CN115061361A - Speed keeping control method and system for wheel set of sweeper and electronic equipment - Google Patents
Speed keeping control method and system for wheel set of sweeper and electronic equipment Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The invention relates to the technical field of sweeping robots, and provides a speed keeping control method and system for wheel sets of a sweeping robot and electronic equipment. The method comprises the following steps: acquiring the real-time speed of a driving wheel of the sweeper; comparing the real-time speed with a preset target speed, and determining a speed error value between the real-time speed and the target speed; performing PID control operation according to the speed error value, and determining a target duty ratio output by the motor; and adjusting the real-time duty ratio output by the motor according to the target duty ratio, and controlling the output rotating speed of the motor so as to keep the real-time speed of the driving wheel of the sweeper consistent with the target speed. The invention can achieve the purpose of controlling the speed of the driving wheel of the sweeping robot to be kept at the target speed in real time, can realize the same effect under the condition of not using three monostables, greatly reduces the hardware cost of the sweeping robot, and is beneficial to further popularization and use of sweeping robot products.
Description
Technical Field
The invention relates to the technical field of sweeping robots, in particular to a speed keeping control method and system for wheel sets of a sweeping robot and electronic equipment.
Background
People will accomplish the robot that cleans, dust absorption, mopping work usually, also be called the intelligence robot of sweeping the floor collectively, and the intelligence robot of sweeping the floor can rely on certain artificial intelligence technique, independently accomplishes in the room and cleans the task, generally adopts brush to sweep and the vacuum mode, absorbs the rubbish receiver that gets into self earlier with ground debris to accomplish the function that ground cleaned.
At present, a mainstream sweeping robot generally uses two driving wheels which are respectively and independently driven as moving power, which are collectively called as a wheel set, when the robot walks linearly, the advancing speeds of the two driving wheels are required to be kept consistent and stabilized at a fixed speed value, namely, the rotating speeds of two motors which drive the two driving wheels are required to be kept consistent and stabilized at a fixed rotating speed, but because a battery of the sweeping robot can reduce the output voltage along with the consumption of electric power, the speed of the driving wheels is also reduced accordingly, at present, the driving wheel motors of the sweeping robot are supplied with power after the battery voltage is stabilized mainly through three monostabilizers, and the driving wheel speeds of the sweeping robot are ensured to be kept consistent and unchanged in a mode of ensuring that the output voltage is unchanged. Because the cost of the three single pressure stabilizers is higher, other equipment is not available for replacement in the prior art at present, and therefore the cost of the sweeping robot is difficult to reduce.
Therefore, in the prior art, the mode that the voltage of the driving wheel motor of the sweeping robot is controlled to be kept stable through the three monosters so as to control the speed of the driving wheel to keep a certain speed is high in cost, and the sweeping robot is not beneficial to further development, popularization and use.
Disclosure of Invention
The invention provides a speed keeping control method and system for a wheel set of a sweeping robot and electronic equipment, and aims to solve the problems that in the prior art, the cost is high in a mode that the voltage of a motor of a driving wheel of the sweeping robot is controlled to be kept stable through three monosters so that the speed of the driving wheel is controlled to be kept constant, and further development, popularization and use of the sweeping robot are not facilitated.
In order to solve the technical problems, the invention provides a technical scheme as follows: a speed maintaining control method for a wheel set of a sweeper comprises the following steps:
acquiring the real-time speed of a driving wheel of the sweeper;
comparing the real-time speed with a preset target speed, and determining a speed error value between the real-time speed and the target speed;
performing PID control operation according to the speed error value, and determining a target duty ratio output by the motor;
and adjusting the real-time duty ratio output by the motor according to the target duty ratio, and controlling the output rotating speed of the motor so as to keep the real-time speed of the driving wheel of the sweeper consistent with the target speed.
Preferably, the target speeds of the two drive wheels of the sweeper remain the same.
Preferably, the step of obtaining the real-time speed of the driving wheel of the sweeper specifically comprises: and acquiring a difference value of a driving wheel encoder in a preset period time, and calculating the advancing real-time speed of the driving wheel according to the difference value of the encoder.
