WO2023134746A1

WO2023134746A1 - Speed control method and apparatus for movable device, and movable device, storage medium and computer program

Info

Publication number: WO2023134746A1
Application number: PCT/CN2023/072093
Authority: WO
Inventors: 温燕飞; 李向远
Original assignee: 达闼机器人股份有限公司
Priority date: 2022-01-13
Filing date: 2023-01-13
Publication date: 2023-07-20
Also published as: CN114578809A

Abstract

A speed control method and apparatus for a movable device, and a movable device, a storage medium and a computer program. The method comprises: providing a driving force for a movable device according to a driving force value which corresponds to the numerical values of points in a first waveform, and obtaining the acceleration of the movable device by means of the driving force (S101); controlling a change in the driving force of the movable device by means of jerk which corresponds to a second waveform, wherein the second waveform has a positive waveband and a negative waveband (S102); and controlling the motion speed of the movable device according to the acceleration and the jerk, wherein the motion speed of the movable device corresponds to a third waveform distribution (S103). The speed control method for a movable device can realize, by means of smooth control over three levels of speeds, i.e. jerk, acceleration and speed of the movable device, a smooth motion process of the movable device at smooth acceleration, constant speed and deceleration, thereby reducing the shake of the movable device, improving the balance stability of the movable device, and improving the user experience.

Description

Speed control method, device, movable device, storage medium and computer program of movable device

cross reference

This application claims the priority of the Chinese patent application submitted on January 13, 2022, with the application number "202210039509.1", and the title of the invention is "speed control method, device and mobile equipment for mobile equipment", the entire content of which is incorporated by reference incorporated in this application.

technical field

The present disclosure relates to the field of mobile devices, and in particular, to a speed control method and device for a mobile device, a mobile device, a storage medium, and a computer program.

Background technique

With the development of intelligent robots, the application of robots is becoming more and more popular. At present, wheeled robots with automatic navigation capabilities are appearing in the market one after another, such as restaurant delivery robots, hotel delivery robots, park inspection robots, logistics express robots and so on. At present, wheeled robots with automatic navigation capabilities are emerging in the market, such as restaurant delivery robots, hotel delivery robots, park inspection robots, and logistics express robots. Of course, the robot can be expanded into a mobile device. The moving parts of the chassis of these mobile devices are always connected to the host computer through communication, and receive the control commands of the host computer in real time to move and walk. The control commands generally include automatic navigation and remote control debugging. Remote manual auxiliary control, etc., no matter which party sends the control command, if the chassis of the mobile device immediately controls the acceleration and deceleration according to the set speed, the chassis will vibrate seriously, causing the robot to vibrate.

At the same time, the driving force in the acceleration and deceleration process of the existing mobile equipment is often relatively direct, and the algorithm is relatively simple, which usually causes the acceleration and deceleration of the mobile equipment to be uneven, especially when the speed of the mobile equipment is close to 0 or close to a constant speed. The speed change is not smooth enough, and it will also cause the mobile device to shake, resulting in Terrible user experience.

Contents of the invention

The object of the embodiment of the present invention is to provide a speed control method, device, mobile device, storage medium and computer program of a movable device. Motion (also known as jerk), acceleration and speed three-order speed smoothing control to achieve smooth acceleration, uniform speed, and deceleration of mobile equipment, reduce the vibration of mobile equipment, improve the balance and stability of mobile equipment, and solve the problem of above question. Among them, in this disclosure, the mobile device can be a wheeled robot, such as a restaurant delivery robot, a hotel delivery robot, a park inspection robot, a logistics delivery robot, etc., or a balance car, an electric car, etc., wherein the balance car It can be a single wheel or two wheels, and the electric vehicle can be an electric car, an electric bicycle, an electric tricycle, an electric car toy, and the like. The mobile device in the present disclosure is not limited thereto, and any electric device that can move can be used as the main device of the present disclosure.

