CN114578809A - Speed control method and device of movable equipment and movable equipment - Google Patents
Speed control method and device of movable equipment and movable equipment Download PDFInfo
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- CN114578809A CN114578809A CN202210039509.1A CN202210039509A CN114578809A CN 114578809 A CN114578809 A CN 114578809A CN 202210039509 A CN202210039509 A CN 202210039509A CN 114578809 A CN114578809 A CN 114578809A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
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Abstract
The disclosure provides a speed control method and device of a movable device and the movable device, wherein the method comprises the following steps: providing a driving force to the movable equipment according to a driving force value corresponding to a point value of a first waveform, and obtaining the acceleration of the movable equipment through the driving force; controlling a variation of a driving force of the movable device by a jerk corresponding to a second waveform having a positive band and a negative band; and controlling the movement speed of the movable equipment according to the acceleration and the jerk, wherein the movement speed of the movable equipment corresponds to the third waveform distribution. By the speed control method of the movable equipment, smooth motion processes of smooth acceleration, uniform speed and deceleration of the movable equipment can be achieved through three-order speed smooth control of jerk (also called jerk), acceleration and speed of the movable equipment, shaking of the movable equipment is reduced, balance stability of the movable equipment is improved, and user experience is improved.
Description
Technical Field
The present disclosure relates to the field of mobile devices, and in particular, to a speed control method and apparatus for a mobile device, and an electronic device.
Background
With the development of intelligent robots, the application of robots is more and more popular. Wheeled robots with automatic navigation capability are continuously available in the market at present, such as restaurant food delivery robots, hotel delivery robots, park inspection robots, logistics express robots and the like. Wheeled robot that has automatic navigation ability that continues to appear in the existing market, for example dining room food delivery robot, hotel delivery robot, garden patrol and examine robot, commodity circulation express delivery robot. Of course, the robot may be expanded into movable devices, the moving parts of the chassis of the movable devices are connected to the upper computer through a communication bus, and receive the control command of the upper computer in real time to perform moving and walking, the control command generally includes automatic navigation, remote controller debugging, remote manual auxiliary control, etc., and no matter which party sends the control command, if the chassis of the movable devices is controlled to accelerate and decelerate at the set speed immediately, the shaking of the chassis is serious, which causes the shaking of the robot.
Meanwhile, the driving force in the acceleration and deceleration processes of the existing movable equipment is often direct, the algorithm is simple, the acceleration and deceleration of the movable equipment are not smooth, especially, the speed change of the movable equipment close to 0 or close to a uniform speed is not smooth enough, the movable equipment is also shaken, and extremely poor user experience is caused.
Disclosure of Invention
An object of an embodiment of the present invention is to provide a speed control method for a mobile device, which achieves a smooth acceleration, uniform speed, and deceleration motion process of the mobile device by three-order speed smooth control of jerk (also called jerk), acceleration, and speed of the mobile device during acceleration, uniform speed, and deceleration motion of the mobile device, reduces jitter of the mobile device, improves balance stability of the mobile device, and solves the above-mentioned problems. Wherein, in this disclosure, the mobile device can be wheeled robot, for example dining room food delivery robot, hotel delivery robot, garden patrol robot, commodity circulation express delivery robot etc. also can be balance car, electric motor car etc. wherein, the balance car can be single round or double round, and the electric motor car can be electric automobile, electric bicycle, electric tricycle, electric motor car toy etc.. The movable device in the present disclosure is not limited thereto, and any electric device capable of moving may be used as the main device of the aspect of the present disclosure.
In order to achieve the above object, in a first aspect, an embodiment of the present invention provides a speed control method of a movable apparatus, including:
providing a driving force to the movable equipment according to a driving force value corresponding to a point value of a first waveform, and obtaining the acceleration of the movable equipment through the driving force;
controlling a variation of a driving force of the movable device by a jerk corresponding to a second waveform having a positive band and a negative band;
and controlling the movement speed of the movable equipment according to the acceleration and the jerk, wherein the movement speed of the movable equipment corresponds to the third waveform distribution.
Further, the second waveform is a sinusoidal waveform having a 0 value interval, the 0 value interval being disposed between the positive band and the negative band.
Further, the motion of the movable device is divided into an acceleration stage, a uniform velocity stage and a deceleration stage, and the first waveform, the second waveform and the third waveform have respective corresponding symmetrical distributions at different stages of the movable device.
Further, the sinusoidal waveform corresponding to the second waveform is divided into a positive half-wave band and a negative half-wave band in the acceleration stage of the mobile device, wherein the positive half-wave band and the negative half-wave band have a 0 value interval therebetween;
the waveform of the second waveform in the deceleration stage of the movable equipment is axisymmetric with the waveform of the movable equipment in the acceleration stage.
Further, in an acceleration phase of the movable device, the jerk corresponding to the positive half-wave section of the second waveform controls a rise of the acceleration, and the jerk corresponding to the negative half-wave section of the second waveform controls a fall of the acceleration;
during the deceleration phase of the mobile device, the jerk corresponding to the negative half-wave section of the second waveform controls a rise in a reverse direction of the acceleration, and the jerk corresponding to the positive half-wave section of the second waveform controls a fall in the reverse direction of the acceleration.
Further, the first waveform corresponds to an acceleration of the movable device, the acceleration of the first waveform being controlled by a jerk of the second waveform;
during the acceleration phase of the movable equipment, a sinusoidal distribution of the first waveform is formed corresponding to a positive half-wave section of the second waveform, a constant value distribution of the first waveform is formed corresponding to a 0 value interval of the second waveform, a sinusoidal distribution of the first waveform is formed at a negative half-wave section on the second waveform side, and a flat-top sinusoidal distribution of the first waveform is formed on the whole during the acceleration phase of the movable equipment;
in the deceleration stage of the movable equipment, the distribution of the first waveform and the first waveform in the acceleration stage of the movable equipment are mutually point-symmetric.
