plane
When angle is a, then the component of acceleration surplus of z-axis is gcos (a), can be with according to whether the size of the z-axis acceleration is equal to g
Effectively determine whether main body is horizontal.When main body is located at climbing state, then advance power-assisted is exported, that is, climbing power-assisted.
In addition, assist controller can sample main body current operating conditions by Inertial Measurement Unit, when main body is in water
Flat line advances or straight line climbing, and when persistently there is angular acceleration (integral obtains angular speed) or angular speed (such as hold
Renew more than angular speed 2s), determine into turn condition.If it is determined that being in turn condition, the assist controller can be with
Power steering is provided according to current steering angle speed, the power steering and main body angular speed size are positively correlated.Main body angular speed
It is bigger, illustrate that manipulator wishes that main body rotation maintains faster angular speed, so needing power steering to be offered bigger.Steering helps
Power, that is, main body direction of rotation power-assisted, it is generated by the differential of two wheels, and is superimposed with forward speed.
Fig. 5 shows the speed of Intelligent power assisting device and intelligent force aid system for an embodiment according to the present invention
Closed-loop control flow chart.
In one embodiment, in order to enable the practical power-assisted value to main body is consistent with sampling mechanism measurement target value,
Speed closed loop process as shown in Figure 5 can be used.As shown in Figure 5, the Intelligent power assisting device further comprises PID control
Device 170.The PID controller 170 is configured for: the electric signal obtained according to the assist controller and the inertia measurement
At least one motion state that unit measures determines the target speed value of the Intelligent power assisting device, then by the target speed value
It is sent at least one described motor, and speed adjustment is carried out according to the target speed value at least one described motor
Afterwards, the speed return value for obtaining at least one motor carries out feedback control.
Specifically, for example, state sampling mechanism can acquire the tilt angle of the control member of pull rod or rocking bar form, and
Corresponding electric signal is generated, the electric signal is delivered to assist controller, and the assist controller is according at least to the state
At least one of motion state measured by the electric signal and Inertial Measurement Unit of sampling mechanism is to be offered needed for determining to be helped
The target value of power, and the signal is passed to by motor by PID controller, speed return value is fed back into PID after motor acceleration
The front end of controller 170 is corrected, and the practical power-assisted value of realization body is consistent with the target value of identified power-assisted.
Fig. 6 shows the signal that the control member of another embodiment according to the present invention is combined with assist controller
Figure.
As shown in fig. 6, the control member 130 " can be a rocking bar, which is arranged in conjunction with assist controller
Together, stateful sampling mechanism can be set between rocking bar and assist controller.
Or, it is preferable that the assist controller can be set to be made into integration with the control member or described
Assist controller can be arranged on the inside of the control member.
For example, the pull rod of luggage case can also be used as bar simultaneously in the case where the Intelligent power assisting device is luggage case
Class assist controller, to realize the sensitive control to cabinet, such Intelligent power assisting device, which can not only provide, pulls user
The auxiliary power-assisted of cabinet, and promote manipulation sense of the user to pull rod.
In addition, the everyday actions of manipulator can be dissolved by control member and the state sampling mechanism being attached thereto
In control, so that the study of mode of operation becomes simply, while the Starting mode of this Power assisted control is simple, can cut at any time
Power-assisted state is changed to, the operating efficiency of manipulator is effectively improved.
Fig. 7 shows the method for controlling Intelligent power assisting device offer power-assisted of an embodiment according to the present invention.
Another aspect of the present invention provides a kind of method for controlling Intelligent power assisting device offer power-assisted, wherein institute
Stating Intelligent power assisting device includes: assist controller, control member and state sampling mechanism, which comprises the state is adopted
Model machine structure obtains the state of control member, and generates corresponding electric signal (S101) according to the state change of control member；Institute
It states assist controller and controls Intelligent power assisting device offer power-assisted (S102) in response to the electric signal.
Preferably, the state sampling mechanism includes slide rheostat, and the slide rheostat includes resistance wire and sliding
End, the sliding end are connected directly or indirectly to the control member, and the state sampling mechanism obtains the control member
State, and generating corresponding electric signal according to the state change of control member includes: that the sliding end follows the manoeuvre portion
The change in location of part moves on the resistance wire, to generate corresponding voltage sample value.
