CN114572014B - Equipment control method, device, electronic equipment and storage medium - Google Patents

Equipment control method, device, electronic equipment and storage medium Download PDF

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Publication number
CN114572014B
CN114572014B CN202210116521.8A CN202210116521A CN114572014B CN 114572014 B CN114572014 B CN 114572014B CN 202210116521 A CN202210116521 A CN 202210116521A CN 114572014 B CN114572014 B CN 114572014B
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motor
wheel
current
component direction
straight line
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CN114572014A (en
Inventor
莫金磊
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Cloudminds Shanghai Robotics Co Ltd
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Cloudminds Shanghai Robotics Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The embodiment of the invention relates to the field of automatic control, and discloses a device control method, a device, electronic equipment and a storage medium. The invention discloses a device control method, which is applied to multi-wheel equipment, wherein the multi-wheel equipment comprises at least two wheels, each wheel is controlled by a corresponding motor, and the method comprises the following steps: acquiring the current movement speed and the target movement speed of the multi-wheel equipment; predicting the acceleration component direction of the multi-wheel equipment along a first straight line according to the current movement speed and the target movement speed; the first straight line is the straight line where the multi-wheel equipment is located in the current direction; according to the direction of the acceleration component, controlling the moment component direction along the first straight line of each motor in the multi-wheel equipment to be consistent with the direction of the acceleration component. The equipment control method can improve the resource utilization efficiency of the multi-wheel equipment.

Description

Equipment control method, device, electronic equipment and storage medium
Technical Field
The embodiment of the invention relates to the field of automatic control, in particular to a device control method and device, electronic equipment and a storage medium.
Background
Among various automatic control devices, a robot is a common intelligent machine capable of semi-autonomous or fully autonomous operation, many robots are wheeled mobile robots in the market, and most of the wheeled mobile robots are multi-wheeled robots, namely multi-wheeled devices, and in the process of moving the multi-wheeled devices, the multi-wheeled devices can undergo acceleration, deceleration, maintenance and other movement states. For example, in each state of the four-wheel robot, the driving states of four driving motors of four wheels are different. After the host computer gives the motor of four wheels and gives the speed, every motor has independent control software of oneself, because the road conditions that traveles are leveled etc. reasons, the motion speed of four wheels probably is different, can form four wheels to drag each other and lead to four-wheeled robot's resource internal consumption's problem, leads to multi-wheeled robot's resource utilization efficiency lower, and this is the problem that needs to solve in the automatic control realization process of multi-wheeled equipment urgently.
Disclosure of Invention
The embodiment of the invention aims to provide a device control method, a device, an electronic device and a storage medium, which can improve the resource utilization efficiency of multi-wheel devices.
To solve the above technical problems, embodiments of the present invention provide an apparatus control method applied to a multi-wheel apparatus, the multi-wheel apparatus including at least two wheels, each wheel being controlled by a corresponding motor, including the steps of: acquiring the current movement speed and the target movement speed of the multi-wheel equipment; predicting the acceleration component direction of the multi-wheel equipment along a first straight line according to the current movement speed and the target movement speed; the first straight line is the straight line where the multi-wheel equipment is located in the current direction; according to the direction of the acceleration component, controlling the moment component direction along the first straight line of each motor in the multi-wheel equipment to be consistent with the direction of the acceleration component.
Embodiments of the present invention also provide a multi-wheel apparatus comprising at least two wheels, each wheel being controlled by a respective motor, the apparatus comprising: the acquisition module is used for acquiring the current movement speed and the target movement speed of the multi-wheel equipment; the prediction module is used for predicting the direction of the acceleration component of the multi-wheel equipment along the first straight line according to the current movement speed and the target movement speed; the first straight line is the straight line where the multi-wheel equipment is located in the current direction; and the control module is used for controlling the moment component direction of each motor in the multi-wheel equipment along the first straight line to be consistent with the acceleration component direction according to the acceleration component direction.
The embodiment of the invention also provides electronic equipment, which comprises: at least one processor; a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the device control method described above.
The embodiment of the invention also provides a computer readable storage medium storing a computer program which when executed by a processor realizes the device control method.