Further, the third waveform reflects the moving speed of the movable device;
during an acceleration phase of the movable apparatus, the speed of the movable apparatus is distributed according to a sinusoidal rising portion;
in the constant speed stage of the movable equipment, the speed of the movable equipment is distributed according to a constant value;
in the deceleration phase of the movable equipment, the speed of the movable equipment is distributed according to the sine descending part and is in axial symmetry with the waveform of the movable equipment in the acceleration phase.
Further, when the first waveform and the second waveform are overlapped at a value of 0, the third waveform is a value of 0 or a constant value, corresponding to the state that the movable device is at a standstill or at a constant speed.
Further, the frequency of the point value of the first waveform is a driving control frequency of the movable device, and the driving control frequency corresponds to an acceleration frequency of the movable device.
Further, the drive control frequency is determined in accordance with an acceleration period of each gear of the movable device;
and generating point values of the first waveform of the movable equipment in an acceleration stage and a deceleration stage through the acceleration duration.
Further, the driving force of the movable device is a linear driving and/or a left-right driving for controlling the linear movement and/or the left-right steering movement of the movable device.
Further, the method further comprises:
after the speed of the movable device is controlled to accelerate to reach a preset speed, reducing the driving force of the movable device to 0;
keeping the driving force to be 0, and controlling the movable equipment to move at a constant speed until the movable equipment automatically detects an obstacle or receives a deceleration instruction;
the acceleration of the movable equipment is 0, and the jerk of the movable equipment is 0 in the process of uniform motion of the movable equipment.
In a second aspect, an embodiment of the present disclosure provides a speed control apparatus for a movable device, including:
the acceleration module is used for providing driving force for the movable equipment according to the driving force value corresponding to the point value of the first waveform, and the acceleration of the movable equipment is obtained through the driving force;
a jerk module for controlling a change in a driving force of the movable device by a jerk corresponding to a second waveform, the second waveform having a positive band and a negative band;
and the speed control module is used for controlling the movement speed of the movable equipment according to the acceleration and the jerk, and the movement speed of the movable equipment corresponds to the third waveform distribution.
In a third aspect, an embodiment of the present disclosure provides a mobile device, including:
at least one memory for storing computer-readable instructions; and
at least one processor configured to execute the computer-readable instructions to cause the removable device to implement the method according to any of the first aspects described above.
In a fourth aspect, an embodiment of the present disclosure provides an electronic device, including:
a memory for storing computer readable instructions; and
a processor configured to execute the computer readable instructions to enable the electronic device to implement the method of any of the first aspect.
In a fifth aspect, embodiments of the present disclosure provide a non-transitory computer-readable storage medium storing computer-readable instructions which, when executed by a computer, cause the computer to implement the method of any of the first aspects above.
In a sixth aspect, the disclosed embodiments provide a computer program comprising instructions which, when run on a computer, cause the computer to perform the method of any of the first aspects described above.
The embodiment of the disclosure discloses a speed control method and device of a movable device, an electronic device and a computer readable storage medium, wherein the method comprises the following steps: providing a driving force to the movable equipment according to a driving force value corresponding to a point value of a first waveform, and obtaining the acceleration of the movable equipment through the driving force; controlling a variation of a driving force of the movable device by a jerk corresponding to a second waveform having a positive band and a negative band; and controlling the movement speed of the movable equipment according to the acceleration and the jerk, wherein the movement speed of the movable equipment corresponds to the third waveform distribution. By the speed control method of the movable equipment, smooth motion processes of smooth acceleration, uniform speed and deceleration of the movable equipment can be achieved through three-order speed smooth control of jerk (also called jerk), acceleration and speed of the movable equipment, shaking of the movable equipment is reduced, balance stability of the movable equipment is improved, and user experience is improved.
The foregoing description is only an overview of the technical solutions of the present disclosure, and in order to make the technical means of the present disclosure more clearly understood, the present disclosure may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present disclosure more clearly understood, the following preferred embodiments are specifically illustrated below, and the detailed description is given in conjunction with the accompanying drawings.
Drawings
Fig. 1 is a schematic flow chart of a speed control method for a mobile device according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of control waveforms of velocity, acceleration and jerk of a mobile device according to an embodiment of the present disclosure;
FIG. 3 is a diagram illustrating exemplary velocity, acceleration, and jerk configuration information for a mobile device, according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a speed control apparatus for a mobile device according to another embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device corresponding to a removable device according to another embodiment of the present disclosure.
Detailed Description
In order to more clearly describe the technical content of the present disclosure, the following further description is given in conjunction with specific embodiments.
The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more complete and thorough understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order, and/or performed in parallel. Moreover, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
The term "include" and variations thereof as used herein are open-ended, i.e., "including but not limited to". The term "based on" is "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions for other terms will be given in the following description.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The disclosed embodiments are described in detail below with reference to the accompanying drawings.
In the present disclosure, in the acceleration, uniform velocity and deceleration motion process of the mobile device, the three-order velocity smooth control of the jerk (also called jerk), acceleration and velocity of the mobile device is used to achieve the smooth acceleration, uniform velocity and deceleration motion process of the mobile device. Wherein, in this disclosure, the mobile device can be wheeled robot, for example dining room food delivery robot, hotel delivery robot, garden patrol robot, commodity circulation express delivery robot etc. also can be balance car, electric motor car etc. wherein, the balance car can be single round or double round, and the electric motor car can be electric automobile, electric bicycle, electric tricycle, electric motor car toy etc.. The movable device in the present disclosure is not limited thereto, and any electric device capable of moving may be used as the main device of the aspect of the present disclosure.