In order to achieve the above object, in the first aspect, an embodiment of the present invention provides a speed control method of a mobile device, including:

providing a driving force to the movable device with a driving force value corresponding to a point value of the first waveform, and obtaining an acceleration of the movable device through the driving force;

Controlling the change of the driving force of the movable device through the jerk corresponding to the second waveform, the second waveform has a positive wave band and a negative wave band;

controlling the movement speed of the movable device according to the acceleration and the jerk, and the movement speed of the movable device corresponds to a third waveform distribution.

Further, the second waveform is a sinusoidal waveform with a 0-value interval, and the 0-value interval is set between the positive wave band and the negative wave band.

Further, the movement of the movable device is divided into an acceleration stage, a constant speed stage and a deceleration stage, and in different stages of the movable device, the first waveform, the second waveform and the third waveform have corresponding symmetrical distributions.

Further, the sinusoidal waveform corresponding to the second waveform is in the acceleration phase of the mobile device Divided into a positive half-band and a negative half-band, wherein there is a 0-value interval between the positive half-band and the negative half-band;

The waveform of the second waveform in the deceleration phase of the movable device is axisymmetric to the waveform of the movable device in the acceleration phase.

Further, in the acceleration phase of the movable device, the jerk corresponding to the positive half-wave segment of the second waveform controls the rise of the acceleration, and the negative half-wave segment of the second waveform corresponds to The jerk of controls the decline of the acceleration;

During the deceleration phase of the movable device, the jerk corresponding to the negative half-band of the second waveform controls the rise in the opposite direction of the acceleration, and the positive half-band of the second waveform corresponds to The jerk controls the decline in the opposite direction of the acceleration.

Further, the first waveform corresponds to the acceleration of the movable device, and the acceleration of the first waveform is controlled by the jerk of the second waveform;

In the acceleration phase of the movable device, the positive half-wave segment corresponding to the second waveform constitutes the sinusoidal distribution of the first waveform, and the 0-value interval corresponding to the second waveform constitutes the constant of the first waveform. a value distribution, the negative half-band on the side of the second waveform constitutes a sinusoidal distribution of the first waveform, and a flat-top sinusoidal distribution of the first waveform is formed as a whole during the acceleration phase of the movable device;

In the deceleration phase of the movable device, the distribution of the first waveform is point-symmetrical to the first waveform in the acceleration phase of the movable device.

Further, the third waveform reflects the movement speed of the movable device;

During the acceleration phase of the mobile device, the velocity of the mobile device is distributed according to a sinusoidal rising portion;

In the constant speed stage of the movable device, the speed of the movable device is distributed according to a constant value;

In the deceleration phase of the movable device, the velocity of the movable device is distributed according to a sinusoidal descending part, which is axisymmetric to the waveform of the movable device in the acceleration phase.

Further, when the first waveform and the second waveform coincide with zero value, the third waveform has zero value or constant value, which corresponds to the state that the movable device is at rest or at a constant speed.

Further, the frequency of the point value of the first waveform is the driving control of the movable device Frequency, the drive control frequency corresponds to the acceleration frequency of the movable device.

Further, the drive control frequency is determined according to the acceleration duration of each gear of the movable device;

The point value of the first waveform of the movable device in the acceleration and deceleration phases is generated by the acceleration duration.

Further, the driving force of the movable device is linear drive and/or left-right drive, which is used to control the linear motion and/or left-right steering motion of the movable device.

Further, the method also includes:

After the speed of controlling the movable device is accelerated to a preset speed, the driving force of the movable device is reduced to 0;

Keeping the driving force at 0, controlling the movable device to move at a constant speed until the movable device automatically detects an obstacle or receives a deceleration instruction;

Wherein the movable device is in the process of uniform motion, the acceleration of the movable device is 0, and the jerk is 0.

In a second aspect, an embodiment of the present disclosure provides a speed control device for a mobile device, including:

an acceleration module, configured to provide a driving force to the movable device with a driving force value corresponding to a point value of the first waveform, and obtain an acceleration of the movable device through the driving force;

a jerk module, configured to control the change of the driving force of the movable device through the jerk corresponding to the second waveform, the second waveform has a positive wave band and a negative wave band;

A speed control module, configured to control the moving speed of the movable device according to the acceleration and the jerk, and the moving speed of the movable device corresponds to the third waveform distribution.