Preferably, the comparing the real-time speed with a preset target speed to determine a speed error value between the real-time speed and the target speed specifically includes:
judging the relation between the target speed and 0;
if the target speed is greater than 0 and the real-time speed is greater than 0, taking the difference value between the target speed and the real-time speed as a speed error value;
if the target speed is less than 0 and the real-time speed is less than 0, taking the difference value between the absolute value of the target speed and the absolute value of the real-time speed as a speed error value;
if the target speed is equal to 0, judging whether the driving wheel is in a deceleration stage or not according to the real-time speed, and if so, setting a speed error value to 0.
Preferably, if the target speed is equal to 0, determining whether the driving wheel is in a deceleration stage according to the real-time speed, and if so, setting a speed error value to 0, specifically including:
if the target speed is equal to 0, judging whether the rotating speed of the corresponding motor is lower than a preset minimum rotating speed according to the real-time speed;
if the rotating speed of the motor is lower than the lowest rotating speed, the driving wheel is judged to be in a deceleration stage, and a speed error value is set to be 0;
and if the rotating speed of the motor is not lower than the lowest rotating speed, taking the real-time speed as a speed error value.
Preferably, if the rotating speed of the motor is not lower than the lowest rotating speed, when the real-time speed is taken as a speed error value, the step of performing PID control operation according to the speed error value to determine the target duty ratio of the motor output is performed by using only a proportional part in a PID algorithm, and a function of an integral part and a differential part is set to be 0.
Preferably, if the target speed is equal to 0 and the driving wheel is in the deceleration stage, setting the speed error value to 0, and simultaneously, performing PID control operation according to the speed error value to determine the target duty ratio of the motor output, further includes setting an output return value of the PID algorithm to 0.
Preferably, the determining the relationship between the target speed and 0 further includes:
if the target speed is greater than 0 and the real-time speed is less than 0, taking the difference value of the absolute values of the target speed and the real-time speed as a speed error value, and sending a direction change signal to change the real-time speed direction of the driving wheel to be consistent with the target speed direction;
and if the target speed is less than 0 and the real-time speed is greater than 0, taking the difference value between the absolute value of the target speed and the real-time speed as a speed error value, and sending a direction change signal to change the real-time speed direction of the driving wheel to be consistent with the target speed direction.
The invention also provides a speed maintaining control system for the wheel set of the sweeper, which comprises:
the data acquisition unit is used for acquiring the real-time speed of the driving wheel of the sweeper;
the error calculation unit is used for comparing the real-time speed with a preset target speed and determining a speed error value between the real-time speed and the target speed;
the PID control unit is used for carrying out PID control operation according to the speed error value and determining a target duty ratio output by the motor;
and the speed control unit is used for adjusting the real-time duty ratio output by the motor according to the target duty ratio and controlling the output rotating speed of the motor so as to keep the real-time speed of the driving wheel of the sweeper consistent with the target speed.
The invention also provides electronic equipment, which comprises a memory and a processor, wherein the memory is stored with a computer program, and the computer program is set to execute the speed keeping control method of the wheel set of the sweeper in any one of the above manners when running; the processor is arranged to execute the sweeper wheel set speed maintenance control method of any one of the above through the computer program.
Compared with the prior art, the speed keeping control method and system for the wheel set of the sweeper and the electronic equipment provided by the invention have the following advantages:
1. through obtaining the real-time speed of the driving wheel, the real-time speed is compared with the target speed, the error existing in the speed is known, the speed error value is calculated and converted into the adjustment of the output duty ratio of the motor through a mature PID control algorithm, so that the aim of controlling the speed of the driving wheel of the sweeping robot to be kept at the target speed in real time is fulfilled, the same effect can be realized on the whole under the condition that a three-single voltage stabilizer is not used, the hardware cost of the sweeping robot is greatly reduced, and the sweeping robot is favorable for further popularization and use of sweeping robot products.
2. The wheel set formed by the two driving wheels is controlled in the same way, namely the target speeds of the two driving wheels are set to be consistent, so that the consistency of the speeds of the wheel set can be effectively guaranteed, and the sweeping robot can be controlled to move conveniently.
3. By comparing the target speed with 0, the speed error value can be conveniently determined, whether the speed directions are the same or not can also be determined, and the error can be conveniently and accurately mastered for conversion control.