Wherein jerk (also called jerk) is a mechanical term relating to a particular motion, i.e. the variation of acceleration with timeThe conversion rate. The main variable that physically describes particle motion is position, usually denoted by x, and the distance from a known fixed point to the point of interest is measured in meters. In Galileo and Newton mechanics, several derived quantities of position can describe the state of motion of a particle more finely. The first derived quantity is velocity or v, defined as the rate of change of position over time, measured in m/s. The second derived quantity is the acceleration or a, colloquially called "acceleration", defined as the rate of change of speed with time. M/s for acceleration2Measured in units (gravity increases the velocity by 9.8m/s for every 1 second that a fall passes; this also explains why acceleration is measured in troublesome units). Jerk or j is a third position derived quantity used to describe the way the acceleration itself changes; is measured in m/s3Is a unit. By means of the several quantities x, v, a and j, it is possible to classify most of the movements that people encounter in their daily lives.
The jerk satisfies: j t ═ a
Wherein j is jerk, t is time, and a is acceleration.
Fig. 1 is a schematic flow chart of a method for controlling a speed of a mobile device according to an embodiment of the present disclosure, where the method provided in this embodiment may be executed by a mobile device or a control apparatus thereof, and the apparatus may be implemented as software, or implemented as a combination of software and hardware, and the apparatus may be integrated in some device in a mobile device and a control system, such as a terminal device. As shown in fig. 1, the method comprises the steps of:
step S101: and providing driving force to the movable equipment according to the driving force value corresponding to the point value of the first waveform, and obtaining the acceleration of the movable equipment through the driving force.
In step S101, in the embodiment of the present disclosure, the intelligent mobile device in the home, the office area, or the public is a wheel type mobile device, and optionally, has an automatic navigation capability, such as a restaurant food delivery mobile device, a hotel delivery mobile device, a park inspection mobile device, and a logistics express mobile device. Low power mobile devices such as those on the order of 100kg are basically driven by two-wheel differential, with mobile devices above 100kg possibly driven by three steerable wheels and mobile devices of greater load capacity driven by four steerable wheels, such as those on the order of 200 kg. The chassis motion parts of the movable equipment are connected with an upper computer through a communication bus, control commands of the upper computer are received in real time to carry out moving walking, the control commands generally comprise automatic navigation, remote controller debugging, remote terminal control and the like, and no matter which party sends the control commands, in the disclosure, the movable equipment does not drive the movable equipment at the set speed immediately, but the acceleration and the deceleration of the movable equipment are smoothly controlled by adopting jerk, acceleration and third-order speed of speed, so that the chassis of the movable equipment is prevented from shaking.
With reference to fig. 2, a schematic diagram of control waveforms of speed, acceleration and jerk of a mobile device according to an embodiment of the present disclosure is shown, which illustrates a process of accelerating from zero to a uniform speed and then decelerating to zero. The first waveform curve corresponds to an acceleration curve of the movable equipment, the second waveform curve corresponds to a jerk curve of the movable equipment, and the third waveform curve corresponds to a speed curve of the movable equipment. The motion of the movable equipment is divided into an acceleration stage, a uniform speed stage and a deceleration stage, and the first waveform, the second waveform and the third waveform have respective corresponding symmetrical distribution at different stages of the movable equipment.
In this embodiment, a driving force is provided to the movable device at a driving force value corresponding to a point value of the first waveform, and the acceleration of the movable device is obtained by the driving force. Wherein a frequency of a point value of the first waveform is a drive control frequency of the movable device, the drive control frequency corresponding to an acceleration frequency of the movable device. The drive control frequency is determined according to an acceleration duration of each gear of the movable device; and generating point values of the first waveform of the movable equipment in the acceleration and deceleration stages through the acceleration time length, wherein the driving force of the movable equipment is linear driving and/or left-right driving and is used for controlling the linear motion and/or left-right steering motion of the movable equipment.
Step S102: the variation of the driving force of the movable device is controlled by the jerk corresponding to the second waveform having a positive band and a negative band.
In step S102, to ensure smooth acceleration, uniform velocity, and deceleration motions of the movable device, the present disclosure smoothly controls the motion of the movable device through three-order velocity of jerk (also referred to as jerk), acceleration, and velocity of the movable device. Wherein it is most critical to control the variation of the driving force of the movable device by the jerk, which corresponds to the second waveform as a sinusoidal waveform having an interval of 0 values. During the acceleration phase of the mobile device, the jerk follows a sinusoidal waveform with 0 value intervals, in particular, the second waveform is a sinusoidal waveform with 0 value intervals, the 0 value intervals being arranged between the positive and negative bands. The driving force is smoothly increased or decreased by the jerk control; in the constant speed stage of the movable equipment, the jerk and the acceleration are simultaneously kept at 0 value; in the deceleration stage of the movable apparatus, the jerk follows a sinusoidal waveform having 0 value intervals, and the driving force is controlled to smoothly increase or decrease in the reverse direction.
Step S103: and controlling the movement speed of the movable equipment according to the acceleration and the jerk, wherein the movement speed of the movable equipment corresponds to the third waveform distribution.
In step S103, the embodiment of the present disclosure provides the movable device with a driving force changing in acceleration, generates an acceleration changing constantly, corresponds to a distribution according to a certain curve with a jerk (curve) at different stages, and controls a change rate (corresponding to the change rate of the acceleration) of the driving force (curve) of the movable device through the jerk. In the acceleration stage of the movable apparatus, the jerk controls the driving force to smoothly increase or decrease according to a sine waveform having an interval of 0 values, thereby controlling the moving speed (curve c) of the movable apparatus to smoothly increase; in the constant-speed stage of the movable equipment, the jerk and the acceleration are simultaneously kept at 0 value, so that the movement speed (curve (c)) of the movable equipment is controlled to move at a constant speed; in the deceleration stage of the movable device, the jerk is controlled to smoothly increase or decrease the driving force in the reverse direction according to a sine waveform having an interval of 0 values, thereby controlling the moving speed (curve c) of the movable device to smoothly decrease until it is stationary.
