CN115848487A

CN115848487A - Energy storage device steering following method and device, energy storage device and readable storage medium

Info

Publication number: CN115848487A
Application number: CN202211481068.7A
Authority: CN
Inventors: 谭海锋
Original assignee: Guangzhou Rimsea Technology Co ltd
Current assignee: Guangzhou Rimsea Technology Co ltd
Priority date: 2022-11-24
Filing date: 2022-11-24
Publication date: 2023-03-28

Abstract

The application belongs to the technical field of energy storage equipment, and particularly relates to a steering following method and device for energy storage equipment, the energy storage equipment and a readable storage medium, wherein the method comprises the following steps: in the process that the energy storage equipment moves along with a user, stress information of the energy storage equipment under the action of the user is obtained in real time by utilizing each force sensor; determining whether the energy storage equipment needs to turn or not according to the stress information, and identifying the turning direction of the energy storage equipment when the energy storage equipment needs to turn; and controlling the rotating speed of the wheel motor at the corresponding position of the energy storage equipment according to the steering direction so as to enable the energy storage equipment to perform steering following motion. The method can perform steering following when steering is needed, so that a user does not need large steering force any more, and user experience is greatly improved.

Description

Energy storage device steering following method and device, energy storage device and readable storage medium

Technical Field

The present application relates to the field of energy storage devices, and in particular, to a steering following method and apparatus for 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 this energy storage equipment often is heavier, pulls energy storage equipment through great strength usually, just can make equipment can follow the user and remove, removes the in-process, especially when needing to turn to, needs the user to provide great power of turning to for energy storage equipment can carry out operations such as turn left, turn right or turn around according to the user's wish, if improper hard, still can appear if phenomenon such as turning on one's side, leads to the user to use to experience not good.

Disclosure of Invention

In view of the above, embodiments of the present application provide an energy storage device steering following method, apparatus, energy storage device, and readable storage medium.

In a first aspect, an embodiment of the present application provides a steering following method for an energy storage device, where the energy storage device is provided with at least two force sensors, and the method includes:

in the process that the energy storage equipment moves along with a user, stress information of the energy storage equipment under the action of the user is obtained in real time by utilizing each force sensor;

determining whether the energy storage equipment needs to turn or not according to the stress information, and identifying the turning direction of the energy storage equipment when the energy storage equipment needs to turn;

and controlling the rotating speed of the wheel motor at the corresponding position of the energy storage equipment according to the steering direction so as to enable the energy storage equipment to perform steering following motion.

In some embodiments, at least one of the force sensors is respectively arranged at different positions of a pull rod of the energy storage device, and the stress information includes stress magnitude and stress direction acquired by each of the force sensors;

the determining whether the energy storage device needs to turn according to the stress information and identifying the turning direction of the energy storage device when the energy storage device needs to turn comprises the following steps:

and if the difference value between the stress sizes corresponding to the force sensors exceeds a preset deviation range, determining that the energy storage equipment needs to turn, and taking the stress direction corresponding to the force sensor with larger stress size as the turning direction of the energy storage equipment.

In some embodiments, the energy storage device steering following method further comprises:

and if the difference value between the stress sizes corresponding to the force sensors is within the preset deviation range, determining that the energy storage equipment does not need to turn, and continuing to perform the motion following the user.

In some embodiments, the controlling the wheel motor rotation speed of the corresponding position of the energy storage device according to the steering direction includes:

when the steering direction is left front, controlling the motor speed of a right wheel of the energy storage device to be greater than the motor speed of a left wheel;

and 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.

taking the stress magnitude corresponding to each force sensor as a steering pressure, and determining the motor rotating speeds of the left wheel and the right wheel of the energy storage device according to the steering pressure, wherein the method specifically comprises the following steps:

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;

if the steering pressure accords with a second preset model, controlling the rotating speed of the motor of the wheel on one side close to the steering direction to be zero, and controlling the rotating speed of the motor of the wheel on one side far away from the steering direction to be a third rotating speed; wherein the third rotational speed is greater than zero.