Compared with the prior art, the moment component direction of each motor along the first straight line in the multi-wheel equipment is consistent with the acceleration component direction, so that the moment component direction of no wheel in the multi-wheel equipment along the first straight line is not opposite to the movement direction of the robot, namely, the movement of each wheel in the multi-wheel equipment is consistent with the overall movement trend of the multi-wheel equipment, the movement of the multi-wheel equipment is not blocked, the internal consumption of resources of the multi-wheel equipment is reduced, and the resource utilization efficiency of the multi-wheel equipment is improved.
In addition, according to the acceleration component direction, controlling the moment component direction along the first straight line of each motor in the multi-wheel device to coincide with the acceleration component direction includes: setting the output current direction of each motor as a first direction according to the acceleration component direction; wherein the first direction is a current direction that matches a moment component direction of each motor with a speed component direction. According to the method and the device, the output current direction of each motor is set to be the first direction, and the first direction is the current direction enabling the moment component direction of each motor to be consistent with the speed component direction, so that the moment component direction of each motor in the multi-wheel device along the first straight line is consistent with the acceleration component direction, and the resource utilization efficiency of the multi-wheel device is improved.
In addition, setting the output current direction of each motor as a first direction includes: setting the maximum value of the output current of each motor in the first direction as the maximum value of the current allowed by the corresponding motor, and setting the maximum value of the output current of each motor in the second direction as 0; wherein the second direction is opposite to the first direction. In the present application, since the second direction is opposite to the first direction, that is, the second direction is a current direction in which the torque component direction and the speed component direction of each motor do not coincide, by setting the maximum value of the output current of each motor in the first direction to the maximum value of the current allowed by the corresponding motor and setting the maximum value of the output current of each motor in the second direction to 0, the output current of each motor can be made to follow only the first direction, thereby improving the resource utilization efficiency of the multi-wheel device.
In addition, after controlling the moment component direction of each motor in the multi-wheel apparatus to coincide with the acceleration component direction, the method further includes: in case the current movement speed exceeds a preset speed, the moment component direction of each motor in the multi-wheel device is allowed to include any direction. According to the method and the device, under the condition that the current movement speed exceeds the preset speed, the moment component direction of each motor in the multi-wheel equipment is allowed to include any direction, namely, when the multi-wheel equipment needs to be decelerated and stopped, the multi-wheel equipment can generate moment opposite to the movement direction, and therefore safety of the multi-wheel equipment is guaranteed.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.
FIG. 1 is a flow chart of steps of a method for controlling a device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an apparatus control device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings. However, those of ordinary skill in the art will understand that in various embodiments of the present invention, numerous technical details have been set forth in order to provide a better understanding of the present application. However, the technical solutions claimed in the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not be construed as limiting the specific implementation of the present invention, and the embodiments can be mutually combined and referred to without contradiction.
Embodiments of the present invention relate to an apparatus control method. The specific flow is shown in figure 1.
Step 101, acquiring the current movement speed and the target movement speed of multi-wheel equipment;
step 102, predicting the direction of acceleration components of the multi-wheel equipment along a first straight line according to the current movement speed and the target movement speed; the first straight line is the straight line where the multi-wheel equipment is located in the current direction;
and step 103, controlling the moment component direction along the first straight line of each motor in the multi-wheel equipment to be consistent with the acceleration component direction according to the acceleration component direction.
The device control method of the embodiment is applied to a multi-wheel device, for example, a multi-wheel robot, and may be implemented by a controller or other electronic devices communicatively connected to motors of the respective wheels. The multi-wheel apparatus comprises at least two wheels, each wheel being controlled by a respective motor. Among various automatic control devices, a robot is a type of intelligent machine capable of semi-autonomous or fully autonomous operation, many robots are wheeled mobile robots in the market, and most of the wheeled mobile robots are multi-wheeled devices, and the wheels of the multi-wheeled devices have various movement states because the wheels undergo acceleration, deceleration, maintenance and the like in the movement process of the multi-wheeled devices. For example, in each state of the four-wheel robot, the driving states of four driving motors of four wheels are different. After the host computer gives the motor of four wheels and gives the speed, every motor has independent control software of oneself, because the road conditions that traveles are leveled etc. reasons, the motion speed of four wheels probably is different, can form four wheels to drag each other and lead to four-wheel robot's resource internal consumption's problem.