Wherein steps 102 and 103 are described in conjunction with fig. 2, which shows a schematic diagram of control waveforms for speed, acceleration and jerk of a mobile device, as shown, illustrating the process of accelerating from zero to a uniform speed and then decelerating to zero. The first waveform curve corresponds to an acceleration curve of the movable equipment, the second waveform curve corresponds to a jerk curve of the movable equipment, and the third waveform curve corresponds to a speed curve of the movable equipment.
A first wave-shaped curve (r) represents the driving force to which the movable device is subjected, corresponding to the acceleration of said movable device, and is expressed by:
F＝ma
f is the driving force, m is the movable device mass (including the load mass on the movable device), and a is the acceleration of the movable device. The driving force generates acceleration, and the smoother the driving force, the better the comfort.
The second wave curve (c) corresponds to the jerk curve of the mobile device, the jerk or j is used to describe the change of the acceleration itself, m/s3Is a unit. The jerk expression is:
jt＝a
wherein j is jerk, t is time, and a is acceleration. In the present disclosure, the variation of the acceleration of the movable device is adjusted by the jerk, that is, the variation of the driving force of the movable device is adjusted by the jerk, thereby making the driving force and the acceleration of the movable device smoother.
To ensure that the thrust is continuous and smooth, the variation of the driving force is controlled by a sine wave.
Rise in the control acceleration of the first half cycle;
the second half cycle controls the decrease in acceleration;
when jerk and acceleration reach 0 at the same time, the speed reaches either a constant speed or zero at the same time.
Based on the basic principle of the third-order speed smoothing, the embodiment of the present disclosure adopts an implementation method as shown in fig. 2:
the acceleration phase is controlled by three periods P1, P2, P3;
stage P4, acceleration and jerk are 0, and stage of uniform speed;
the deceleration phase is controlled by three periods P5, P6, P7.
In the stage P1, the driving force of acceleration change is provided to the front stage of the acceleration motion of the movable equipment to generate the acceleration which is increased continuously, the jerk (curve) of the stage is the sine wave shape of the positive half wave band, and the change rate (corresponding to the change rate of the acceleration) of the driving force (curve) of the movable equipment is controlled according to the jerk of the positive half wave band. In the first half of the P1, the jerk is continuously increased according to a sine curve, and the driving force is controlled to be increased in acceleration, so that the increase of the acceleration of the movement speed (curve c) of the movable equipment is controlled; in the latter half of P1, the jerk is continuously decreased according to the sine curve, and the driving force is controlled to be increased at the deceleration, so that the movement speed of the movable equipment is controlled to be increased at the acceleration.
In the stage P2, a constant driving force is provided to the middle stage of the accelerated motion of the mobile device, and a constant acceleration (curve) is generated, and the jerk (curve) in this stage is 0, i.e. the change rate of the driving force (corresponding to the change rate of the acceleration) is 0, so as to control the motion speed (curve) of the mobile device to increase uniformly.
In the stage P3, a driving force (curve (r)) changing at a deceleration is supplied to the latter stage of the acceleration movement of the movable equipment to generate an acceleration (curve (r)) continuously decreasing, and the jerk (curve (r)) in this stage is a sinusoidal waveform of a negative half-wave band, and the rate of change of the driving force (rate of change corresponding to the acceleration) of the movable equipment is controlled in accordance with the jerk of the negative half-wave band. In the first half of the P3, the jerk is continuously increased in the negative direction according to a sine curve, the driving force is controlled to be reduced in acceleration, and the movement speed of the movable equipment is controlled to be increased in deceleration; in the latter half of P3, the jerk is reduced continuously in the negative direction according to the sine curve of the negative half wave band, and the driving force is controlled to be reduced in speed reduction, so that the increase of the speed reduction of the movement speed (curve (c)) of the movable equipment is controlled. Until the jerk and the acceleration reach 0 values at the same time, at which time the moving speed of the movable device reaches the maximum, and then the constant speed motion is maintained at stage P4.
In the stage P4, the jerk (curve ii) and the acceleration (curve i) are kept at 0 value at the same time in the stage of uniform motion of the mobile device, and the motion speed (curve iii) of the mobile device keeps a preset speed of uniform motion, which may be the highest speed or a preset certain speed. At this stage, the driving force is kept to be 0, and the movable equipment is controlled to move at a constant speed until the movable equipment automatically detects an obstacle or receives a deceleration instruction; the acceleration of the movable equipment is 0, and the jerk of the movable equipment is 0 in the process of uniform motion of the movable equipment.
In the stage P5, which is the front stage of the deceleration movement of the mobile device, the jerk curve (curve ii) in this stage is axisymmetric to the jerk curve in the stage P3, the acceleration curve (curve i) is point symmetric to the acceleration curve in the stage P3, and the speed curve (curve iii) is axisymmetric to the speed curve in the stage P3. This stage provides a driving force (curve r) which is continuously increased in the opposite direction, and generates an acceleration (curve r) which is continuously increased in the opposite direction, and the jerk (curve r) of this stage is a sinusoidal waveform of a negative half-wave band, and the rate of change of the driving force (rate of change of the corresponding acceleration) of the movable equipment is controlled in accordance with the jerk of the negative half-wave band. In the first half of the period P5, the jerk is continuously increased in the negative direction according to a sine curve, and the driving force is controlled to be accelerated and increased in the reverse direction, so that the movement speed of the movable equipment is controlled to be gradually accelerated and decreased; in the latter half of P5, the jerk is decreased in negative direction according to the sine curve of negative half wave band, and the driving force is controlled to be decreased and increased in negative direction, so as to control the movement speed (curve c) of the movable equipment to be decreased in gradual acceleration.