Further, the jerk module is used to include:

During the acceleration phase of the movable device, the jerk corresponding to the positive half-band of the second waveform controls the rise of the acceleration, and the negative half-band of the second waveform corresponds to the jerk jerk controls the fall of said acceleration;

Further, the acceleration module is used to include:

said first waveform corresponds to an acceleration of said movable device, said first waveform's acceleration being controlled by said second waveform's jerk;

Further, the speed control module is used to include:

The third waveform reflects the movement speed of the movable device;

Further, the frequency of the point value of the first waveform is the driving control frequency of the movable device, and the driving control frequency corresponds to the acceleration frequency of the movable device.

Further, the device also includes a constant velocity module, and the constant velocity module is used for:

In a third aspect, an embodiment of the present disclosure provides a mobile device, including:

at least one memory for storing computer readable instructions; and

At least one processor configured to run the computer-readable instructions, so that the mobile device implements the method according to any one of the above first aspects.

In a fourth aspect, an embodiment of the present disclosure provides an electronic device, including:

memory for storing computer readable instructions; and

A processor, configured to run the computer-readable instructions, so that the electronic device implements the method described in any one of the above first aspects.

In a fifth aspect, an embodiment of the present disclosure provides a non-transitory computer-readable storage medium for storing computer-readable instructions. When the computer-readable instructions are executed by a computer, the computer implements Now any method described in the first aspect above.

In a sixth aspect, the embodiments of the present disclosure provide a computer program, including instructions, which, when run on a computer, cause the computer to execute any of the methods described in the first aspect above.

The embodiment of the present disclosure discloses a speed control method, device, mobile device, storage medium and computer program of a movable device, wherein the method includes: using the driving force value corresponding to the point value of the first waveform to the movable device The mobile device provides a driving force, and the acceleration of the movable device is obtained through the driving force; the change of the driving force of the movable device is controlled through the jerk corresponding to the second waveform, and the second waveform has a positive wave band and Negative band: controlling the moving speed of the movable device according to the acceleration and jerk, and the moving speed of the movable device corresponds to a third waveform distribution. Through the speed control method of the mobile device disclosed in the present disclosure, the smooth acceleration, constant speed and deceleration of the mobile device can be achieved through the three-order speed smooth control of the jerk (also called jerk), acceleration and speed of the mobile device During the movement process, the vibration of the mobile device can be reduced, the balance and stability of the mobile device can be improved, and the user experience can be improved.

The above description is only an overview of the technical solution of the present disclosure. In order to better understand the technical means of the present disclosure, it can be implemented according to the contents of the specification, and in order to make the above and other purposes, features and advantages of the present disclosure more obvious and understandable , the following preferred embodiments are specifically cited below, and are described in detail as follows in conjunction with the accompanying drawings.

Description of drawings

FIG. 1 is a schematic flowchart of a speed control method for a mobile device provided by an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of control waveforms of velocity, acceleration and jerk of a mobile device provided by an embodiment of the present disclosure;

Fig. 3 is an example diagram of the configuration information of the speed, acceleration and jerk of the mobile device provided by an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a speed control device of a mobile device provided by another embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of an electronic device corresponding to a mobile device according to another embodiment of the present disclosure.

Detailed ways

In order to describe the technical content of the present disclosure more clearly, further description will be given below in conjunction with specific embodiments.

The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the drawings, it should be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein; A more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for exemplary purposes only, and are not intended to limit the protection scope of the present disclosure.

It should be understood that the various steps described in the method implementations of the present disclosure may be executed in different orders, and/or executed in parallel. Additionally, method embodiments may include additional steps and/or omit performing illustrated steps. The scope of the present disclosure is not limited in this respect.

As used herein, the term "comprise" and its variations are open-ended, ie "including but not limited to". The term "based on" is "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one further embodiment"; the term "some embodiments" means "at least some embodiments." Relevant definitions of other terms will be given in the description below.

It should be noted that concepts such as "first" and "second" mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the sequence of functions performed by these devices, modules or units or interdependence.