Specifically, in a four-wheel robot, for example, in a four-wheel four-motor-driven robot, a command is issued by a single host computer to drive motors for 4 wheels, respectively, to control the movement. The motor itself also has a control program to adjust its own parameters in real time to the command issued by the host. Therefore, under some special road conditions, one of the wheels may not reach the expected speed, the motor needs to increase current and torque to increase the speed, and the other wheel may be too fast, and the motor needs to decrease the speed by increasing the torque in the opposite direction, so that the four-wheel robot can form four-wheel pulling, and the resource utilization efficiency of the multi-wheel device is low.
In the application, the current movement speed and the target movement speed of the multi-wheel equipment are obtained, and the acceleration component direction of the multi-wheel equipment along a first straight line is predicted according to the current movement speed and the target movement speed; the first straight line is a straight line where the multi-wheel equipment is located at present, according to the direction of the acceleration component, the moment component direction of each motor in the multi-wheel equipment along the first straight line is controlled to be consistent with the direction of the acceleration component.
The implementation details of the device control method of the present embodiment are specifically described below, and the following description is merely provided for convenience of understanding, and is not necessary to implement the present embodiment.
In step 101, the multi-wheel device acquires a current movement speed and a target movement speed of the multi-wheel device. The current movement speed is the current movement speed of the multi-wheel device when the host computer issues the target movement speed. The target movement speed is the movement speed in the command issued by the host, and is the movement speed that the drive motor of each wheel needs to make each wheel reach.
In step 102, the multi-wheel device predicts the direction of the acceleration component of the multi-wheel device along a first straight line according to the current movement speed and the target movement speed, wherein the first straight line is a straight line where the multi-wheel device is located in the current direction, and the multi-wheel device obtains the direction of the acceleration component of the multi-wheel device along the first straight line by calculating the components of the current movement speed and the target movement speed on the first straight line.
In step 103, the multi-wheel device controls each motor in the multi-wheel device to have a moment component direction along the first straight line consistent with the acceleration component direction according to the acceleration component direction, wherein each motor can intercept all instructions generated opposite to the acceleration component direction and not execute the instructions.
In one example, the multi-wheel device controls the moment component direction along the first straight line of each motor in the multi-wheel device to coincide with the acceleration component direction according to the acceleration component direction by setting the output current direction of each motor as the first direction according to the acceleration component direction, wherein the first direction is a current direction that coincides the moment component direction of each motor with the speed component direction.
In particular, each motor of the multi-wheel device may indicate that the current direction of the device can only be in the first direction.
In this embodiment, by setting the output current direction of each motor to be the first direction, since the first direction is a current direction in which the moment component direction of each motor coincides with the speed component direction, the moment component direction of each motor along the first straight line in the multi-wheel device can be made to coincide with the acceleration component direction, thereby improving the resource utilization efficiency of the multi-wheel device.
Further, the multi-wheel device sets the output current direction of each motor as the first direction by setting the maximum value of the output current of each motor in the first direction as the maximum value of the current allowed by the corresponding motor and setting the maximum value of the output current of each motor in the second direction as 0, wherein the second direction is opposite to the first direction.
In this embodiment, since the second direction is opposite to the first direction, that is, the second direction is a current direction in which the torque component direction and the speed component direction of each motor do not coincide, by setting the maximum value of the output current of each motor in the first direction to the maximum value of the current allowed by the corresponding motor and setting the maximum value of the output current of each motor in the second direction to 0, the output current of each motor can be made to follow only the first direction, thereby improving the resource utilization efficiency of the multi-wheel apparatus.
In one example, the multi-wheel device allows the moment component direction of each motor in the multi-wheel device to include an arbitrary direction in the case where the acceleration is 0, and controls the moment component direction of each motor in the multi-wheel device to coincide with the acceleration component direction according to the acceleration component direction.
In particular, the motor corresponding to each wheel of the multi-wheel device may cancel the previous intercepting action of each instruction.
In this embodiment, by setting the multi-wheel device to allow the moment component direction of each motor in the multi-wheel device to be consistent with the current movement speed direction under the condition that the acceleration is 0, the situation that the movement state of the multi-wheel device cannot be changed when the multi-wheel device is at a constant speed or is stationary can be avoided, and the usability of the device control method of the present application is improved on the basis of improving the resource utilization efficiency of the multi-wheel device.
In one example, the multi-wheel device may set the maximum value of the output current of each motor in each direction to the maximum value of the current allowed by the corresponding motor, so as to realize that the moment component direction of each motor in many wheel devices includes any direction.