In the stage P6, which is the middle stage of the deceleration movement of the mobile device, the jerk curve (curve ii) in this stage is axisymmetric to the jerk curve in the stage P3, which is the 0-value stage, the acceleration curve (curve i) is point-symmetric to the acceleration curve in the stage P3, and the speed curve (curve iii) is axisymmetric to the speed curve in the stage P3. The stage provides a driving force with constant negative direction, and generates acceleration (curve), the jerk (curve) of the stage is 0 value, namely the change rate of the driving force (corresponding to the change rate of the acceleration) is 0, thereby controlling the movement speed (curve) of the movable equipment to be reduced uniformly.
In the stage P7, which is the middle stage of the deceleration movement of the mobile device, the jerk curve (curve ii) in this stage is axisymmetric to the jerk curve in the stage P3, the acceleration curve (curve i) is point symmetric to the acceleration curve in the stage P3, and the speed curve (curve iii) is axisymmetric to the speed curve in the stage P3. The stage provides driving force for acceleration change to generate acceleration which is continuously reduced in a negative direction, the jerk (curve) of the stage is a sine wave shape of a positive half wave band, and the change rate (corresponding to the change rate of the acceleration) of the driving force (curve) of the movable equipment is controlled according to the jerk of the positive half wave band. In the first half of the P7, the jerk is continuously increased according to a sine curve, and the driving force is controlled to be accelerated and reduced in the negative direction, so that the movement speed (curve c) of the movable equipment is controlled to be gradually reduced; in the latter half of P7, the jerk is gradually reduced according to a sine curve, and the driving force is controlled to be reduced in a negative direction, so that the movement speed of the movable equipment is controlled to be reduced gradually. And when the jerk and the acceleration reach 0 values at the same time, the movement speed of the movable equipment reaches 0 value, and the movement state is changed into a static state.
The driving force is continuously and smoothly controlled through the stages P1-P7, so that the motion of acceleration, uniform speed and deceleration of the movable equipment is smoothed, and the shaking phenomenon of the movable equipment is not generated.
Specifically, the sinusoidal waveform corresponding to the second waveform is divided into a positive half-wave band and a negative half-wave band in an acceleration stage of the mobile device, wherein a 0-value interval is provided between the positive half-wave band and the negative half-wave band; the waveform of the second waveform in the deceleration stage of the movable equipment is axisymmetric with the waveform of the movable equipment in the acceleration stage.
During an acceleration phase of the movable device, the jerk corresponding to the positive half-wave section of the second waveform controls a rise of the acceleration, and the jerk corresponding to the negative half-wave section of the second waveform controls a fall of the acceleration; during the deceleration phase of the mobile device, the jerk corresponding to the negative half-wave section of the second waveform controls a rise in a reverse direction of the acceleration, and the jerk corresponding to the positive half-wave section of the second waveform controls a fall in the reverse direction of the acceleration.
The first waveform corresponds to an acceleration of the movable device, the acceleration of the first waveform being controlled by jerk of the second waveform; during the acceleration phase of the movable equipment, a sinusoidal distribution of the first waveform is formed corresponding to a positive half-wave section of the second waveform, a constant value distribution of the first waveform is formed corresponding to a 0 value interval of the second waveform, a sinusoidal distribution of the first waveform is formed at a negative half-wave section on the second waveform side, and a flat-top sinusoidal distribution of the first waveform is formed on the whole during the acceleration phase of the movable equipment; in the deceleration stage of the movable equipment, the distribution of the first waveform and the first waveform in the acceleration stage of the movable equipment are point-symmetric.
The third waveform reflects a speed of movement of the movable device; during an acceleration phase of the movable apparatus, the speed of the movable apparatus is distributed according to a sinusoidal rising portion; in the constant speed stage of the movable equipment, the speed of the movable equipment is distributed according to a constant value; in the deceleration stage of the movable equipment, the speed of the movable equipment is distributed according to the sine descending part and is in axial symmetry with the waveform of the movable equipment in the acceleration stage.
When the first waveform and the second waveform are superposed at the value of 0, the third waveform is at the value of 0 or constant value, and is corresponding to the state of the movable equipment at a static state or at a constant speed.
In addition, the speed control method of the mobile device further includes:
after the speed of the movable device is controlled to accelerate to reach a preset speed, reducing the driving force of the movable device to 0; keeping the driving force to be 0, and controlling the movable equipment to move at a constant speed until the movable equipment automatically detects an obstacle or receives a deceleration instruction; the acceleration of the movable equipment is 0, and the jerk of the movable equipment is 0 in the process of uniform motion of the movable equipment.
FIG. 3 illustrates an example graph of configuration information for speed, acceleration, and jerk of a mobile device provided by an embodiment of the disclosure, as shown:
in the disclosed embodiment, the frequency of the point value of the first waveform is the driving control frequency of the movable device, the driving control frequency corresponds to the acceleration frequency of the movable device, the control frequency of the actuator (wheel) in the figure, that is, the actuator for driving the movable device has 120 speed adjustment controls per second, and meanwhile, the movable device can be driven in a straight line direction and a turning direction by analogy with the driving of an automobile, and can be driven in a straight line direction, a left-right translation direction, an in-situ rotation direction, or a mixture of the straight line direction and the rotation direction, that is, the movable device can be driven while turning
A profile is defined below for describing the control frequency of the driving force of the movable device, including in particular the following:
define the control frequency inside the chassis for each wheel, as shown, there are 120 adjustment controls for the wheels per second.
