CN115509263A - Energy storage device following control method and device, energy storage device and readable storage medium - Google Patents
Energy storage device following control method and device, energy storage device and readable storage medium Download PDFInfo
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- G05D1/12—Target-seeking control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
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Abstract
The application belongs to the technical field of energy storage equipment, and particularly relates to an energy storage equipment following control method, an energy storage equipment following control device, energy storage equipment and a readable storage medium, wherein the method comprises the following steps of: acquiring information of external acting force applied to the energy storage equipment, wherein the information comprises a force application direction; calculating the rotation speed of a motor for controlling the energy storage equipment according to the gravity borne by the energy storage equipment and the stress direction; acquiring the stepping distance of a user in real time by using an image capturing device on the energy storage equipment, and calculating the advancing speed of the user according to the stepping distance; and controlling the motor output power of the energy storage device to perform following movement according to the travelling speed and the motor rotating speed. The method can effectively solve the problem of pulling the equipment by manpower and can also realize better following effect.
Description
Technical Field
The present application relates to the field of energy storage devices, and in particular, to a method and an apparatus for controlling following of an energy storage device, and a readable storage medium.
Background
For outdoor energy storage equipment, the outdoor energy storage equipment often needs to be moved correspondingly according to the change of outdoor use scenes. Because such energy storage devices are often heavy, in the moving process, a user is often required to drag the energy storage devices with large force, so that the energy storage devices can move towards the direction required by the user, and the operation is inconvenient. Although some energy storage devices can realize the following function of the user by being provided with the sensing device, the following is realized by the sensing device, the following speed is too high or too low, the user often needs to deliberately match the movement of the energy storage device, and the user experience is poor.
Disclosure of Invention
In view of this, embodiments of the present application provide an energy storage device following control method and apparatus, an energy storage device, and a readable storage medium.
In a first aspect, an embodiment of the present application provides a method for controlling energy storage device following, including:
acquiring information of external acting force applied to the energy storage equipment, wherein the information comprises a force application direction;
calculating the rotation speed of a motor for controlling the energy storage equipment according to the gravity borne by the energy storage equipment and the stress direction;
acquiring the stepping distance of a user in real time by using an image capturing device on the energy storage equipment, and calculating the advancing speed of the user according to the stepping distance;
and controlling the motor output power of the energy storage device to perform following movement according to the travelling speed and the motor rotating speed.
In some embodiments, a gravity sensor is disposed on a wheel of the energy storage device, and the method further comprises:
when the gravity sensor is used for monitoring that the gravity borne by the energy storage equipment changes, acquiring gravity change data;
calculating the motor rotation updating speed of the energy storage equipment according to the gravity change data and the current external acting force information;
and controlling the energy storage equipment to change the output power of the motor to continue to follow the movement according to the advancing speed and the motor rotation updating speed.
In some embodiments, a force sensor is disposed on a pull rod of the energy storage device, and the force sensor is configured to collect an external driving force or resistance applied to the pull rod by the user; the calculating the rotation speed of the motor for controlling the energy storage device according to the gravity borne by the energy storage device and the force bearing direction comprises the following steps:
if the force direction acting on the energy storage equipment is the same as the advancing direction of the energy storage equipment, determining the force direction as an external driving force, and calculating the rotation speed of a motor required by the movement of the energy storage equipment after the gravity compensation;
and if the force direction acting on the energy storage equipment is opposite to the advancing direction of the energy storage equipment, determining that the force direction is external resistance, and controlling the rotating speed of a motor of the energy storage equipment to be zero.
In some embodiments, the obtaining a step distance of a user in real time using an image capture device on the energy storage device and calculating a travel speed of the user based on the step distance comprises:
acquiring images in real time by using the image capturing device to acquire profile data of a user;
comparing the user profile data with a plurality of preset profile models, and selecting a target profile model with the highest similarity from the profile models, wherein the preset profile model is the height of a pre-stored figure image;
and determining the stepping distance of the user according to the corresponding relation between the height of the figure image in the target outline model and the stepping distance, and further calculating the advancing speed of the user.
In some embodiments, a depth camera is further disposed on the energy storage device; the method further comprises the following steps:
in the following movement process of the energy storage equipment, if the energy storage equipment is detected to be subjected to resistance, the depth camera device is used for shooting the environment image information when the energy storage equipment is subjected to the resistance;
analyzing the road condition of the environment image information to determine a current resistance source, wherein the types of the resistance source comprise a ground roadblock and user resistance;
if the road barrier is a ground road barrier, controlling the energy storage equipment to increase the output power of the motor so that the energy storage equipment can go across the ground road barrier to continue to move forwards; and if the resistance is the user resistance, controlling the energy storage device to reduce the output power of the motor to stop the movement.