In some embodiments, the stress information is obtained by synthesizing the stress magnitude and the stress direction collected by each of the force sensors, and the stress information includes the stress synthesis direction;

the energy storage device follows the user's motion, including:

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 resultant direction of the stress;

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 follow the movement of the user according to the travelling speed and the motor rotating speed.

In some embodiments, the energy storage device is further provided with an attitude sensor and an image capturing device, and the method further comprises:

if the energy storage equipment is detected to be subjected to resistance, acquiring environmental image information of the energy storage equipment when the energy storage equipment is subjected to the resistance by using the image capturing device, and acquiring a motion posture of the energy storage equipment when the energy storage equipment is subjected to the resistance by using the posture sensor;

if the motion posture detects that the roll angle of the energy storage equipment is smaller than a preset angle and the resistance is determined to be a ground roadblock according to the environment image information, determining the position and the type of the ground roadblock according to the motion posture, wherein the type comprises a concave surface and a convex surface;

and adjusting the output power of the motor of the wheel at the position corresponding to the energy storage device according to the position and the type of the ground roadblock so that the energy storage device can safely cross the ground roadblock.

In a second aspect, an embodiment of the present application further provides an energy storage device steering following apparatus, where at least two force sensors are disposed on the energy storage device, the apparatus includes:

the information acquisition module is used for acquiring stress information of the energy storage equipment under the action of a user in real time by utilizing each force sensor in the process that the energy storage equipment moves along with the user;

the steering judging module is used for determining whether the energy storage equipment needs to be steered according to the stress information and identifying the steering direction of the energy storage equipment when the energy storage equipment needs to be steered;

and the steering control module is used for controlling the rotating speed of the wheel motor at the corresponding position of the energy storage equipment according to the steering direction so as to enable the energy storage equipment to perform steering following motion.

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 steering following method described above.

In a fourth aspect, embodiments of the present application further provide a readable storage medium, which stores a computer program, and when the computer program is executed on a processor, the computer program implements the energy storage device steering following method described above.

The application has the following beneficial effects:

according to the energy storage equipment steering following method, stress information of the energy storage equipment under the action of a user is obtained in real time by utilizing each force sensor in the process that the energy storage equipment follows the movement of the user; determining whether the energy storage equipment needs to turn or not according to the stress information, and identifying the turning direction of the energy storage equipment when the energy storage equipment needs to turn; and 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. The method can be used for steering and following when steering is needed, so that a user does not need large steering force any more, and can realize easy steering of the equipment only by one steering traction force, and the user experience is greatly improved.

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 present application;

FIG. 3 shows a second flowchart of an energy storage device following control method of an embodiment of the present application;

FIG. 4 shows a third flowchart of 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 illustrates a first flowchart of an energy storage device turn-following method of an embodiment of the present application;

FIG. 7 illustrates a second flowchart of an energy storage device turn-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 illustrating an energy storage device following control apparatus according to an embodiment of the present 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, generally described and illustrated in the figures herein, can 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, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, 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 the present 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 and features of the embodiments described below 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 form, such as a pulling force or a pushing force applied by the user to the pull rod of the energy storage device 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; on the contrary, if the direction of the force acting on the energy storage device is opposite to the advancing direction of the energy storage device, the external resistance is determined, and the rotating speed of the motor of the energy storage device is controlled 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.

And step S130, acquiring the stepping distance of the 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.