It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative and not restrictive, and those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as "one or more" multiple".

The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this disclosure and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. under Disclosed embodiments are described in detail with reference to the accompanying drawings.

In this disclosure, in the process of acceleration, constant speed and deceleration of the mobile device, the smooth acceleration and constant speed of the mobile device can be achieved through the jerk (also called jerk), acceleration and speed smoothing control of the third order of the mobile device. , The process of deceleration. Among them, in this disclosure, the mobile device can be a wheeled robot, such as a restaurant delivery robot, a hotel delivery robot, a park inspection robot, a logistics delivery robot, etc., or a balance car, an electric car, etc., wherein the balance car It can be a single wheel or two wheels, and the electric vehicle can be an electric car, an electric bicycle, an electric tricycle, an electric car toy, and the like. The mobile device in the present disclosure is not limited thereto, and any electric device that can move can be used as the main device of the present disclosure.

Among them, jerk (also known as jerk) is a mechanical term about a special motion, that is, the rate of change of acceleration with time. The main variable in physical description of particle motion is position, usually represented by x, and the distance from a known fixed point to the research point is measured in meters. In Galilean and Newtonian mechanics, several derived quantities of position can describe the state of motion of a particle more finely. The first derived quantity is velocity or v, defined as the rate of change of position with respect to time, measured in m/s. The second derived quantity is acceleration or a, commonly known as "acceleration", defined as the rate of change of velocity with respect to time. Acceleration is measured in m/s ² (gravity causes a falling body to increase its speed by 9.8m/s for every 1 second; this also explains why acceleration is measured in cumbersome units). The jerk or j is a third position-derived quantity that describes how the acceleration itself varies; it is in m/ ^s3 . With the help of the quantities x, v, a, and j, it is possible to classify most of the motions that people encounter in their daily lives.

The jerk is satisfied: jt=a

Among them, j is the jerk, t is the time, and a is the acceleration.

Figure 1 is a schematic flow chart of a method for controlling the speed of a mobile device provided by an embodiment of the present disclosure. The method provided by this embodiment can be executed by a mobile device or its control device, and the device can be implemented as software or as software Combination with hardware, the device can be integrated in a mobile device and a certain device in the control system, such as a terminal device. As shown in Figure 1, the method includes the following steps:

Step S101: Provide a driving force to the movable device with a driving force value corresponding to a point value of the first waveform, and obtain an acceleration of the movable device through the driving force.

In step S101, in the embodiment of the present disclosure, the smart mobile device in the home, office area or public place is a wheeled mobile device, which optionally has automatic navigation capabilities, such as a restaurant delivery mobile device, hotel Delivery of mobile equipment, park inspection of mobile equipment, logistics and express delivery of mobile equipment. Small-power mobile equipment such as 100kg class is basically driven by two-wheel differential, mobile equipment above 100kg may be driven by three steering wheels, and mobile equipment with larger load capacity is driven by four steering wheels, such as 200kg level. The moving parts of the chassis of these movable devices are always connected to the host computer through communication, and receive the control commands of the host computer in real time to move and walk. The control commands generally include automatic navigation, remote control debugging, remote terminal control, etc., no matter which party sends Control commands. In this disclosure, the movable device does not immediately drive the movable device at the set speed, but uses jerk, acceleration and speed to smoothly control the acceleration and deceleration of the movable device, preventing Vibration of the chassis of the mobile device.

With reference to accompanying drawing 2, this figure shows a schematic diagram of control waveforms of the speed, acceleration and jerk of a mobile device provided by an embodiment of the present disclosure, showing the process of accelerating from zero to a constant speed and then decelerating to zero. Wherein, the first waveform curve ① corresponds to the acceleration curve of the movable device, the second waveform curve ② corresponds to the jerk curve of the movable device, and the third waveform curve ③ corresponds to the speed curve of the movable device. The movement of the movable device is divided into an acceleration stage, a constant speed stage and a deceleration stage. In different stages of the movable device, the first waveform, the second waveform and the third waveform have corresponding symmetrical distributions.