In some embodiments, the image capture device includes a first depth camera and a second depth camera;
the first depth camera is used for acquiring images in real time to acquire dynamic profile data of the user; and the second depth camera is used as the depth camera device and is used for shooting the environment image information when the energy storage equipment is subjected to resistance.
In some embodiments, the energy storage device further comprises a light sensor and an illumination device, and the method further comprises:
and acquiring the light intensity of the external environment through the light sensor, and controlling the lighting device to be turned on when the light intensity of the external environment is smaller than a preset light intensity threshold value.
In a second aspect, an embodiment of the present application further provides an energy storage device following control apparatus, including:
the force information acquisition module is used for acquiring information of external acting force applied to the energy storage equipment, and the information comprises a force application direction;
the motor rotating speed calculation module is used for calculating the motor rotating speed for controlling the energy storage equipment according to the gravity borne by the energy storage equipment and the stress direction;
the travelling speed calculation module is used for acquiring the stepping distance of the user in real time through an image capturing device on the energy storage equipment and calculating the travelling speed of the user according to the stepping distance;
and the motion control module is used for controlling the motor output power of the energy storage device to perform following motion according to the travelling speed and the motor rotating speed.
In a third aspect, an embodiment of the present application further provides an energy storage device, where the energy storage device includes a processor and a memory, where the memory stores a computer program, and the processor is configured to execute the computer program to implement the energy storage device following control method.
In a fourth aspect, an embodiment of the present application further provides a readable storage medium, which stores a computer program, where the computer program, when executed on a processor, implements the energy storage device following control method described above.
The application has the following beneficial effects:
according to the energy storage equipment following control method, the information of external acting force applied to the energy storage equipment is obtained, then the rotating speed of a motor for controlling the energy storage equipment is calculated according to the gravity applied to the energy storage equipment and the stress direction of the external acting force, and then the stepping distance of a user is obtained in real time through an image capturing device so as to calculate the advancing speed of the user; and finally, controlling the energy storage equipment to complete following movement according to the traveling speed of the user and the calculated rotation speed of the motor. The method carries out transfer control through the binding force sensing device and the image capturing device, can effectively solve the problem of pulling the equipment by manpower, can realize the movement of the equipment only by giving a small traction force to a user, can also ensure that the movement speed of the equipment can follow the advancing speed of the user, and realizes a good following effect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 shows a first flowchart of an energy storage device following control method according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of an energy storage device with a pull rod according to an embodiment of the application;
FIG. 3 shows a second flowchart of an energy storage device following control method of an embodiment of the present application;
FIG. 4 is a third flowchart illustrating an energy storage device following control method according to an embodiment of the present application;
fig. 5 shows a fourth flowchart of an energy storage device following control method according to an embodiment of the present application;
FIG. 6 shows a first flowchart of an energy storage device steering following method of an embodiment of the present application;
FIG. 7 illustrates a second flowchart of an energy storage device steering following method of an embodiment of the present application;
FIG. 8 is a third flowchart of an energy storage device steering following method according to an embodiment of the present application;
FIG. 9 is a schematic structural diagram of an energy storage device following control device according to an embodiment of the application;
fig. 10 shows a schematic structural diagram of an energy storage device steering following device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present application, are intended to indicate only specific features, numerals, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the presence of or adding to one or more other features, numerals, steps, operations, elements, components, or combinations of the foregoing. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Consider that current movable energy storage equipment often need come the pulling or promote through great manpower, this energy storage equipment is transported in the open air to inconvenient user, to some realize following through setting up induction system, one comes that the user need hand-carry corresponding response structure and guarantees that energy storage equipment can sense, and on the other hand these induction system can not guarantee that energy storage equipment can match user's the speed of marcing and follow etc. in real time. Therefore, the energy storage equipment following control method is provided, so that a user can easily move the equipment by giving a small traction force without pulling the equipment by using large manpower; and the movement speed of the equipment can better follow the traveling speed of the user, so that the user experience is improved. The following control method of the energy storage device is explained below.
Example 1
Referring to fig. 1, the energy storage device following control method exemplarily includes:
step S110, obtaining information of external acting force applied to the energy storage device, wherein the information comprises a force application direction.
The external force refers to a force applied to the energy storage device by other external objects, and may include, but is not limited to, for example, an external driving force or resistance applied to the energy storage device by a user, a pressure generated by the user sitting on the energy storage device, and the like, and the form of the external force is not limited. In this embodiment, the external acting force includes the magnitude and the force direction of the acting force.