Preferably, the Intelligent power assisting device further includes Inertial Measurement Unit, and the method also includes the inertia measurements
Unit measures the motion state of the Intelligent power assisting device.
Preferably, it includes: that the inertia is surveyed that the Inertial Measurement Unit, which measures the motion state of the Intelligent power assisting device,
Amount unit measures the acceleration of the Intelligent power assisting device at least one direction and angular speed at least one direction
Or angular acceleration.
Preferably, the Intelligent power assisting device further comprises the driving device for driving the Intelligent power assisting device mobile,
The driving device includes at least one motor, and the assist controller is in response to the electric signal control intelligent power-assisted dress
Set provide power-assisted include: at least one of described motor under the control of the assist controller to the Intelligent power assisting device
At least one of advance power-assisted and power steering are provided.
Preferably, the assist controller controls the Intelligent power assisting device in response to the electric signal and provides power-assisted packet
It includes: obtaining the motion state for the Intelligent power assisting device that the Inertial Measurement Unit measures, and according to the motion state
Determine the Intelligent power assisting device is currently in the state of horizontally advancing, climbing state, turn condition or other states one
It is a, and thereby determine that the type for applying power-assisted to the Intelligent power assisting device.
Preferably, the assist controller controls the Intelligent power assisting device in response to the electric signal and provides power-assisted packet
It includes: determining the Intelligent power assisting device in the motion state of the Intelligent power assisting device measured by the Inertial Measurement Unit
Do not have angular speed and in horizontally advance state or climbing state when, Xiang Suoshu Intelligent power assisting device provide advance power-assisted；Its
In the size of the advance power-assisted and the tilt angle of control member of pull rod or rocking bar form be positively correlated or the advance power-assisted
The advanced speed of size and the Intelligent power assisting device is positively correlated.
Preferably, the assist controller controls the Intelligent power assisting device in response to the electric signal and provides power-assisted packet
It includes: when the Inertial Measurement Unit measures the Intelligent power assisting device and persistently there is angular acceleration or angular speed, Xiang Suoshu intelligence
Energy power assisting device provides power steering, or provides power steering and advance power-assisted to the Intelligent power assisting device；Wherein this turn
The angular speed measured to the size of power-assisted and the Inertial Measurement Unit is positively correlated, the size and pull rod or rocking bar of the advance power-assisted
The tilt angle of the control member of form is positively correlated or the advance of the size of the advance power-assisted and Intelligent power assisting device speed
Rate is positively correlated.
Preferably, the Intelligent power assisting device further comprises PID controller, which comprises the PID controller
At least one the motion state that the electric signal and the Inertial Measurement Unit obtained according to the assist controller measures determines institute
State the target speed value of Intelligent power assisting device；Then the target speed value is sent at least one described motor；And institute
State after at least one motor carries out speed adjustment according to the target speed value, the PID controller obtain it is described at least one
The speed return value of motor carries out feedback control.
Another aspect of the invention, additionally provides a kind of Intelligent power assisting device, the Intelligent power assisting device include memory,
Processor and storage on a memory and the computer program that can run on a processor, described in the processor executes
It can be realized the function of the assist controller in any method as described above when computer program.
Another aspect of the present invention, additionally provides a kind of computer storage medium, and the computer storage medium is stored with
Computer program, the computer program can be realized the assist controller in any method as described above when executed
Function.
As those skilled in the art are contemplated that after having read the disclosure, in one embodiment, institute
Stating assist controller can be realized by the computer program code controlled motor, to according at least to state Sampling Machine
The tilt angle for the control member that structure samples is applied to the electric current of motor to limit, or samples according at least to state sampling mechanism
To the tilt angle of control member limit the target velocity of motor.
In embodiment of the present invention from the description above, it can be seen that embodiment of the present invention at least has and following has
Beneficial technical effect: can a) make Intelligent power assisting device effectively and provide power-assisted in time, save manpower；B) behaviour of manipulator is improved
Control degree reduces the operating process learning cost of manipulator；C) stability when Intelligent power assisting device power-assisted is improved, is reduced
Complicated mechanism and communications connection procedure.
It should be noted that it is the optional embodiment that the application is introduced, this field that the application, which provides embodiment,
Technical staff on this basis, can be designed that more embodiments completely, therefore not repeat here.