In this embodiment, the driving force value corresponding to the point value of the first waveform is used to provide the driving force to the movable device, and the acceleration of the movable device is obtained through the driving force. Wherein, the frequency of the point value of the first waveform is the drive control frequency of the movable device, and the drive control frequency corresponds to the acceleration frequency of the movable device. The drive control frequency is determined according to the acceleration duration of each gear of the movable device; the point value of the first waveform of the movable device in the acceleration and deceleration stages is generated through the acceleration duration, and the movable device The driving force of the mobile device is linear drive and/or left-right drive, which is used to control the linear motion and/or left-right steering motion of the movable device.

Step S102: Control the driving force of the movable device through the jerk corresponding to the second waveform change, the second waveform has a positive band and a negative band.

In step S102, in order to ensure the smooth acceleration, constant speed and deceleration motion of the movable device, the present disclosure controls the motion of the movable device through three-order velocity smoothing of jerk (also called jerk), acceleration and velocity of the movable device . Where it is most critical to control the change of the driving force of the movable device through the jerk, the second waveform corresponding to the jerk is corresponding to a sinusoidal waveform with intervals of 0 values. In the acceleration phase of the movable device, the jerk follows a sinusoidal waveform with a 0-value interval, specifically, the second waveform is a sine waveform with a 0-value interval, and the 0-value interval is set between the positive wave band and the negative wave band. between bands. The driving force is controlled by the jerk to increase or decrease smoothly; in the constant speed stage of the movable device, the jerk and the acceleration are kept at 0 value at the same time; Sinusoidal waveform, the control drive force increases or decreases smoothly in the opposite direction.

Step S103: Control the moving speed of the movable device according to the acceleration and jerk, where the moving speed of the movable device corresponds to a third waveform distribution.

In step S103, the embodiment of the present disclosure provides the movable device with the driving force of accelerating change, and generates constantly changing acceleration. The jerk (curve ②) at different stages corresponds to the distribution according to a certain curve, and the jerk can be controlled by jerk control. The rate of change of the driving force (curve ①) of the mobile device (corresponding to the rate of change of acceleration). In the acceleration phase of the movable device, the jerk is controlled according to the sinusoidal waveform with 0-value intervals to increase or decrease smoothly, thereby controlling the movement speed of the movable device (curve ③) to increase smoothly; in the movable device In the constant velocity stage, the jerk and acceleration are kept at 0 value at the same time, so as to control the movement speed (curve ③) of the movable device to move at a constant speed; Control the driving force to increase or decrease smoothly in the opposite direction, thereby controlling the movement speed of the movable device (curve ③) to decrease smoothly until it stops.

Among them, step 102 and step 103 are explained in conjunction with accompanying drawing 2, which shows a schematic diagram of the control waveform of the speed, acceleration and jerk of the mobile device, as shown in the figure, showing acceleration from zero to a constant speed, and then decelerating to zero the process of. The first waveform curve ① corresponds to the acceleration curve of the movable device, the second waveform curve ② corresponds to the jerk curve of the movable device, and the third waveform curve ③ corresponds to the movable device The velocity profile of the device.

The first waveform curve ① represents the driving force received by the movable device, corresponding to the acceleration of the movable device, the expression is:

F=ma

F is the driving force, m is the mass of the movable equipment (including the mass of the load on the movable equipment), and a is the acceleration of the movable equipment. The driving force generates acceleration, and the smoother the driving force, the better the comfort.

The second waveform curve ② corresponds to the jerk curve of the movable device. The jerk or j is used to describe the change of the acceleration itself, and the unit is m/s ³ . The jerk expression is:

jt=a

Among them, j is the jerk, t is the time, and a is the acceleration. In the present disclosure, the change of the acceleration of the movable device is adjusted through the jerk, that is, the change of the driving force of the movable device is adjusted through the jerk, so that the driving force and acceleration of the movable device are smoother.

In order to ensure that the thrust is continuous and smooth, the variation of the driving force is controlled by a sine wave.

The rise of acceleration is controlled in the first half cycle;

The second half cycle controls the decline of acceleration;

·When the jerk and acceleration reach 0 at the same time, the speed either reaches a constant speed at the same time, or reaches zero at the same time.