4. When the rotating speed of the motor is not lower than the lowest rotating speed but the target speed is 0, PID control operation is carried out according to the speed error value, and in the step of determining the target duty ratio output by the motor, only the proportional part in a PID algorithm is used for operation, and the function of the integral part and the differential part is set to be 0, so that the speed can be rapidly adjusted to be 0, braking is effectively carried out, and the flexibility and the accuracy of control are improved.
Drawings
Fig. 1 is an overall flowchart of a method for maintaining and controlling the speed of a wheel set of a sweeper according to a first embodiment of the present invention.
FIG. 2 is a flow chart of determining a speed error value provided by a first embodiment of the present invention;
fig. 3 is a flowchart of determining whether the driving wheel is in a deceleration stage according to the first embodiment of the present invention;
FIG. 4 is another flow chart for determining a speed error value provided by the first embodiment of the present invention;
fig. 5 is a block diagram of a wheel set speed maintaining control system of a sweeper according to a second embodiment of the present invention.
Fig. 6 is a block diagram of an electronic device according to a third embodiment of the invention.
Description of reference numerals:
1. a data acquisition unit; 2. an error calculation unit; 3. a PID control unit; 4. a speed control unit; 10. a memory; 20. a processor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, a first embodiment of the present invention provides a method for maintaining a speed of a wheel set of a sweeper, including the following steps:
step S1: acquiring the real-time speed of a driving wheel of the sweeper;
step S2: comparing the real-time speed with a preset target speed, and determining a speed error value between the real-time speed and the target speed;
step S3: performing PID control operation according to the speed error value, and determining a target duty ratio output by the motor;
step S4: and adjusting the real-time duty ratio output by the motor according to the target duty ratio, and controlling the output rotating speed of the motor so as to keep the real-time speed of the driving wheel of the sweeper consistent with the target speed.
It can be understood that the driving wheel in the embodiment may be a driving wheel that individually controls each driving wheel, for example, the speeds of two driving wheels in a wheel set are not the same, which mainly considers some situations of turning or changing of a forward route, or a driving wheel in a wheel set that both drive two driving wheels to perform uniform speed control, for example, when the sweeping robot is used for straight walking.
Preferably, in this embodiment, the target speeds of the two driving wheels of the sweeper can be kept consistent, so as to realize the unification of the speeds of the two driving wheels of the wheel set.
It is understood that the setting of the real-time speed may be set directly through hardware input, which is not further described herein, and the specific setting of the real-time speed may be preset according to actual needs. Meanwhile, it can be understood that the real-time speed in the embodiment is mainly the traveling speed, and the step S1 of obtaining the real-time speed of the driving wheel of the sweeper specifically includes:
and acquiring a difference value of a driving wheel encoder in a preset period time, and calculating the advancing real-time speed of the driving wheel according to the difference value of the encoder.
It will be appreciated that the switching between the rotational speed and the travel speed at which the encoder monitors the rotation of the drive wheel is primarily of common knowledge and will not be described further herein.
It is understood that for the PID control operation, the setting can be performed by a person skilled in the art according to a general algorithm, and for the specific proportional coefficient, integral time constant and differential time constant, the setting can be adjusted according to the actual situation, and will not be further described herein.
It can be understood that the return of the target duty ratio of the motor output through the PID control operation mainly utilizes the combination of the PID operation and the PWM pulse control technology, and the specific implementation has a plurality of detailed means implemented in the field, and is not further described herein. In conclusion, the technical solution in this embodiment is mainly implemented as an overall solution, and for some procedural detail steps, a person skilled in the art can make simple design and change according to the implemented flow and purpose.
Further, as shown in fig. 2, step S2: the comparing the real-time speed with a preset target speed to determine a speed error value between the real-time speed and the target speed specifically includes:
step S21: judging the relation between the target speed and 0;
step S22: if the target speed is greater than 0 and the real-time speed is greater than 0, taking the difference value between the target speed and the real-time speed as a speed error value;
step S23: if the target speed is less than 0 and the real-time speed is less than 0, taking the difference value between the absolute value of the target speed and the absolute value of the real-time speed as a speed error value;
step S24: if the target speed is equal to 0, judging whether the driving wheel is in a deceleration stage or not according to the real-time speed, and if so, setting a speed error value to 0.