In one embodiment, as shown in fig. 2, the pull rod of the energy storage device may be provided with a force sensor for detecting an external driving force or resistance applied to the pull rod by a user. For example, the force sensor may be multiple in number, for example, on the left side, right side, or grip of the drawbar. It will be appreciated that the external driving force may be generated in any manner, such as by a user acting on a pull rod of the energy storage device in a pulling manner or in a pushing manner, to drive the energy storage device to move.
And step S120, calculating the rotation speed of a motor for controlling the energy storage device according to the gravity borne by the energy storage device and the stress direction.
Exemplarily, the rotation speed of the motor of the energy storage device can be controlled according to the gravity of the energy storage device and the stress direction of the external acting force, so that the following control of the energy storage device on a user is realized. It should be noted that the gravity applied to the energy storage device described herein may be the gravity generated by only including the weight of the energy storage device itself, or may be the gravity accumulated by external objects placed on the energy storage device, for example, when a person sits on the energy storage device, the gravity at this time may include the gravity of the device itself, the gravity of the object sitting on the device, and the like. It can be understood that the gravity that energy storage equipment received can influence its frictional force in the moving direction, and then can influence the motor drive power that drive energy storage equipment removed, if not produce sufficient motor drive power, can't guarantee energy storage equipment and carry out the follow motion.
In one embodiment, the step S120 includes: if the force direction acting on the energy storage equipment is the same as the advancing direction of the energy storage equipment, the external driving force is determined, for example, the external driving force can be pulling force and/or pushing force, and the rotating speed of a motor required by the movement of the energy storage equipment after gravity compensation is calculated; and if the force direction acting on the energy storage device is opposite to the advancing direction of the energy storage device, determining that the force is external resistance, and controlling the rotating speed of a motor of the energy storage device to be zero.
In this embodiment, the intention of the user can be determined according to the type of the acting force generated on the energy storage device, and then the energy storage device is controlled to respond correspondingly. For example, if the user generates a pulling force or a pushing force, it indicates that the user wants to drive the energy storage device to move; conversely, if the user is creating a resistance, it indicates that the user wants the energy storage device to stop moving.
Step S130, obtaining a step distance of the user in real time by using an image capturing device on the energy storage device, and calculating a moving speed of the user according to the step distance.
Exemplarily, an image capturing device, such as a camera device or the like, may be disposed on the energy storage device, and is used for shooting a picture including the location of the user in real time, so as to obtain the stepping distance information of the user from the picture; after the stepping distance is obtained, the traveling speed of the user can be calculated.
In one embodiment, as shown in fig. 3, the step S130 includes:
step S131, image real-time collection is carried out by utilizing an image capturing device so as to obtain the profile data of the user. It can be understood that when the distance between the user and the energy storage device is different, the heights of the corresponding shot figure images are also different, and when the distance is short, the height is higher; when the distance is far, the height is lower.
Step S132, comparing the user profile data with a plurality of preset profile models, and selecting a target profile model with the highest similarity from the plurality of preset profile models, wherein the preset profile model is a pre-stored figure image height.
Exemplarily, a plurality of preset contour models may be stored in advance, wherein each preset contour model is mainly a different pre-stored person image height of the user. Therefore, after the contour data of the user is acquired, the current person image height can be extracted from the acquired contour data, then the person image height is subjected to similarity matching with the contour model, and the contour model with the highest similarity is used as a target contour model required subsequently. It can be understood that, when the number of the preset contour models is larger, the requirement for the similarity determination is higher, so that the accuracy of the user contour data determination can be improved.
Step S133, determining the step distance of the user according to the correspondence between the height of the person image in the target contour model and the step distance, and further calculating the traveling speed of the user.
Because the legs of the people with different heights are different in length, the people with different heights correspond to different stepping distances, and for example, the relationship between the image height of the people and the stepping distance can be obtained by performing a plurality of groups of tests. Exemplarily, after the target contour model is selected, the step distance of the current user may be determined according to the relationship between the stored person image height and the step distance, and then the traveling speed of the user may be calculated. For example, the travel speed may be obtained by calculating a distance generated by the user in a unit time or a preset time, or calculating a bipedal alternation frequency corresponding to the stepping distance, and the like, and the travel speed of the user is not limited herein.
And step S140, controlling the motor output power of the energy storage device to perform following movement according to the advancing speed and the motor rotating speed.