Based on the basic principle of the above-mentioned third-order velocity smoothing, the embodiment of the present disclosure adopts the implementation method shown in Figure 2:

The acceleration stage is controlled by three periods: P1, P2 and P3;

·P4 stage, acceleration and jerk are 0, constant speed stage;

·The deceleration stage is controlled by three periods of P5, P6 and P7.

Among them, in the P1 stage, the driving force of acceleration change is provided for the front part of the acceleration movement of the mobile device, and the acceleration is continuously increased. The jerk of the positive half-band controls the rate of change (corresponding to the rate of change of acceleration) of the driving force (curve ①) of the movable device. In the first half of P1, the jerk is continuously increasing according to the sinusoidal curve, and the control driving force is accelerating to increase, thereby controlling the movement speed of the movable device (curve ③) Increase in acceleration; in the second half of P1, the jerk decreases continuously according to the sinusoidal curve, and the driving force is controlled to increase in deceleration, thereby controlling the increase in the acceleration of the moving device's movement speed.

In the P2 stage, a constant driving force is provided for the middle part of the acceleration movement of the mobile device, resulting in a constant acceleration (curve ①), and the jerk (curve ②) in this stage is 0, that is, the rate of change of the driving force ( The rate of change corresponding to the acceleration) is 0, thereby controlling the movement speed of the movable device (curve ③) to increase uniformly.

In the P3 stage, the deceleration change driving force (curve ①) is provided for the latter part of the acceleration movement of the mobile device, resulting in a decreasing acceleration (curve ①), and the jerk in this stage (curve ②) is negative half The sine waveform of the wave band controls the rate of change of the driving force of the movable device (corresponding to the rate of change of the acceleration) according to the jerk of the negative half wave band. In the first half of P3, the jerk continues to increase in the negative direction according to the sinusoidal curve, and the control driving force is accelerating and decreasing, thereby controlling the movement speed of the movable equipment to decelerate and increase; in the second half of P3, the jerk follows the negative direction. The sinusoidal curve of the half-wave band decreases continuously in the negative direction, and the driving force is controlled to decrease in deceleration, thereby controlling the increase in deceleration of the moving speed (curve ③) of the movable device. Until the jerk and acceleration reach 0 value at the same time, the movement speed of the movable device reaches the highest, and then it keeps moving at a constant speed in the P4 stage.

In the P4 stage, which is the uniform motion stage of the mobile device, the jerk (curve ②) and acceleration (curve ①) keep 0 at the same time, and the movement speed of the mobile device (curve ③) maintains the preset speed at a constant speed. The speed can be the highest speed, or a preset certain speed. At this stage, the driving force is kept at 0, and the movable device is controlled to move at a constant speed until the movable device automatically detects an obstacle or receives a deceleration instruction; wherein the movable device is in the process of moving at a constant speed, the The acceleration of the movable device is 0, and the jerk is 0.

In the P5 stage, it is the first stage of the deceleration motion of the movable equipment. The jerk curve (curve ②) of this stage is axisymmetric to the jerk curve of the P3 stage, and the acceleration curve (curve ①) is point-symmetrical to the acceleration curve of the P3 stage. , the speed curve (curve ③) is axisymmetric to the speed curve of the P3 stage. In this stage, an increasing driving force in the opposite direction (curve ①) is provided to generate an increasing acceleration in the opposite direction (curve ①). The jerk in this stage (curve ②) is a sinusoidal waveform in the negative half-wave band. The half-band jerk controls the rate of change of the driving force of the movable device (corresponding to the change of acceleration conversion rate). In the first half of P5, the jerk increases continuously in the negative direction according to the sinusoidal curve, and the driving force is controlled to accelerate and increase in the opposite direction, thereby controlling the movement speed of the movable equipment to gradually decrease; in the second half of P5, the jerk The motion is continuously reduced in the negative direction according to the sinusoidal curve of the negative half-wave band, and the driving force is controlled to decelerate and increase in the negative direction, thereby controlling the gradual acceleration and decrease of the moving speed (curve ③) of the movable device.