It will be appreciated that the above preferred embodiment is mainly directed to the case that the real-time speed of the driving wheel is the same as the target speed, because it is considered that in the actual control, the case that the speed of the wheel set is unstable and difficult to maintain due to the reduction or increase of the battery voltage change is mainly in the general unidirectional travel, and some special steering or reversing is not considered, and the specific steering and reversing embodiment is described by way of example hereinafter.
It is understood that if the target speed is 0, the driving wheel should stop going forward reasonably, but if there is a lag due to inertia or insufficient braking, etc., this situation may be handled as a special state at this time, i.e. the speed error is set to 0, and it is understood that whether the driving wheel is in the deceleration stage or not may be determined by comparing the real-time speeds twice or more before and after, and the trend that the current rear speed is descending may be determined as that the driving wheel is in the deceleration stage, and the specific details are not further described herein.
Referring to fig. 3, step S24: if the target speed is equal to 0, judging whether the driving wheel is in a deceleration stage according to the real-time speed, and if so, setting a speed error value to 0, wherein the method specifically comprises the following steps of:
step S241: if the target speed is equal to 0, judging whether the rotating speed of the corresponding motor is lower than a preset minimum rotating speed according to the real-time speed;
step S242: if the rotating speed of the motor is lower than the lowest rotating speed, the driving wheel is judged to be in a deceleration stage, and a speed error value is set to be 0;
step S243: and if the rotating speed of the motor is not lower than the lowest rotating speed, taking the real-time speed as a speed error value.
It can be understood that, in addition to the aforementioned manner of comparing the front real-time speed and the rear real-time speed to determine whether the driving wheel is decelerating, a preferable manner is provided in this embodiment, that is, by comparing the lowest rotation speed of the motor with the rotation speed of the motor corresponding to the current real-time speed, if the current rotation speed of the motor is lower than the lowest rotation speed, it can be considered that the motor has decelerated. The robot of sweeping the floor can set up the minimum rotational speed of motor rotational speed in the course of advancing, avoids the long-term rotational speed of motor too low to the consumption of motor too big, influences the life of motor.
It can be understood that if the rotation speed of the motor does not meet the condition of the lowest rotation speed, it indicates that the real-time speed of the driving wheel is greatly deviated, and the driving wheel should be braked in time when the target speed is 0, so that the real-time speed can be directly used as a speed error for calculation and conversion control.
Further, in the present preferred embodiment, step S243: if the rotation speed of the motor is not lower than the minimum rotation speed, when the real-time speed is taken as a speed error value, corresponding to step S2: and in the step of determining the target duty ratio output by the motor by performing PID control operation according to the speed error value, only the proportional part in the PID algorithm is used for operation, and the function of the integral part and the differential part is set to be 0.
It can be understood that only the proportional part algorithm in the PID algorithm is directly applied, and the rapid response can be carried out, so that the driving wheel can be timely subjected to brake adjustment control.
Further, in the preferred embodiment, if the target speed is equal to 0 and the driving wheel is in the deceleration stage, the step of determining the target duty ratio of the output of the motor by performing PID control operation according to the speed error value while setting the speed error value to 0 further includes setting an output return value of the PID algorithm to 0.
It can be understood that, in this case, the target speed is equal to 0 and the driving wheel is in the deceleration stage, which shows that speed adjustment is not actually required, and when the speed error can be directly set to 0, the return value can be directly set to 0 in consideration that the timely error is 0 but the differential link in the PID algorithm is not necessarily 0, so that the control accuracy is ensured and false start is avoided.
As shown in fig. 4, step S2: in the step of comparing the real-time speed with a preset target speed and determining a speed error value between the real-time speed and the target speed, determining the relationship between the target speed and 0 further includes:
step S25: if the target speed is greater than 0 and the real-time speed is less than 0, taking the difference value of the absolute values of the target speed and the real-time speed as a speed error value, and sending a direction change signal to change the real-time speed direction of the driving wheel to be consistent with the target speed direction;
step S26: and if the target speed is less than 0 and the real-time speed is greater than 0, taking the difference value between the absolute value of the target speed and the real-time speed as a speed error value, and sending a direction change signal to change the real-time speed direction of the driving wheel to be consistent with the target speed direction.