Finally, control is carried out according to the calculated traveling speed of the user and the rotating speed of the motor for driving the equipment to move, for example, if the traveling speed and the rotating speed of the motor are within the error range, the power corresponding to the rotating speed of the motor can be output; on the contrary, when the travelling speed is great with motor rotational speed difference, can improve or reduce motor output, in order to improve or reduce motor rotational speed, thereby drive energy storage equipment can follow user's motion with comparatively close speed, but energy storage equipment's velocity of motion is slower and leads to the user to need drag energy storage equipment or need reduce the condition that travelling speed cooperates energy storage equipment in order to avoid appearing the user walking speed overfast, or the condition that the user marched is being pushed away to energy storage equipment velocity of motion overfast etc..
As an optional scheme, during the following movement of the energy storage device, as shown in fig. 4, the energy storage device following control method further includes:
and step S210, if the energy storage equipment is detected to be subjected to resistance, the depth camera is used for shooting the environment image information when the energy storage equipment is subjected to the resistance.
For example, in one embodiment, the image capture device includes two depth cameras, a first depth camera and a second depth camera; the first depth camera can be used for acquiring images in real time to acquire dynamic profile data of a user; the second depth camera is used as the depth camera device and is mainly used for shooting the environmental image information when the energy storage equipment is subjected to resistance. It can be understood that the distance from each point in the image to the camera can be accurately obtained through the data acquired by the depth camera, that is, the depth-of-field distance of the shooting space can be detected.
Step S220, analyzing the road condition of the environment image information to determine a current resistance source, wherein the types of the resistance source comprise a ground roadblock and user resistance.
Exemplarily, the acquired environment image can be recognized by using a road condition recognition model trained based on a neural network and the like, so as to obtain road condition analysis data. The road condition identification model can be obtained through training in the existing public mode, and specific ways for constructing and training can be found in some public documents, which are not explained herein. Furthermore, according to the road condition analysis information, for example, whether an obstacle exists on the current road, the shape of the existing obstacle, and the like are identified, so as to determine the reason why the energy storage device is subjected to resistance, for example, there may be ground obstacles such as ground pits, raised obstacles (such as stones, and the like), resistance applied by the user to hinder the device from moving forward, and the like.
And step S230, if the road block is the ground road block, controlling the energy storage device to increase the output power of the motor so that the energy storage device can cross the ground road block to move forward continuously.
And step S240, if the resistance is the user resistance, controlling the energy storage device to reduce the output power of the motor to stop moving. It can be understood that the energy storage device is controlled differently by judging the type of the resistance, so that the intelligence of the energy storage device is improved.
As an optional solution, as shown in fig. 5, the energy storage device following control method further includes:
step S310, when the gravity sensor is used for monitoring that the gravity borne by the energy storage device changes, the gravity change data is obtained.
In one embodiment, the gravity sensor may be, but is not limited to, a position on a wheel of the energy storage device, etc. where gravity information of the entire energy storage device may be collected. Exemplarily, the energy storage device may determine whether the gravity changes significantly according to a change of two or more times of gravity data uploaded at previous and subsequent times, for example, a deviation between the gravity at the subsequent time and the gravity at the previous time is large, and when the gravity changes, may obtain gravity change data so as to perform corresponding control on the energy storage device.
For possible reasons affecting the change of gravity, for example, it may be that a user places some articles on the energy storage device, or sits on the energy storage device, resulting in an increase of gravity to which the energy storage device is subjected; of course, it is also possible that the object originally placed on the energy storage device is taken away, which causes the gravity of the energy storage device to decrease, etc., for specific reasons, which are not limited herein.
And step S320, calculating the motor rotation updating speed of the energy storage equipment according to the gravity change data and the information of the current external acting force.
Exemplarily, when the gravity changes, the motor rotation speed of the energy storage device may be further updated to achieve the following of the minimum power, and the like. It should be understood that if the gravity changes due to the change of the external acting force such as the user's action, the latest motor rotation update speed should be calculated according to the latest information of the current external acting force.
And step S330, controlling the energy storage device to change the output power of the motor to continue to follow the movement according to the advancing speed and the motor rotation updating speed.
Considering that if the gravity of the energy storage device becomes light or heavy, the movement speed of the energy storage device may not match the traveling speed of the user, the output power of the motor of the energy storage device is controlled according to the traveling speed of the user and the recalculated rotation speed of the motor, so as to ensure that the user continues to follow the movement. It can be understood that the problem that the rotation speed of the motor is reduced after children sit on the energy storage device or a load exists can be effectively solved due to the fact that the load condition of the energy storage device is fully considered.
As an optional solution, the energy storage device may further include a light sensor and an illumination device, and the energy storage device following control method further includes: the light intensity of the external environment is obtained through the light sensation sensor, and when the light intensity of the external environment is smaller than a preset light intensity threshold value, the lighting device is controlled to be turned on.