In the P6 stage, it is the middle section of the deceleration motion of the movable equipment. The jerk curve (curve ②) of this stage is axisymmetric to the jerk curve of the P3 stage, and it is a 0 value stage. The acceleration curve (curve ①) and the P3 stage The acceleration curve is point-symmetric, and the speed curve (curve ③) is axisymmetric to the speed curve of the P3 stage. This stage provides a constant driving force in the negative direction, resulting in constant acceleration in the negative direction (curve ①), and the jerk (curve ②) in this stage is 0, that is, the rate of change of the driving force (corresponding to the rate of change of acceleration) is 0 , so as to control the moving speed of the movable device (curve ③) to decrease uniformly.

In the P7 stage, it is the middle stage of the deceleration motion of the movable equipment. The jerk curve (curve ②) of this stage is axisymmetric to the jerk curve of the P3 stage, and the acceleration curve (curve ①) is point-symmetrical to the acceleration curve of the P3 stage. , the speed curve (curve ③) is axisymmetric to the speed curve of the P3 stage. In this stage, the driving force for acceleration change is provided, and the acceleration in the negative direction decreases continuously. The jerk (curve ②) in this stage is a sine wave in the positive half-band, and the movement of the movable device is controlled according to the jerk in the positive half-band. The rate of change of the driving force (curve ①) (corresponding to the rate of change of acceleration). In the first half of P7, the jerk is continuously increasing according to the sinusoidal curve, and the driving force is controlled to accelerate and decrease in the negative direction, thereby controlling the gradual deceleration of the moving speed of the movable device (curve ③); in the second half of P7, The jerk is continuously decreasing according to the sinusoidal curve, and the driving force is controlled to decelerate and decrease in the negative direction, thereby controlling the movement speed of the movable device to gradually decelerate. Until the jerk and acceleration reach 0 at the same time, at this time the movement speed of the movable device reaches 0, and the motion state becomes static.

Through the continuous smooth control of the driving force in the above P1-P7 stages, the acceleration, constant speed and deceleration of the movable device will be smoothed, and the movable device will not be shaken.

Specifically, the sine waveform corresponding to the second waveform is divided into a positive half-wave segment and a negative half-wave segment during the acceleration phase of the movable device, wherein there is a 0-value interval between the positive half-wave segment and the negative half-wave segment ; The waveform of the second waveform in the deceleration phase of the movable device is the same as that of the movable device The waveforms of the equipment in the acceleration phase are axisymmetric to each other.

During the acceleration phase of the movable device, the jerk corresponding to the positive half-band of the second waveform controls the rise of the acceleration, and the negative half-band of the second waveform corresponds to the jerk The jerk controls the decline of the acceleration; in the deceleration phase of the movable device, the jerk corresponding to the negative half-wave band of the second waveform controls the rise of the acceleration in the opposite direction, the The jerk corresponding to the positive half-wave segment of the second waveform controls the decline in the opposite direction of the acceleration.

The first waveform corresponds to the acceleration of the movable device, and the acceleration of the first waveform is controlled by the jerk of the second waveform; during the acceleration phase of the movable device, corresponding to the second The positive half-wave segment of the waveform constitutes the sinusoidal distribution of the first waveform, the 0-value interval corresponding to the second waveform constitutes the constant-value distribution of the first waveform, and the negative half-wave segment on the side of the second waveform constitutes the A sinusoidal distribution of the first waveform, forming a flat top sinusoidal distribution of the first waveform as a whole during the acceleration phase of the movable device; during a deceleration phase of the movable device, the distribution of the first waveform is consistent with the The first waveforms of the acceleration phase of the movable device are point-symmetrical to each other.

The third waveform reflects the moving speed of the movable device; in the acceleration stage of the movable device, the speed of the movable device is distributed according to a sinusoidal rising part; in the constant speed stage of the movable device, the The speed of the movable device is distributed according to a constant value; during the deceleration stage of the movable device, the speed of the movable device is distributed according to a sinusoidal descending part, and is mutually axis with the waveform of the movable device in the acceleration stage symmetry.