It can be understood that, for such a case, it is mainly for the case that some special driving wheels rotate in reverse and advance in reverse, and further, it can be determined according to whether the real-time speed and the target speed are both positive or negative, and the directions of the real-time speed and the target speed can be agreed in advance according to actual needs, for example, the driving wheels are changed from forward to forward, and from reverse to reverse, and the like, and the description is not further provided herein; the change of the direction of the driving wheel is mainly determined to obtain the switching signal, and the specific implementation is not further described here.
Referring to fig. 5, a speed maintaining control system for a wheel set of a sweeper according to a second embodiment of the present invention is further provided. For executing the speed maintaining control method of the sweeper wheel set in the first embodiment, the speed maintaining control system of the sweeper wheel set may include:
the data acquisition unit 1 is used for acquiring the real-time speed of a driving wheel of the sweeper;
the error calculation unit 2 is used for comparing the real-time speed with a preset target speed and determining a speed error value between the real-time speed and the target speed;
the PID control unit 3 is used for carrying out PID control operation according to the speed error value and determining a target duty ratio of motor output;
and the speed control unit 4 is used for adjusting the real-time duty ratio output by the motor according to the target duty ratio and controlling the output rotating speed of the motor so as to keep the real-time speed of the driving wheel of the sweeper consistent with the target speed.
It can be understood that the error calculating unit 2 compares the real-time speed with a preset target speed, and determines a speed error value between the real-time speed and the target speed, specifically including:
judging the relation between the target speed and 0;
if the target speed is greater than 0 and the real-time speed is greater than 0, taking the difference value between the target speed and the real-time speed as a speed error value;
if the target speed is less than 0 and the real-time speed is less than 0, taking the difference value between the absolute value of the target speed and the absolute value of the real-time speed as a speed error value;
if the target speed is equal to 0, judging whether the driving wheel is in a deceleration stage or not according to the real-time speed, and if so, setting a speed error value to 0.
It can be understood that, if the target speed is equal to 0, the error calculation unit 2 determines whether the driving wheel is in the deceleration stage according to the real-time speed, and if so, sets the speed error value to 0, and specifically includes:
if the target speed is equal to 0, judging whether the rotating speed of the corresponding motor is lower than a preset minimum rotating speed according to the real-time speed;
if the rotating speed of the motor is lower than the lowest rotating speed, the driving wheel is judged to be in a deceleration stage, and a speed error value is set to be 0;
and if the rotating speed of the motor is not lower than the lowest rotating speed, taking the real-time speed as a speed error value.
It can be understood that, when the error calculation unit 2 takes the real-time speed as a speed error value if the rotation speed of the motor is not lower than the minimum rotation speed, the PID control unit 3 performs PID control operation according to the speed error value to determine the target duty ratio of the motor output, in the step of determining the target duty ratio of the motor output, only the proportional part in the PID algorithm is used for operation, and the function of the integral part and the derivative part is set to be 0.
It can be understood that, if the target speed is equal to 0 and the driving wheel is in the deceleration stage, the error calculation unit 2 sets the speed error value to 0, and meanwhile, the PID control unit 3 performs PID control operation according to the speed error value to determine the target duty ratio of the motor output, and further includes setting the output return value of the PID algorithm to 0.
In the step of comparing the real-time speed with a preset target speed and determining a speed error value between the real-time speed and the target speed, the error calculation unit 2 determines a relationship between the target speed and 0, and further includes:
if the target speed is greater than 0 and the real-time speed is less than 0, taking the difference value of the absolute values of the target speed and the real-time speed as a speed error value, and sending a direction change signal to change the real-time speed direction of the driving wheel to be consistent with the target speed direction;
and if the target speed is less than 0 and the real-time speed is greater than 0, taking the difference value between the absolute value of the target speed and the real-time speed as a speed error value, and sending a direction change signal to change the real-time speed direction of the driving wheel to be consistent with the target speed direction.
The steps of implementation of the respective units in the second embodiment and the related technical description can be understood and implemented with reference to the foregoing first embodiment, and the description is not repeated further herein; the hardware for realizing the units can be a combination of a PID controller, a single chip microcomputer, various sensors, a control unit and the like, and is not further developed here.
Referring to fig. 6, a third embodiment of the present invention provides an electronic device for implementing the method for controlling wheel set speed maintenance of a sweeper, where the electronic device includes a memory 10 and a processor 20, the memory 10 stores therein a computer program, and the computer program is configured to execute the steps in any one of the above embodiments of the method for controlling wheel set speed maintenance of a sweeper when the computer program runs. The processor 20 is configured to execute the steps of any of the sweeper wheel set speed maintenance control method embodiments described above via the computer program.