For example, considering the scene of using at night, the energy storage device can also be combined with a light sensation sensor to obtain the light intensity of the external environment, automatically turn on the lighting device without manual operation of a user, and on the other hand, can provide a corresponding light source for the image capturing device when the light is poor so as to enable the shooting effect to be clearer.
The energy storage equipment following control method of the embodiment performs transfer control through the binding force sensing device and the image capturing device, can realize the movement of the equipment only by giving a smaller traction force to a user, and can effectively solve the problem of manually pulling the equipment; but also can make the velocity of motion of equipment can follow user's speed of travel, can not take place the too fast condition that leads to the user to need to pull energy memory or reduce the speed of travel and cooperate energy memory that but energy memory's velocity of motion is slower of user's walking speed, thereby perhaps energy memory velocity is too fast pushes away the condition that the user marched to realize better following effect, improved user experience etc..
Example 2
In the following process of the energy storage device, the situation that steering is needed exists, in the prior art, a user often needs large steering force, if the user does not apply force properly, the phenomenon that the device turns over on one side can occur, therefore, the application also provides a steering following method of the energy storage device, namely, in the process that the energy storage device can follow the user to move in real time, the steering intention of the user is judged through a bonding force sensor, and steering following is conducted when steering is needed, so that the user does not need large steering force any more, the device can be easily steered only through one steering traction force, and the user experience is greatly improved. The energy storage device steering following method is explained in detail below.
Referring to fig. 6, the energy storage device steering following method exemplarily includes:
and step S410, in the process that the energy storage device moves along with the user, utilizing each force sensor to obtain the stress information of the energy storage device under the action of the user in real time.
The energy storage device following control method described in the above embodiments may be adopted in the manner in which the energy storage device follows the user, and will not be described again here. In the embodiment, the steering following control is realized better mainly when steering is needed in the following process, so that the acting force needed by a user in the steering process is reduced, and the user experience is further improved.
Exemplarily, by providing at least two force sensors on the energy storage device, in particular, one or more force sensors may be respectively provided at different positions of the pull rod of the energy storage device, for example, but not limited to, the force sensors may be provided at the left side and the right side of the pull rod and/or at two ends of the handle of the pull rod, and the like.
When a user acts on the pull rod, for example, in a pulling force mode or a pushing force mode, stress conditions of corresponding positions on the pull rod can be collected through the force sensors, and therefore the acting force of the user on the whole energy storage device is obtained. It will be appreciated that the user, by acting on the energy storage device, mainly comprises three motion scenarios, namely, movement only without steering, steering movement, and stopping movement, and the scenario of steering the energy storage device is mainly discussed here.
In one embodiment, the energy storage device may synthesize the magnitude and the direction of the force applied by each force sensor to obtain a resultant force applied to the energy storage device by the user, and determine the intention of the user according to information of the resultant force. The resultant force information comprises resultant force magnitude obtained by synthesizing all the stress magnitudes and resultant force direction synthesized in the corresponding stress direction.
And step S420, determining whether the energy storage equipment needs to turn according to the stress information, and identifying the turning direction of the energy storage equipment when the energy storage equipment needs to turn.
Considering that the acting force applied by the user on the left side or the right side or two ends of the pull rod is always greatly deviated when the steering is needed, the stress magnitude collected by the corresponding force sensor is different, and therefore the principle can be used as the judgment basis of the steering. In one embodiment, if the difference between the stress magnitudes corresponding to the force sensors on the two sides or two ends of the pull rod exceeds the preset deviation range, it is determined that the energy storage device needs to turn, and the stress direction corresponding to the force sensor with the larger stress magnitude is taken as the turning direction of the energy storage device. Further optionally, if the difference between the stress magnitudes corresponding to the force sensors is within a preset deviation range, that is, when the stresses on the two sides or the two ends are relatively balanced, it is determined that the energy storage device does not need to turn, and the energy storage device continues to perform the following movement of the user.
For example, when the difference between the stress on the left side of the pull rod or the left end of the handle of the pull rod and the stress on the right side of the pull rod or the right end of the handle of the pull rod is larger, and the right side is more stressed, it can be determined that the right steering is needed; on the contrary, if the difference between the two is larger and the left side is more stressed, it can be determined that the left steering is needed. The preset deviation range may be obtained through a plurality of steering tests and by collecting the magnitude of the corresponding force applied by the user, which is not limited herein.
And step S430, controlling the rotating speed of the wheel motor at the corresponding position of the energy storage device according to the steering direction so as to enable the energy storage device to perform steering following movement.