Define the speed steps in which the chassis travels straight, these values being related to the mobile equipment chassis design, resulting from experimental values (see details below).
Define chassis left and right movement gear, the values are derived from experimental checking results (see details below).
Define chassis spin gear and values derived from experimental calculations (see details below).
The 7 time periods defining each gear are respectively configured, with time units of seconds, for the sake of calculation, the configuration P1 being equal to P3 and P5 being equal to P7.
The diagram of the configuration file in the figure corresponds to three configurations defined by straight line driving, left-right translation driving and in-situ rotation, one or more pieces of information are arranged below each configuration, each piece of information is equivalent to a gear of an automobile, and if the upper computer directly gives a speed of 0.3m/s, the chassis can select the configuration corresponding to 0.3 m/s. The numbers in the configuration are selected as P1, P2, P3, P4, P5, P6 and P7 in the acceleration curve, wherein P1, P2 and P3 manage the acceleration process, P4 defines the overtime automatic braking time, such as 1.0 written, which means that no command of an upper computer is received for more than 1s, the chassis can automatically stop, and P5, P6 and P7, similar to P1, P2 and P3, are responsible for the braking curve. In the process of acceleration or braking, if the upper computer changes different speed values, the chassis jumps to the other corresponding curve, and the process is the same as the gear shifting of the automobile, and the acceleration and deceleration curves are changed.
The details are shown in fig. 3:
according to the control frequency defined in the configuration file, the number of acceleration sine waves and the number of deceleration sine waves are respectively generated for the acceleration duration of each speed gear, and sine function values are calculated by using sine functions, wherein the number of positive half-wave points of the sine waves of the acceleration curve is 1.25 seconds, the number of P2 is 1.25 seconds, the number of P3 is 1.25 seconds, the number of positive half-wave points of the sine waves of the acceleration curve is 1.25x120 which is 150, the sine function is started from 0, and each step is increased by 3.14/150 radians. Similarly, the number of the sine wave negative half-wave points of the acceleration curve is also 1.25 × 120 to 150, the sine function starts from PI (3.14), and PI/150 is increased in each control step. The whole acceleration process takes 3.75 seconds, the output is divided into three stages, the acceleration bottom reaches the maximum after 150 points in each stage, the acceleration of 150 points in the second stage is kept unchanged, the speed continues to rise, the acceleration and the jerk reach zero at the same time after 150 points in the third stage, and the speed is constant.
And based on the previous step, according to the output amplitude of the sine function, integrating the time to calculate the value of the acceleration, and further calculating the speed value of the acceleration in the time integration.
According to the speed value sent by the upper computer, the chassis selects the closest speed gear to match first, and adjusts the output amplitude of the sine wave, so that the value of the acceleration is influenced, and the final speed constant value is consistent with the set value.
Similarly, the same control flow is used for the chassis of the mobile device during deceleration, except that the sine wave starts at PI, goes to zero, and then starts again at zero to PI.
When the movable equipment runs reversely, only the speed output value needs to be negated, and the whole process is unchanged.
Fig. 4 is a schematic diagram of a speed control apparatus of a mobile device according to another embodiment of the disclosure. The speed control apparatus of a movable device includes: an acceleration module 401, a jerk module 402, and a velocity control module 403. Wherein:
the acceleration module 401 is configured to control a variation of the driving force of the movable device by a jerk corresponding to the second waveform.
In the embodiment of the disclosure, the movable equipment chassis motion part is connected with the upper computer through the communication bus, receives the control command of the upper computer in real time to move and walk, the control command generally comprises automatic navigation, a debugging remote controller, remote terminal control and the like, and no matter which party sends the control command, in the disclosure, the movable equipment does not drive the movable equipment at the set speed immediately, but adopts jerk, acceleration and speed third-order speed to smoothly control acceleration and deceleration of the movable equipment, so as to prevent shaking of the movable equipment chassis.
The acceleration module is specifically configured to: and providing driving force to the movable equipment according to the driving force value corresponding to the point value of the first waveform, and obtaining the acceleration of the movable equipment through the driving force. Wherein a frequency of a point value of the first waveform is a drive control frequency of the movable device, the drive control frequency corresponding to an acceleration frequency of the movable device. The drive control frequency is determined according to an acceleration duration of each gear of the movable device; and generating point values of the first waveform of the movable equipment in the acceleration and deceleration stages through the acceleration time length, wherein the driving force of the movable equipment is linear driving and/or left-right driving and is used for controlling the linear motion and/or left-right steering motion of the movable equipment.
The acceleration module is specifically further configured to: the first waveform corresponds to an acceleration of the movable device, the acceleration of the first waveform being controlled by jerk of the second waveform; during the acceleration phase of the movable equipment, a sinusoidal distribution of the first waveform is formed corresponding to a positive half-wave section of the second waveform, a constant value distribution of the first waveform is formed corresponding to a 0 value interval of the second waveform, a sinusoidal distribution of the first waveform is formed at a negative half-wave section on the second waveform side, and a flat-top sinusoidal distribution of the first waveform is formed on the whole during the acceleration phase of the movable equipment; in the deceleration stage of the movable equipment, the distribution of the first waveform and the first waveform in the acceleration stage of the movable equipment are mutually point-symmetric.
The jerk module 402 is configured to control a change in a driving force of the movable device with a jerk corresponding to a second waveform having a positive band and a negative band.