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 taking a picture including the location of the user in real time, so as to obtain the stepping distance information of the user therefrom; 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 generally, 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 motor rotating speed of the driving device, for example, if the traveling speed and the motor rotating speed are within the allowable error range, the power corresponding to the motor rotating speed 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 environment 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 reference can be made to some published documents for how to construct and train the road condition identification model, and description is not provided here. 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 scheme, 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, gravity change data are 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 condition of two or more times of gravity data uploaded at the previous time and the next time, for example, a deviation between the gravity at the next time and the gravity at the previous time is large, and when the gravity changes, may obtain the gravity change data so as to correspondingly control 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 may be that an object originally placed on the energy storage device is taken away, which causes the gravity of the energy storage device to be reduced, 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 rotation speed of the motor 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 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, such as acting in a pulling force mode or a pushing force mode, the stress condition of the corresponding position on the pull rod can be collected through each force sensor, 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 direction of the force collected by each force sensor to obtain a resultant force of the user acting on the energy storage device, and then determine the intention of the user according to information of the resultant force. The resultant force information comprises resultant force magnitude synthesized by all the stress magnitudes and resultant force direction synthesized by 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 following. 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 the two 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 comprises: 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 close to the steering direction to be zero, and controlling the rotating speed of the motor of the wheel 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 and the steering pressure of the energy storage device in the non-steering direction is less than a fourth preset threshold, wherein the fourth preset threshold is less than the second preset threshold.

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 and the like can be reduced.

As an alternative, as shown in fig. 8, an attitude sensor is further disposed on the energy storage device, and in view of safety of controlling steering when a roadblock is encountered during steering, in order to avoid a rollover phenomenon, 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, by using an image capturing device, environment image information when the energy storage device is subjected to resistance, and acquiring, by using an attitude sensor, a motion attitude when the energy storage device is subjected to resistance.

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 equipment will incline to a certain extent, and at this time, the left side and the right side of the equipment can be compared in attitude angle 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 alternatively, 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 will stop driving the wheel motors and send an alarm.

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 motor rotation speed for controlling the energy storage device according to the gravity borne by the energy storage device and the force bearing 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 a 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 alternatives of 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 the wheel motor rotation speed of the corresponding position of the energy storage device according to the steering direction, so that the energy storage device performs steering following motion.

It is understood that the apparatus of the present embodiment corresponds to the energy storage device steering following method of the above embodiment, and the alternatives of the above embodiment are also applicable to the present embodiment, so 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 also 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 above 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, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including 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 according to the embodiments of the present application. And the aforementioned storage medium includes: 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.

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

1. A steering following method of an energy storage device is characterized in that at least two force sensors are arranged on the energy storage device, and the method comprises the following steps:

2. The energy storage device steering following method according to claim 1, wherein at least one force sensor is respectively arranged at different positions of a pull rod of the energy storage device, and the stress information comprises stress magnitude and stress direction acquired by each force sensor;

3. The energy storage device steering following method according to claim 2, further comprising:

4. The energy storage device steering following method according to claim 1, wherein the controlling the wheel motor rotation speed of the corresponding position of the energy storage device according to the steering direction comprises:

5. The energy storage device steering following method according to claim 1 or 4, characterized by further comprising:

if the steering pressure accords with a second preset model, controlling the motor rotating speed of the wheel on one side close to the steering direction to be zero, and controlling the motor rotating speed of the wheel on one side far away from the steering direction to be a third rotating speed; wherein the third rotational speed is greater than zero.

6. The energy storage device steering following method according to claim 1 or 3, wherein the stress information is obtained by synthesizing stress magnitude and stress direction acquired by each force sensor, and the stress information includes stress synthesis direction;

the energy storage device follows the user's motion, including:

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;

7. The energy storage device steering following method according to claim 6, wherein an attitude sensor and an image capturing device are further provided on the energy storage device, and the method further comprises:

8. The utility model provides an energy storage equipment turns to following device which characterized in that, be equipped with two at least force transducer on the energy storage equipment, the device includes:

9. An energy storage device, characterized in that the energy storage device comprises a processor and a memory, the memory storing a computer program for the processor to execute the computer program to implement the energy storage device steering following method of any of claims 1-7.

10. A readable storage medium, characterized in that it stores a computer program which, when executed on a processor, implements an energy storage device steering following method according to any of claims 1-7.