In this embodiment, through detecting the direction of turning to, and then control the rotational speed of wheel motor according to the direction of turning to drive energy storage equipment and turn to and follow. For example, in one embodiment, when the steering direction is left-front, the controller of the energy storage device may control the motor speed of the right wheel of the energy storage device to be greater than the motor speed of the left wheel; and conversely, when the steering direction is right front, controlling the motor speed of the left wheel of the energy storage device to be greater than the motor speed of the right wheel. It is understood that after the steering direction is determined, the rotation speed of the wheel motor at the corresponding position is further controlled to increase the driving force of the apparatus itself, thereby reducing the steering force applied by the user for steering.
Further, considering that the wheels on both sides of the energy storage device may need different wheel speeds when steering so as to achieve better steering, in order to achieve more accurate steering following control, the energy storage device steering following method further includes: and determining the motor rotating speeds of the left wheel and the right wheel of the energy storage device according to the steering pressure by taking the stress magnitude acquired by the force sensor corresponding to the steering direction as the steering pressure. In one embodiment, as shown in fig. 7, the method specifically includes:
step S510, if the steering pressure accords with a first preset model, controlling a motor of a wheel on one side close to the steering direction to rotate at a first rotating speed, and controlling a motor of a wheel on one side far away from the steering direction to rotate at a second rotating speed; wherein the second rotational speed is greater than the first rotational speed.
Step S520, if the steering pressure accords with a second preset model, controlling the rotating speed of the motor of the wheel on the side close to the steering direction to be zero, and controlling the rotating speed of the motor of the wheel on the side far away from the steering direction to be a third rotating speed; wherein the third rotational speed is greater than zero.
The first and second preset models are mainly used for judging whether the current energy storage device is only turned (leftwards or rightwards) or turned around, so as to determine the corresponding control mode, and specifically comprise a turning model and a turning model. The first preset model is mainly used for judging whether the steering pressure of the energy storage device in the steering direction is larger than a first preset threshold value or not and the steering pressure in the non-steering direction is smaller than a second preset threshold value, wherein the non-steering direction is opposite to the steering direction. For example, when turning to the left, the steering pressure on the left may be greater than a preset threshold a, while the steering pressure on the right may be less than a preset threshold b, and so on. The two preset thresholds can be set according to actual requirements.
If the first condition is met, that is, the steering is required, the controller of the energy storage device selects the steering mode, that is, the rotation speed of the motor for controlling the wheel on the side close to the steering direction is slower than that of the motor for controlling the wheel on the side far from the steering direction, and the rotation speed of the motor for controlling the wheel on the side close to the steering direction is not zero, so as to realize better steering following.
The second preset model is mainly used for judging whether the steering pressure of the energy storage device in the steering direction is greater than a third preset threshold value and the steering pressure of the energy storage device in the non-steering direction is smaller than a fourth preset threshold value, wherein the fourth preset threshold value is smaller than the second preset threshold value.
If the second condition is met, that is, the turning around is required, the controller of the energy storage device selects the turning around mode, that is, the motor speed of the wheel on the side close to the steering direction is controlled to be zero, and the motor speed of the wheel on the side far away from the steering direction is controlled to be a third rotating speed. The third rotation speed is not zero, and can be adjusted according to the specific stress condition.
It is understood that by setting the above-described preset model for determination, coincidence is determined only when the steering pressures in both directions satisfy the respective threshold ranges, the error rate, etc. can be reduced.
As an alternative, as shown in fig. 8, the energy storage device is further provided with an attitude sensor, and in view of safety of controlling steering and avoiding a rollover phenomenon and the like when a road block is encountered during steering, the energy storage device steering following method exemplarily further includes:
step S610, if it is detected that the energy storage device is subjected to resistance, acquiring environment image information of the energy storage device when the energy storage device is subjected to the resistance by using an image capturing device, and acquiring a motion posture of the energy storage device when the energy storage device is subjected to the resistance by using a posture sensor.
Step S620, if the movement posture detects that the roll angle of the energy storage device is smaller than the preset angle and the resistance is determined to be the ground roadblock according to the environment image information, determining the position and the type of the ground roadblock according to the movement posture, wherein the type comprises a concave surface or a convex surface.
The attitude sensor is mainly combined to detect the roll angle of the energy storage device so as to judge the specific ground fault position and type. Generally, when a wheel encounters a road block, if the wheel is a concave surface, a certain wheel on the corresponding side will sink, so that the whole device will incline to a certain extent, and at this time, the attitude angles of the left side and the right side of the device can be compared to determine which side encounters the road block; similarly, for a convex barricade, a wheel on the corresponding side will be jacked up, so that the side that meets the barricade can be determined according to the comparison of the attitude angles of the two sides.