Optionally, in this embodiment, the electronic device may be located in at least one network device of a plurality of network devices of an operating machine network.
Compared with the prior art, the speed keeping control method and system for the wheel set of the sweeper and the electronic equipment provided by the invention have the following advantages:
1. through obtaining the real-time speed of drive wheel, compare real-time speed and target speed, know the error that the speed exists, through the regulation that ripe PID control algorithm converts speed error value operation into motor output duty cycle to reach the purpose that real-time control robot driving wheel speed of sweeping the floor keeps at target speed, can realize on the whole realizing the same effect under the condition that does not use three monosters, very big reduction the hardware cost of robot of sweeping the floor, help the further using widely of robot product of sweeping the floor.
2. The wheel set formed by the two driving wheels is controlled to be the same, namely the target speeds of the two driving wheels are set to be the same, so that the consistency of the speeds of the wheel set can be effectively guaranteed, and the sweeping robot is convenient to control.
3. By comparing the target speed with 0, the speed error value can be conveniently determined, whether the speed directions are the same or not can also be determined, and the error can be conveniently and accurately mastered for conversion control.
4. When the rotating speed of the motor is not lower than the lowest rotating speed but the target speed is 0, PID control operation is carried out according to the speed error value, and in the step of determining the target duty ratio output by the motor, only the proportional part in a PID algorithm is used for operation, and the function of the integral part and the differential part is set to be 0, so that the speed can be rapidly adjusted to be 0, braking is effectively carried out, and the flexibility and the accuracy of control are improved.
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 embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart.
Which when executed by a processor performs the above-mentioned functions as defined in the method of the present application. It should be noted that the computer memory described herein may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer memory 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 computer memory 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 application, a computer readable signal 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 this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, 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: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like 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 case of a remote computer, 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 application. 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 application may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes a data acquisition unit, an error calculation unit, a PID control unit, and a speed control unit. The names of the units do not limit the units themselves in some cases, for example, the speed control unit may also be described as "a unit for adjusting the real-time duty ratio output by the motor according to the target duty ratio and controlling the output rotating speed of the motor so as to keep the real-time speed of the driving wheels of the sweeper consistent with the target speed".
As another aspect, the present application also provides a computer memory, which may be included in the apparatus described in the above embodiments; or may be present separately and not assembled into the device. The computer memory carries one or more programs that, when executed by the apparatus, cause the apparatus to: acquiring the real-time speed of a driving wheel of the sweeper; comparing the real-time speed with a preset target speed, and determining a speed error value between the real-time speed and the target speed; performing PID control operation according to the speed error value, and determining a target duty ratio output by the motor; and adjusting the real-time duty ratio output by the motor according to the target duty ratio, and controlling the output rotating speed of the motor so as to keep the real-time speed of the driving wheel of the sweeper consistent with the target speed.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent alterations and improvements made within the spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. A speed maintaining control method for a wheel set of a sweeper is characterized by comprising the following steps:
acquiring the real-time speed of a driving wheel of the sweeper;
comparing the real-time speed with a preset target speed, and determining a speed error value between the real-time speed and the target speed;
performing PID control operation according to the speed error value, and determining a target duty ratio output by the motor;
and adjusting the real-time duty ratio output by the motor according to the target duty ratio, and controlling the output rotating speed of the motor so as to keep the real-time speed of the driving wheel of the sweeper consistent with the target speed.
2. The method of claim 1 wherein the target speeds of the two drive wheels of the sweeper are maintained at the same speed.
3. The method for maintaining and controlling the speed of the wheel set of the sweeper according to claim 1, wherein the step of obtaining the real-time speed of the driving wheel of the sweeper specifically comprises:
and acquiring a difference value of a driving wheel encoder in a preset period time, and calculating the advancing real-time speed of the driving wheel according to the difference value of the encoder.