In order to ensure smooth acceleration, uniform speed and deceleration of the movable equipment, the disclosed embodiment smoothly controls the motion of the movable equipment through the jerk (also called jerk), the three-order speed of acceleration and speed of the movable equipment. Wherein it is most critical to control the variation of the driving force of the movable device by the jerk, which corresponds to the second waveform as a sinusoidal waveform having an interval of 0 values. Specifically, the second waveform is a sinusoidal waveform having a 0 value interval, and the 0 value interval is set between the positive band and the negative band. Controlling the driving force to smoothly increase or decrease in a sinusoidal waveform having 0 value intervals in the jerk during the acceleration phase of the movable equipment; in the constant speed stage of the movable equipment, the jerk and the acceleration are simultaneously kept at 0 value; in the deceleration stage of the movable apparatus, the jerk follows a sinusoidal waveform having 0 value intervals, and the driving force is controlled to smoothly increase or decrease in the reverse direction. The sinusoidal waveform corresponding to the second waveform is divided into a positive half-wave band and a negative half-wave band in the acceleration stage of the movable equipment, wherein a 0-value interval is arranged between the positive half-wave band and the negative half-wave band; the waveform of the second waveform in the deceleration stage of the movable equipment is axisymmetric with the waveform of the movable equipment in the acceleration stage.
The jerk module is specifically configured to: during an acceleration phase of the movable device, the jerk corresponding to the positive half-wave section of the second waveform controls a rise of the acceleration, and the jerk corresponding to the negative half-wave section of the second waveform controls a fall of the acceleration; during the deceleration phase of the mobile device, the jerk corresponding to the negative half-wave section of the second waveform controls a rise in a reverse direction of the acceleration, and the jerk corresponding to the positive half-wave section of the second waveform controls a fall in the reverse direction of the acceleration.
The speed control module 403 is configured to control a motion speed of the mobile device according to the acceleration and the jerk, where the motion speed of the mobile device corresponds to a third waveform distribution.
The embodiment of the disclosure provides the driving force which changes in acceleration for the movable equipment, generates the acceleration which changes constantly, corresponds to the distribution of the jerk (curve II) at different stages according to a certain curve, and controls the change rate (corresponding to the change rate of the acceleration) of the driving force (curve I) of the movable equipment through the jerk. In the acceleration stage of the movable apparatus, the jerk controls the driving force to smoothly increase or decrease according to a sine waveform having an interval of 0 values, thereby controlling the moving speed (curve c) of the movable apparatus to smoothly increase; in the constant-speed stage of the movable equipment, the jerk and the acceleration are simultaneously kept at 0 value, so that the movement speed (curve (c)) of the movable equipment is controlled to move at a constant speed; in the deceleration stage of the movable device, the jerk is controlled to smoothly increase or decrease the driving force in the reverse direction according to a sine waveform having an interval of 0 values, thereby controlling the moving speed (curve c) of the movable device to smoothly decrease until it is stationary.
The speed control module is specifically configured to: the third waveform reflects a speed of movement of the movable device; during an acceleration phase of the movable apparatus, the speed of the movable apparatus is distributed according to a sinusoidal rising portion; in the constant speed stage of the movable equipment, the speed of the movable equipment is distributed according to a constant value; in the deceleration phase of the movable equipment, the speed of the movable equipment is distributed according to the sine descending part and is in axial symmetry with the waveform of the movable equipment in the acceleration phase.
When the first waveform and the second waveform are superposed at the value of 0, the third waveform is at the value of 0 or constant value, and is corresponding to the state of the movable equipment at a static state or at a constant speed.
In addition, the speed control apparatus of the mobile device further includes:
the uniform speed module is used for: after the speed of the movable device is controlled to accelerate to reach a preset speed, reducing the driving force of the movable device to 0; keeping the driving force to be 0, and controlling the movable equipment to move at a constant speed until the movable equipment automatically detects an obstacle or receives a deceleration instruction; the acceleration of the movable equipment is 0, and the jerk of the movable equipment is 0 in the process of uniform motion of the movable equipment.
The apparatus shown in fig. 4 can perform the method of the embodiment shown in fig. 1, and reference may be made to the related description of the embodiment shown in fig. 1 for a part of this embodiment that is not described in detail. The implementation process and technical effect of the technical solution refer to the description in the embodiment shown in fig. 1, and are not described herein again.
Referring now to FIG. 5, therein is shown a schematic diagram of an electronic device 500 corresponding to a removable device suitable for use in implementing another embodiment of the present disclosure. The terminal device in the embodiments of the present disclosure may include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), a vehicle terminal (e.g., a car navigation terminal), and the like, and a stationary terminal such as a digital TV, a desktop computer, and the like. The electronic device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 5, electronic device 500 may include a processing means (e.g., central processing unit, graphics processor, etc.) 501 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage means 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through a communication line 504. An input/output (I/O) interface 505 is also connected to communication lines 504.
Generally, the following devices may be connected to the I/O interface 505: input devices 506 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 507 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, and the like; storage devices 508 including, for example, magnetic tape, hard disk, etc.; and a communication device 509. The communication means 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. While fig. 4 illustrates an electronic device 500 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or installed from the storage means 508, or installed from the ROM 502. The computer program performs the above-described functions defined in the methods of the embodiments of the present disclosure when executed by the processing device 501.
It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: the interaction method in the above embodiment is performed.
Computer program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
According to one or more embodiments of the present disclosure, there is provided an electronic device including: at least one processor; and 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 method of any one of the preceding first aspects.
According to one or more embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium characterized by storing computer instructions for causing a computer to perform the method of any of the preceding first aspects.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (15)
1. A method for controlling the speed of a mobile device, comprising:
providing a driving force to the movable equipment according to a driving force value corresponding to a point value of a first waveform, and obtaining the acceleration of the movable equipment through the driving force;
controlling a variation of a driving force of the movable device by a jerk corresponding to a second waveform having a positive band and a negative band;
and controlling the movement speed of the movable equipment according to the acceleration and the jerk, wherein the movement speed of the movable equipment corresponds to the third waveform distribution.