Further optionally, if the roll angle of the energy storage device is detected to exceed the preset angle, it indicates that the energy storage device is likely to roll over, so that the control stops driving the wheel motor, and an alarm is given.
And step S630, according to the position and the type of the ground roadblock, adjusting the output power of the motor of the wheel at the position corresponding to the energy storage device, so that the energy storage device can safely cross the ground roadblock.
Furthermore, under the condition that safe surmounting is achieved, after the position and the type of a specific ground roadblock are known, the output power of the wheel motor at the corresponding position can be controlled, for example, when the left side meets the roadblock, the driving force of the wheels at the left side is improved, otherwise, when the right side meets the roadblock, the driving force of the wheels at the right side is improved, and the like, so that the energy storage equipment can smoothly surmount the roadblock.
According to the energy storage equipment steering following method, in the process that the energy storage equipment follows the movement of a user, the force sensor is used for acquiring the stress information of the energy storage equipment under the action of the user in real time; determining whether the energy storage equipment needs to turn according to the stress information, and identifying the turning direction of the energy storage equipment when the energy storage equipment needs to turn; according to turning to the direction, the wheel motor rotational speed of the corresponding position of control energy storage equipment to make energy storage equipment turn to the motion of following, judge user's the intention that turns to through cohesion force sensor promptly, and turn to when needs turn to and follow, the user no longer need great power of turning to like this, and only need one to turn to traction force and can realize turning to easily of equipment, greatly improved user experience etc..
Referring to fig. 9, based on the energy storage device following control method in the foregoing embodiment, the present embodiment provides an energy storage device following control apparatus, exemplarily including:
the force information acquiring module 110 is configured to acquire information of an external acting force applied to the energy storage device, where the information includes a force application direction.
And a rotation speed calculation module 120, configured to calculate a rotation speed of a motor for controlling the energy storage device according to the gravity applied to the energy storage device and the force applying direction.
And the traveling speed calculation module 130 is configured to obtain a step distance of the user in real time through an image capture device on the energy storage device, and calculate a traveling speed of the user according to the step distance.
And the motion control module 140 is configured to control the motor output power of the energy storage device to perform following motion according to the traveling speed and the motor rotation speed.
It is to be understood that the apparatus of the present embodiment corresponds to the energy storage device following control method of the above embodiment, and the options in the above embodiment are also applicable to the present embodiment, so the description is not repeated here.
Referring to fig. 10, based on the energy storage device steering following method in the foregoing embodiment, the present embodiment provides an energy storage device steering following apparatus, exemplarily including:
the force information acquiring module 210 is configured to acquire, in real time, stress information of the energy storage device under the action of the user by using each force sensor in the process of the energy storage device moving along with the user.
And the steering judgment module 220 is configured to determine whether the energy storage device needs to steer according to the stress information, and identify a steering direction of the energy storage device when steering is needed.
And the steering control module 230 is configured to control a wheel motor rotation speed of a corresponding position of the energy storage device according to a steering direction, so that the energy storage device performs steering following motion.
It is to be understood that the apparatus of the present embodiment corresponds to the energy storage device steering following method of the above embodiment, and the alternatives in the above embodiment are also applicable to the present embodiment, so that the description is not repeated here.
In addition, an energy storage device is further provided in an embodiment of the present application, as shown in fig. 2, exemplarily, the energy storage device may include a memory, a processor, and a sensing component disposed on a device body, for example, the sensing component may include, but is not limited to, a force sensor disposed on a pull rod of the energy storage device, a camera device disposed on a housing of the energy storage device, a depth camera device, and the like, which may be specifically set according to actual requirements, and is not limited herein. The storage stores a computer program, and the processor is used for executing the computer program to implement the energy storage device following control method of the embodiment of the application.
In addition, the present application further provides a readable storage medium for storing the computer program used in the energy storage device, where the computer program, when executed on a processor, implements the functions of the modules in the energy storage device following control method or the energy storage device following control apparatus in the foregoing embodiments. For example, the readable storage medium may include, but is not limited to: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, 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 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.
In addition, each functional module or unit in each embodiment of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device) to execute all or part of the steps of the method described in the embodiments of the present application.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application.
Claims (10)
1. An energy storage device following control method is characterized by comprising the following steps:
acquiring information of external acting force applied to energy storage equipment, wherein the information comprises a force application direction;
calculating the rotation speed of a motor for controlling the energy storage equipment according to the gravity borne by the energy storage equipment and the stress direction;
acquiring the stepping distance of a user in real time by using an image capturing device on the energy storage equipment, and calculating the traveling speed of the user according to the stepping distance;
and controlling the motor output power of the energy storage device to perform following movement according to the travelling speed and the motor rotating speed.