Those of ordinary skill in the art may be aware that being described in conjunction with embodiment disclosed herein each exemplary
Unit and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions need
It to be realized with hardware or software mode, specific application and design constraint depending on technical solution.Professional technique people
Member can use different methods to achieve the described function each specific application, but this realization is it is not considered that super
Scope of the present application out.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can be with reference to the corresponding process in preceding method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods can be with
It realizes by another way.For example, device embodiment described above is only schematical, for example, unit is drawn
Point, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.In addition, shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electricity, mechanical or other forms.
Unit as discrete part description may or may not be physically separated, and show as unit
Component may or may not be physical unit, it can it is in one place, or may be distributed over multiple positions
It sets.It can select some or all of unit therein according to the actual needs to realize the purpose of the present embodiment.
In addition, each functional unit in each embodiment of the application can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.
If function is realized in the form of SFU software functional unit and when sold or used as an independent product, can store
In a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words to existing
Having the part for the part or the technical solution that technology contributes can be embodied in the form of software products, the computer
Software product is stored in a storage medium, including some instructions are used so that a computer installation (can be personal meter
Calculation machine, server or network equipment etc.) or processor execute all or part of step of each method embodiment of the application
Suddenly.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), deposits at random
The various media that can store program code such as access to memory (RAM, Random Access Memory), magnetic or disk.
Flowcharts and block diagrams in the drawings show the systems, method and meter according to the various embodiments of the disclosure
Framework in the cards, function and the operation of calculation machine program product.In this regard, each of flowchart or block diagram piece can be with
Representation module, section or code section comprising for realizing one or more executable instructions of specified logic function.Should also
Note that the function of marking in block can not be occurred by the sequence marked in attached drawing in some alternative implementations.For example,
Two blocks continuously shown can actually substantially simultaneously execute or these blocks can execute in reverse order sometimes,
This depends on related function.It will also be noted that in each of block diagram and or flow chart piece and block diagram and or flow chart
Block combination, the hardware based dedicated system or specialized hardware and computer for executing specified function or movement can be passed through
The combination of instruction is realized.
The specific embodiment of the application is provided only above, but the protection scope of the application is not limited thereto, it is any
Those familiar with the art can easily think of the change or the replacement in technical scope disclosed in the present application, these changes
Change or replacement should all be covered within the scope of protection of this application.Therefore, the protection scope of the application should be with the guarantor of claim
It protects subject to range.
Claims (26)
1. a kind of Intelligent power assisting device, which is characterized in that the Intelligent power assisting device include: assist controller, control member and
State sampling mechanism, wherein
The state sampling mechanism is connected to the control member, and the state sampling mechanism is configured for sensing the manipulation
The state change of component and corresponding electric signal is generated according to the state change of the control member；
The assist controller is configured for receiving the electric signal that the state sampling mechanism generates, and in response to institute
It states electric signal and the Intelligent power assisting device offer power-assisted is provided.
2. Intelligent power assisting device according to claim 1, which is characterized in that the control member include pull rod, rocking bar or
The component of button form.
3. Intelligent power assisting device according to claim 1 or 2, which is characterized in that the state sampling mechanism includes sliding
Rheostat, the slide rheostat include resistance wire and sliding end, and the sliding end is connected directly or indirectly to the manoeuvre portion
Part, and the sliding end follows the change in location of the control member to move on the resistance wire, to generate corresponding electricity
Press sampled value.
4. Intelligent power assisting device according to claim 3, which is characterized in that the state sampling mechanism further includes that setting exists
Link mechanism between the slide rheostat and the control member, the link mechanism includes at least one connecting rod, described
The state change of the control member can be transmitted to the sliding end of the slide rheostat by link mechanism.
5. Intelligent power assisting device described in any one of -4 according to claim 1, which is characterized in that the Intelligent power assisting device is also
Including Inertial Measurement Unit, the Inertial Measurement Unit is configured for measuring the motion state of the Intelligent power assisting device.
6. Intelligent power assisting device according to claim 5, which is characterized in that the Inertial Measurement Unit is configured specifically use
In the measurement acceleration of Intelligent power assisting device at least one direction and angular speed or angle at least one direction
Acceleration.