In this embodiment, by setting the maximum value of the output current of each motor in each direction as the maximum value of the current allowed by the corresponding motor, it is possible to realize that the moment component direction of each motor in the multi-wheel device is allowed to include any direction, thereby improving the usability of the device control method of the present application.
In one example, after controlling the moment component direction of each motor in the multi-wheel device to coincide with the acceleration component direction, the multi-wheel device also allows the moment component direction of each motor in the multi-wheel device to include an arbitrary direction in the case where the current movement speed exceeds the preset speed.
In this embodiment, under the condition that the current movement speed exceeds the preset speed, the moment component direction of each motor in the multi-wheel device is allowed to include any direction, that is, when the multi-wheel device needs to slow down and stop movement, the multi-wheel device can generate a moment opposite to the movement direction, so that the safety of the multi-wheel device is ensured.
In one example, the control device in the multi-wheel device executes the device control method of the present application each time a speed command issued by the host is received, and is implemented as follows:
step 1, after a host computer issues a speed command v, the control device receives the current speed and calculates delta=v-v 0. And judging the motion state of the robot according to the step 2.
And 2, if the current speed v is greater than zero, judging delta, if the delta is greater than zero, accelerating positively, if the delta is less than zero, decelerating positively, and if the delta is equal to zero, maintaining positively.
If the current speed v is less than zero, it is determined that delta is reverse acceleration if delta is less than zero, reverse deceleration if delta is greater than zero, reverse hold if delta is equal to zero.
If the current speed v is equal to zero, it is determined that delta, if delta is greater than zero, it is a reverse deceleration, if delta is less than zero, it is a forward deceleration, if delta is equal to zero, it is still.
And 3, storing the current speed v into a coverage v0 for next calculation.
And 4, respectively setting the current directions of the motors according to the obtained states, so as to achieve the purpose of controlling the moment directions. For example, the maximum currents in the positive and negative directions are max=1 and min= -1, respectively. Then, according to the above state, the forward hold and forward acceleration setting currents max=1, min=0; forward deceleration set current max=0, min= -1;
reverse hold and reverse acceleration set current max=0, min= -1; reverse deceleration setting current max=1, min=0; the rest setting current max=1, min= -1.
And 5, waiting for the next round of calculation.
The above steps of the methods are divided, for clarity of description, and may be combined into one step or split into multiple steps when implemented, so long as they include the same logic relationship, and they are all within the protection scope of this patent; it is within the scope of this patent to add insignificant modifications to the algorithm or flow or introduce insignificant designs, but not to alter the core design of its algorithm and flow.
The embodiment of the invention also provides a device control apparatus applied to a multi-wheel device, the multi-wheel device comprises at least two wheels, each wheel is controlled by a corresponding motor, as shown in fig. 2, the apparatus comprises:
an obtaining module 201, configured to obtain a current movement speed and a target movement speed of the multi-wheel device;
a prediction module 202, configured to predict an acceleration component direction of the multi-wheel device along a first line according to the current motion speed and the target motion speed; the first straight line is the straight line where the multi-wheel equipment is located in the current direction;
and the control module 203 is used for controlling the moment component direction along the first straight line of each motor in the multi-wheel equipment to be consistent with the acceleration component direction according to the acceleration component direction.
In one example, controlling each motor of the multi-wheel device to have a moment component direction along a first line that coincides with the acceleration component direction based on the acceleration component direction includes: setting the output current direction of each motor as a first direction according to the acceleration component direction; wherein the first direction is a current direction that matches a moment component direction of each motor with a speed component direction.
In one example, setting the output current direction of each motor to a first direction includes: setting the maximum value of the output current of each motor in the first direction as the maximum value of the current allowed by the corresponding motor, and setting the maximum value of the output current of each motor in the second direction as 0; wherein the second direction is opposite to the first direction.
In one example, controlling the moment component direction of each motor in the multi-wheel device to coincide with the acceleration component direction based on the acceleration component direction includes; in the case of acceleration of 0, the moment component direction of each motor in the multi-wheel apparatus is allowed to be kept consistent with the current movement speed direction.
In one example, the moment component directions of the motors in the multi-wheel apparatus are allowed to include any direction, including: the maximum value of the output current of each motor in each direction is set as the maximum value of the current allowed by the corresponding motor.