2. The energy storage device following control method according to claim 1, wherein a gravity sensor is provided on a wheel of the energy storage device, the method further comprising:
when the gravity sensor is used for monitoring that the gravity borne by the energy storage equipment changes, acquiring gravity change data;
calculating the motor rotation updating speed of the energy storage equipment according to the gravity change data and the current information of the external acting force;
and controlling the energy storage equipment to change the output power of the motor to continue to follow the movement according to the advancing speed and the motor rotation updating speed.
3. The energy storage device following control method according to claim 1, wherein a pull rod of the energy storage device is provided with a force sensor, and the force sensor is used for acquiring external driving force or resistance applied to the pull rod by the user; the calculating the rotation speed of the motor for controlling the energy storage device according to the gravity borne by the energy storage device and the force bearing direction comprises:
if the force direction acting on the energy storage equipment is the same as the advancing direction of the energy storage equipment, determining the force direction as an external driving force, and calculating the rotation speed of a motor required by the motion of the energy storage equipment after the gravity compensation;
and if the force direction acting on the energy storage equipment is opposite to the advancing direction of the energy storage equipment, determining that the force direction is external resistance, and controlling the rotating speed of a motor of the energy storage equipment to be zero.
4. The energy storage device following control method according to claim 1, wherein the obtaining a step distance of a user in real time by using an image capturing device on the energy storage device and calculating a travel speed of the user according to the step distance comprises:
acquiring images in real time by using the image capturing device to acquire profile data of a user;
comparing the user contour data with a plurality of preset contour models and selecting a target contour model with the highest similarity from the contour data, wherein the preset contour model is the height of a prestored figure image;
and determining the stepping distance of the user according to the corresponding relation between the height of the figure image in the target outline model and the stepping distance, and further calculating the advancing speed of the user.
5. The energy storage device following control method according to claim 4, wherein a depth camera is further arranged on the energy storage device; the method further comprises the following steps:
in the following movement process of the energy storage equipment, if the energy storage equipment is detected to be subjected to resistance, the depth camera device is used for shooting the environment image information when the energy storage equipment is subjected to the resistance;
analyzing the road condition of the environment image information to determine a current resistance source, wherein the types of the resistance source comprise a ground roadblock and user resistance;
if the road barrier is a ground road barrier, controlling the energy storage equipment to increase the output power of the motor so that the energy storage equipment can go across the ground road barrier to move forward continuously; and if the resistance is the user resistance, controlling the energy storage equipment to reduce the output power of the motor so as to stop the movement.
6. The energy storage device following control method according to claim 5, wherein the image capturing apparatus includes a first depth camera and a second depth camera;
the first depth camera is used for acquiring images in real time to acquire dynamic contour data of the user; and the second depth camera is used as the depth camera and is used for shooting the environment image information when the energy storage equipment is subjected to resistance.
7. The energy storage device following control method according to any one of claims 1 to 6, wherein a light sensor and an illumination device are further arranged on the energy storage device, and the method further comprises:
and acquiring the light intensity of the external environment through the light sensor, and controlling the lighting device to be turned on when the light intensity of the external environment is smaller than a preset light intensity threshold value.
8. An energy storage device following control device, comprising:
the force information acquisition module is used for acquiring information of external acting force applied to the energy storage equipment, and the information comprises a force application direction;
the motor rotating speed calculating module is used for calculating the motor rotating speed for controlling the energy storage equipment according to the gravity borne by the energy storage equipment and the stress direction;
the travelling speed calculation module is used for acquiring the stepping distance of the user in real time through an image capturing device on the energy storage equipment and calculating the travelling speed of the user according to the stepping distance;
and the motion control module is used for controlling the motor output power of the energy storage equipment to carry out following motion according to the travelling speed and the motor rotating speed.
9. An energy storage device, characterized in that the energy storage device comprises a processor and a memory, the memory storing a computer program, the processor being configured to execute the computer program to implement the energy storage device following control method according to any one of claims 1 to 7.
10. A readable storage medium, characterized in that it stores a computer program which, when executed on a processor, implements the energy storage device following control method according to any one of claims 1-7.
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Denomination of invention: Energy storage equipment follows control methods, devices, energy storage equipment, and readable storage media Effective date of registration: 20231103 Granted publication date: 20230310 Pledgee: Industrial and Commercial Bank of China Limited Guangzhou Dade Road Branch Pledgor: GUANGZHOU RIMSEA TECHNOLOGY Co.,Ltd. Registration number: Y2023980064018 |
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