7. Intelligent power assisting device according to claim 1 to 6, which is characterized in that the Intelligent power assisting device into
One step includes the driving device for driving the Intelligent power assisting device mobile, and the driving device includes at least one motor, described
At least one motor is configured under the control of the assist controller providing advance power-assisted to the Intelligent power assisting device
At least one of with power steering.
8. Intelligent power assisting device according to claim 6 or 7, which is characterized in that the assist controller is configured specifically
For:
The motion state for the Intelligent power assisting device that the Inertial Measurement Unit measures is obtained, and according to the motion state
Determine the Intelligent power assisting device is currently in the state of horizontally advancing, climbing state, turn condition or other states one
It is a, and thereby determine that the type for applying power-assisted to the Intelligent power assisting device.
9. Intelligent power assisting device according to claim 8, which is characterized in that the assist controller is configured specifically use
In:
The intelligent power-assisted dress is determined in the motion state of the Intelligent power assisting device measured by the Inertial Measurement Unit
Set no angular speed and in horizontally advance state or climbing state when, Xiang Suoshu Intelligent power assisting device provide advance power-assisted；
The wherein positive correlation of the tilt angle of the size of the advance power-assisted and pull rod or the control member of rocking bar form or the advance
The advanced speed of the size of power-assisted and the Intelligent power assisting device is positively correlated.
10. Intelligent power assisting device according to claim 8, which is characterized in that the assist controller is configured specifically use
In:
The intelligent power-assisted dress is determined in the motion state of the Intelligent power assisting device measured by the Inertial Measurement Unit
It sets persistently when there is angular acceleration or angular speed, Xiang Suoshu Intelligent power assisting device provides power steering, or helps to the intelligence
Power device provides power steering and advance power-assisted；
The angular speed that wherein size of the power steering and the Inertial Measurement Unit measure is positively correlated, the size of the advance power-assisted
With the size and the intelligent power-assisted of the positive correlation of the tilt angle of pull rod or the control member of rocking bar form or the advance power-assisted
The advanced speed of device is positively correlated.
11. Intelligent power assisting device according to any one of claim 1 to 10, which is characterized in that the control member is
Pull rod or rocking bar, the state sampling mechanism are arranged on the end of the pull rod or rocking bar, and the state sampling mechanism
Corresponding electric signal can be generated with the inclination of the pull rod or rocking bar.
12. Intelligent power assisting device according to any one of claim 1 to 11, which is characterized in that the assist controller
It is arranged to be made into integration with the control member or the assist controller is arranged on the inside of the control member.
13. Intelligent power assisting device according to any one of claims 7 to 12, which is characterized in that the intelligence power-assisted dress
Setting further comprises PID controller, and the PID controller is configured for:
At least one motion state that the electric signal and the Inertial Measurement Unit obtained according to the assist controller measures is really
Then the target speed value is sent at least one described motor by the target speed value of the fixed Intelligent power assisting device, and
After at least one described motor carries out speed adjustment according to the target speed value, the speed of at least one motor is obtained
Return value carries out feedback control.
14. a kind of intelligence force aid system, which is characterized in that the intelligence force aid system includes appointing in the claims 1 to 13
Intelligent power assisting device described in one, wherein the intelligence force aid system is intelligent mobile robot, the Intelligent power assisting device
It is arranged in the main body of the intelligent mobile robot.
15. intelligence force aid system according to claim 14, which is characterized in that the intelligent mobile robot includes luggage
Case or stream carrier vehicle.
16. a kind of provide the method for power-assisted for controlling Intelligent power assisting device, which is characterized in that the Intelligent power assisting device packet
It includes: assist controller, control member and state sampling mechanism, the method comprise the steps that
The state sampling mechanism obtains the state of the control member, and is generated accordingly according to the state change of control member
Electric signal；
The assist controller controls the Intelligent power assisting device in response to the electric signal and provides power-assisted.
17. according to the method for claim 16, which is characterized in that the state sampling mechanism includes slide rheostat, institute
Stating slide rheostat includes resistance wire and sliding end, and the sliding end is connected directly or indirectly to the control member, the shape
State sampling mechanism obtains the state of the control member, and generates corresponding electric signal packet according to the state change of control member
It includes:
The sliding end follows the change in location of the control member to move on the resistance wire, is adopted with generating corresponding voltage
Sample value.