2. The method of claim 1,
the second waveform is a sinusoidal waveform having a 0 value interval, the 0 value interval being disposed between the positive and negative bands.
3. The method according to claim 1 or 2,
the motion of the movable equipment is divided into an acceleration stage, a uniform speed stage and a deceleration stage, and the first waveform, the second waveform and the third waveform have respective corresponding symmetrical distribution at different stages of the movable equipment.
4. The method of claim 3,
the sinusoidal waveform corresponding to the second waveform is divided into a positive half-wave band and a negative half-wave band in the acceleration stage of the movable equipment, wherein a 0-value interval is arranged between the positive half-wave band and the negative half-wave band;
the waveform of the second waveform in the deceleration stage of the movable equipment is axisymmetric with the waveform of the movable equipment in the acceleration stage.
5. The method of claim 4,
during an acceleration phase of the movable device, the jerk corresponding to the positive half-wave section of the second waveform controls a rise of the acceleration, and the jerk corresponding to the negative half-wave section of the second waveform controls a fall of the acceleration;
during the deceleration phase of the mobile device, the jerk corresponding to the negative half-wave section of the second waveform controls a rise in a reverse direction of the acceleration, and the jerk corresponding to the positive half-wave section of the second waveform controls a fall in the reverse direction of the acceleration.
6. The method of claim 3,
the first waveform corresponds to an acceleration of the movable device, the acceleration of the first waveform being controlled by jerk of the second waveform;
a sinusoidal distribution of the first waveform is configured corresponding to a positive half-wave section of the second waveform, a constant value distribution of the first waveform is configured corresponding to a 0 value interval of the second waveform, a sinusoidal distribution of the first waveform is configured corresponding to a negative half-wave section on the second waveform side, and a flat-top sinusoidal distribution of the first waveform is formed on the whole during the acceleration stage of the movable device;
in the deceleration stage of the movable equipment, the distribution of the first waveform and the first waveform in the acceleration stage of the movable equipment are mutually point-symmetric.
7. The method of claim 3,
the third waveform reflects a speed of movement of the movable device;
during an acceleration phase of the movable apparatus, the speed of the movable apparatus is distributed according to a sinusoidal rising portion;
in the constant speed stage of the movable equipment, the speed of the movable equipment is distributed according to a constant value;
in the deceleration phase of the movable equipment, the speed of the movable equipment is distributed according to the sine descending part and is in axial symmetry with the waveform of the movable equipment in the acceleration phase.
8. The method of claim 3,
when the first waveform and the second waveform are overlapped at a value of 0, the third waveform is a value of 0 or a constant value, and is corresponding to the state that the movable equipment is static or in a uniform speed state.
9. The method of claim 1,
the frequency of the point value of the first waveform is a drive control frequency of the movable device, and the drive control frequency corresponds to an acceleration frequency of the movable device.
10. The method of claim 9,
the drive control frequency is determined according to an acceleration duration of each gear of the movable device;
and generating point values of the first waveform of the movable equipment in an acceleration stage and a deceleration stage through the acceleration duration.
11. The method of claim 1,
the driving force of the movable equipment is linear driving and/or left-right driving and is used for controlling the linear movement and/or left-right steering movement of the movable equipment.
12. The method of claim 1, further comprising:
after the speed of the movable device is controlled to accelerate to reach a preset speed, reducing the driving force of the movable device to 0;
keeping the driving force to be 0, and controlling the movable equipment to move at a constant speed until the movable equipment automatically detects an obstacle or receives a deceleration instruction;
the acceleration of the movable equipment is 0, and the jerk of the movable equipment is 0 in the process of uniform motion of the movable equipment.
13. A speed control apparatus of a movable device, comprising:
the acceleration module is used for providing driving force for the movable equipment according to the driving force value corresponding to the point value of the first waveform, and the acceleration of the movable equipment is obtained through the driving force;
a jerk module for controlling a change in a driving force of the movable device by a jerk corresponding to a second waveform, the second waveform having a positive band and a negative band;
and the speed control module is used for controlling the movement speed of the movable equipment according to the acceleration and the jerk, and the movement speed of the movable equipment corresponds to the third waveform distribution.
14. A mobile device, comprising:
at least one memory for storing computer-readable instructions; and
at least one processor configured to execute the computer-readable instructions to cause the removable device to implement the method of any one of claims 1-12.
15. A computer storage medium having stored therein at least one executable instruction causing a processor to perform the steps of the method for speed control of a mobile device according to any of claims 1-12.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210039509.1A CN114578809A (en) | 2022-01-13 | 2022-01-13 | Speed control method and device of movable equipment and movable equipment |
| PCT/CN2023/072093 WO2023134746A1 (en) | 2022-01-13 | 2023-01-13 | Speed control method and apparatus for movable device, and movable device, storage medium and computer program |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210039509.1A CN114578809A (en) | 2022-01-13 | 2022-01-13 | Speed control method and device of movable equipment and movable equipment |
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| CN114578809A true CN114578809A (en) | 2022-06-03 |
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| CN202210039509.1A Pending CN114578809A (en) | 2022-01-13 | 2022-01-13 | Speed control method and device of movable equipment and movable equipment |
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| WO (1) | WO2023134746A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023134746A1 (en) * | 2022-01-13 | 2023-07-20 | 达闼机器人股份有限公司 | Speed control method and apparatus for movable device, and movable device, storage medium and computer program |
| CN116954280A (en) * | 2023-09-21 | 2023-10-27 | 北京一控软件技术有限公司 | Speed control system of metal rolling post-treatment process line |
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| WO2023134746A1 (en) | 2023-07-20 |
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