4. The method for maintaining the speed of a wheel set of a sweeper of claim 1, wherein the step of comparing the real-time speed with a preset target speed to determine a speed error value between the real-time speed and the target speed comprises:
judging the relation between the target speed and 0;
if the target speed is greater than 0 and the real-time speed is greater than 0, taking the difference value between the target speed and the real-time speed as a speed error value;
if the target speed is less than 0 and the real-time speed is less than 0, taking the difference value between the absolute value of the target speed and the absolute value of the real-time speed as a speed error value;
if the target speed is equal to 0, judging whether the driving wheel is in a deceleration stage or not according to the real-time speed, and if so, setting a speed error value to 0.
5. The method for maintaining the speed of the road sweeper wheel set as claimed in claim 4, wherein if the target speed is equal to 0, determining whether the driving wheel is in a deceleration stage according to the real-time speed, and if so, setting a speed error value to 0, specifically comprises:
if the target speed is equal to 0, judging whether the rotating speed of the corresponding motor is lower than a preset minimum rotating speed according to the real-time speed;
if the rotating speed of the motor is lower than the lowest rotating speed, the driving wheel is judged to be in a deceleration stage, and a speed error value is set to be 0;
and if the rotating speed of the motor is not lower than the lowest rotating speed, taking the real-time speed as a speed error value.
6. The method for maintaining and controlling the speed of the wheel set of the sweeper as claimed in claim 5, wherein if the rotating speed of the motor is not lower than the lowest rotating speed, and if the real-time speed is taken as a speed error value, the step of performing the PID control operation according to the speed error value to determine the target duty ratio of the output of the motor only uses the proportional part of the PID algorithm for operation, and the function of the integral part and the derivative part is set to be 0.
7. The method for controlling the speed of the sweeper wheel set according to claim 4, wherein if the target speed is equal to 0 and the driving wheel is in the deceleration stage, setting the speed error value to 0, and performing the PID control operation according to the speed error value to determine the target duty ratio of the output of the motor, further comprises setting the output return value of the PID algorithm to 0.
8. The method of maintaining the speed of a wheel set of a sweeper of claim 4, wherein determining the relationship between the target speed and 0 further comprises:
if the target speed is greater than 0 and the real-time speed is less than 0, taking the difference value of the absolute values of the target speed and the real-time speed as a speed error value, and sending a direction change signal to change the direction of the real-time speed of the driving wheel to be consistent with the direction of the target speed;
and if the target speed is less than 0 and the real-time speed is greater than 0, taking the difference value between the absolute value of the target speed and the real-time speed as a speed error value, and sending a direction change signal to change the real-time speed direction of the driving wheel to be consistent with the target speed direction.
9. The utility model provides a quick-witted wheelset speed of sweeping floor keeps control system which characterized in that includes:
the data acquisition unit is used for acquiring the real-time speed of the driving wheel of the sweeper;
the error calculation unit is used for comparing the real-time speed with a preset target speed and determining a speed error value between the real-time speed and the target speed;
the PID control unit is used for carrying out PID control operation according to the speed error value and determining a target duty ratio output by the motor;
and the speed control unit is used for adjusting the real-time duty ratio output by the motor according to the target duty ratio and controlling the output rotating speed of the motor so as to keep the real-time speed of the driving wheel of the sweeper consistent with the target speed.
10. An electronic device comprising a memory and a processor, characterized in that: a computer program stored in the memory, the computer program being arranged to, when run, perform the sweeper wheel set speed maintenance control method of any one of claims 1 to 8;
the processor is arranged to execute the sweeper wheel set speed maintenance control method of any one of claims 1 to 8 by means of the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210598774.3A CN115061361A (en) | 2022-05-30 | 2022-05-30 | Speed keeping control method and system for wheel set of sweeper and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210598774.3A CN115061361A (en) | 2022-05-30 | 2022-05-30 | Speed keeping control method and system for wheel set of sweeper and electronic equipment |
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| CN115061361A true CN115061361A (en) | 2022-09-16 |
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| CN202210598774.3A Pending CN115061361A (en) | 2022-05-30 | 2022-05-30 | Speed keeping control method and system for wheel set of sweeper and electronic equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115202371A (en) * | 2022-09-19 | 2022-10-18 | 深圳市凯之成智能装备有限公司 | Motion control method of flat plate cleaning robot and related device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115202371A (en) * | 2022-09-19 | 2022-10-18 | 深圳市凯之成智能装备有限公司 | Motion control method of flat plate cleaning robot and related device |
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