18. method according to claim 16 or 17, which is characterized in that the Intelligent power assisting device further includes inertia measurement
Unit, the method also includes:
The Inertial Measurement Unit measures the motion state of the Intelligent power assisting device.
19. according to the method for claim 18, which is characterized in that the Inertial Measurement Unit measurement intelligent power-assisted dress
The motion state set includes: that the Inertial Measurement Unit measures the acceleration of the Intelligent power assisting device at least one direction
Angular speed or angular acceleration at least one direction.
20. method described in any one of 6 to 19 according to claim 1, which is characterized in that the Intelligent power assisting device is further
Including the driving device for driving the Intelligent power assisting device mobile, the driving device includes at least one motor, the power-assisted
Controller controls the Intelligent power assisting device offer power-assisted in response to the electric signal
At least one of described motor is provided to advance and be helped under the control of the assist controller to the Intelligent power assisting device
At least one of power and power steering.
21. method described in 9 or 20 according to claim 1, which is characterized in that the assist controller is in response to the electric signal
Controlling the Intelligent power assisting device offer power-assisted includes:
The motion state for the Intelligent power assisting device that the Inertial Measurement Unit measures is obtained, and according to the motion state
Determine the Intelligent power assisting device is currently in the state of horizontally advancing, climbing state, turn condition or other states one
It is a, and thereby determine that the type for applying power-assisted to the Intelligent power assisting device.
22. according to the method for claim 21, which is characterized in that the assist controller is controlled in response to the electric signal
The Intelligent power assisting device provides power-assisted
The intelligent power-assisted dress is determined in the motion state of the Intelligent power assisting device measured by the Inertial Measurement Unit
Set no angular speed and in horizontally advance state or climbing state when, Xiang Suoshu Intelligent power assisting device provide advance power-assisted；
The wherein positive correlation of the tilt angle of the size of the advance power-assisted and pull rod or the control member of rocking bar form or the advance
The advanced speed of the size of power-assisted and the Intelligent power assisting device is positively correlated.
23. according to the method for claim 21, which is characterized in that the assist controller is controlled in response to the electric signal
The Intelligent power assisting device provides power-assisted
When the Inertial Measurement Unit measures the Intelligent power assisting device and persistently there is angular acceleration or angular speed, Xiang Suoshu intelligence
Energy power assisting device provides power steering, or provides power steering and advance power-assisted to the Intelligent power assisting device；
The angular speed that wherein size of the power steering and the Inertial Measurement Unit measure is positively correlated, the size of the advance power-assisted
With the size and the intelligent power-assisted of the positive correlation of the tilt angle of pull rod or the control member of rocking bar form or the advance power-assisted
The advanced speed of device is positively correlated.
24. the method according to any one of claim 20 to 23, which is characterized in that the Intelligent power assisting device is further
Including PID controller, which comprises
The movement shape that the electric signal and the Inertial Measurement Unit that the PID controller is obtained according to the assist controller measure
At least one state determines the target speed value of the Intelligent power assisting device；
Then the target speed value is sent at least one described motor；And
After at least one described motor carries out speed adjustment according to the target speed value, described in the PID controller acquisition
The speed return value of at least one motor carries out feedback control.
25. a kind of Intelligent power assisting device, which is characterized in that the Intelligent power assisting device includes memory, processor and storage
On a memory and the computer program that can run on a processor, the energy when processor executes the computer program
Enough functions of realizing the assist controller in method described in any one of 6-24 according to claim 1.
26. a kind of computer storage medium, which is characterized in that the computer storage medium is stored with computer program, described
Computer program can be realized the assist controller in method described in any one of 6-24 according to claim 1 when executed
Function.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810333896.3A CN110371170B (en) | 2018-04-13 | 2018-04-13 | Intelligent power assisting device, system and method for controlling intelligent power assisting device to provide power assistance |
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|---|---|---|---|
| CN201810333896.3A CN110371170B (en) | 2018-04-13 | 2018-04-13 | Intelligent power assisting device, system and method for controlling intelligent power assisting device to provide power assistance |
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| CN110371170B CN110371170B (en) | 2023-08-22 |
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| CN113203396A (en) * | 2020-09-17 | 2021-08-03 | 金华一纵一横工业设计有限公司 | Thing networking communication equipment slope monitoring early warning device |
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| CN110371170B (en) | 2023-08-22 |
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