In one example, after controlling the moment component direction of each motor in the multi-wheel apparatus to coincide with the acceleration component direction, the moment component direction of each motor in the multi-wheel apparatus is allowed to include an arbitrary direction also in the case where the current movement speed exceeds the preset speed.
It should be noted that, each module involved in this embodiment is a logic module, and in practical application, one logic unit may be one physical unit, or may be a part of one physical unit, or may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, units that are not so close to solving the technical problem presented by the present invention are not introduced in the present embodiment, but this does not indicate that other units are not present in the present embodiment.
A fourth embodiment of the present invention relates to an electronic device, as shown in fig. 3, including: at least one processor 301; a memory 302 communicatively coupled to the at least one processor; the memory 302 stores instructions executable by the at least one processor 301, and the instructions are executed by the at least one processor 301 to perform the device control method described above.
Where the memory 302 and the processor 301 are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting the various circuits of the one or more processors 301 and the memory 302 together. The bus may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The information processed by the processor 301 is transmitted over a wireless medium via an antenna, which in turn receives the information and communicates the information to the processor 301.
The processor 301 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 302 may be used to store information used by the processor in performing operations.
Embodiments of the present invention relate to a computer-readable storage medium storing a computer program. The computer program implements the above-described method embodiments when executed by a processor.
That is, it will be understood by those skilled in the art that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, where the program includes several instructions for causing a device (which may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps in the methods of the embodiments described herein. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of carrying out the invention and that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims (9)

1. A device control method, applied to a multi-wheel device including at least two wheels, each wheel being controlled by a corresponding motor, the method comprising:
acquiring the current movement speed and the target movement speed of the multi-wheel equipment;
predicting the acceleration component direction of the multi-wheel equipment along a first straight line according to the current movement speed and the target movement speed; the first straight line is a straight line where the multi-wheel equipment is located in the current direction;
and controlling the moment component direction of each motor in the multi-wheel equipment along the first straight line to be consistent with the acceleration component direction according to the acceleration component direction.
2. The apparatus control method according to claim 1, wherein the controlling the moment component direction along the first straight line of each motor in the multi-wheel apparatus in accordance with the acceleration component direction includes:
setting the output current direction of each motor as a first direction according to the acceleration component direction;
wherein the first direction is a current direction that matches the moment component direction of each motor with the speed component direction.
3. The apparatus control method according to claim 2, wherein the setting the output current direction of each motor to the first direction includes:
setting the maximum value of the output current of each motor in the first direction as the maximum value of the current allowed by the corresponding motor, and setting the maximum value of the output current of each motor in the second direction as 0;
wherein the second direction is opposite to the first direction.
4. The apparatus control method according to claim 1, wherein the controlling the moment component direction of each motor in the multi-wheel apparatus in accordance with the acceleration component direction includes;
in the case where the acceleration is 0, the moment component direction of each motor in the multi-wheel apparatus is allowed to be kept coincident with the current moving speed direction.
5. The apparatus control method according to claim 4, wherein the allowing the moment component direction of each motor in the multi-wheel apparatus includes an arbitrary direction, including:
the maximum value of the output current of each motor in each direction is set as the maximum value of the current allowed by the corresponding motor.
6. The apparatus control method according to any one of claims 1 to 5, characterized in that, after the control of the moment component direction of each motor in the multi-wheel apparatus coincides with the acceleration component direction, the method further comprises:
and allowing the moment component direction of each motor in the multi-wheel equipment to comprise any direction under the condition that the current movement speed exceeds a preset speed.
7. A device control apparatus for use with a multi-wheeled device, the multi-wheeled device including at least two wheels, each wheel being controlled by a respective motor, the apparatus comprising:
the acquisition module is used for acquiring the current movement speed and the target movement speed of the multi-wheel equipment;
the prediction module is used for predicting the acceleration component direction of the multi-wheel equipment along a first straight line according to the current movement speed and the target movement speed; the first straight line is a straight line where the multi-wheel equipment is located in the current direction;
and the control module is used for controlling the moment component direction of each motor in the multi-wheel equipment along the first straight line to be consistent with the acceleration component direction according to the acceleration component direction.
8. An electronic device, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the device control method of any one of claims 1 to 6.
9. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the device control method of any one of claims 1 to 6.
CN202210116521.8A 2022-02-07 2022-02-07 Equipment control method, device, electronic equipment and storage medium Active CN114572014B (en)

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