When the first waveform and the second waveform coincide with zero value, the third waveform has zero value or constant value, which corresponds to the state that the movable device is at rest or at a constant speed.

In addition, the speed control method of the movable device also includes:

After the speed of controlling the movable device is accelerated to a preset speed, the driving force of the movable device is reduced to 0; the driving force is kept at 0, and the movable device is controlled to move at a constant speed until The movable device automatically detects an obstacle or receives a deceleration command; wherein the movable device is in a process of uniform motion, the acceleration of the movable device is 0, and the jerk is 0.

Fig. 3 shows the velocity, acceleration and jerk of the mobile device provided by an embodiment of the present disclosure An example diagram of configuration information, as shown in the figure:

In the embodiment of the present disclosure, the frequency of the point value of the first waveform is the drive control frequency of the movable device, and the drive control frequency corresponds to the acceleration frequency of the movable device. The control of the actuator (wheel) in the figure Frequency, that is, 120 speed adjustment controls per second for the actuator of the driving force of the movable device. At the same time, analogous to the driving of a car, there are straight-line driving and turning driving, and the movable device can drive in a straight line or move left and right When driving, you can also rotate on the spot, or you can mix straight driving and rotation, that is, you can walk while turning

A configuration file is defined below to describe the control frequency of the driving force of the movable device, which specifically includes the following contents:

·Define the control frequency of each wheel inside the chassis, as shown in the figure, the wheels are adjusted and controlled 120 times per second.

·Define the speed gear for the chassis to travel in a straight line. These values are related to the design of the mobile equipment chassis and are obtained from experimental values (see details below).

·Define the left and right movement speed gear of the chassis, the value comes from the experimental calculation results (see the details below).

·Define the chassis autorotation speed gear, the value comes from the experimental results (see details below).

·Define the 7 periods of each speed gear to be configured respectively, and the time unit is second. For the convenience of calculation, configure P1 to be equal to P3, and P5 to be equal to P7.

The chart of the configuration file in the figure corresponds to the definition of three configurations: straight-line driving, left-right translational driving, and in-situ rotation. There will be one or several pieces of information under each configuration, and each piece of information is equivalent to a gear position of the car. If the upper position If the machine directly gives a speed of 0.3m/s, the chassis will choose the configuration corresponding to 0.3m/s. The numbers in the selected configuration are P1, P2, P3, P4, P5, P6, and P7 in the acceleration curve, among which P1, P2, and P3 manage the acceleration process, and P4 defines the overtime automatic braking time, such as writing 1.0 means that the chassis will automatically stop if it does not receive a command from the host computer for more than 1 second. P5, P6, and P7, similar to P1, P2, and P3, are responsible for the braking curve. Whether it is the acceleration process or the braking process, if the upper computer changes different speed values, the chassis will jump to another corresponding curve. This process is like a car shifting gears, and the acceleration and deceleration curves have changed.

The details are shown in Figure 3:

According to the control frequency defined in the configuration file and the acceleration duration of each speed gear, the points of acceleration and deceleration sine waves are respectively generated, and the sine function value is calculated with the sine function, for example, P1 is 1.25 seconds, P2 is 1.25 seconds, and P3 is 1.25 seconds , the number of positive half-wave points of the sine wave of the acceleration curve is 1.25x120=150, the sine function starts from 0, and each step increases by 3.14/150 radians. Similarly, the number of negative half-wave points of the sine wave of the acceleration curve is 1.25x120=150, the sine function starts from PI (3.14), and increases PI/150 at each control step. The entire acceleration process takes 3.75 seconds and is output in three stages. After 150 points in each stage, the acceleration bottom reaches the maximum. In the second stage, the acceleration at 150 points remains unchanged, and the speed continues to rise. After 150 points in the third stage, the acceleration and jerk At the same time to zero, the speed is constant.

Based on the previous step, according to the output amplitude of the sinusoidal function, the value of the acceleration is calculated for the time integration, and the acceleration is further calculated for the speed value by integrating the acceleration with the time.

According to the speed value sent by the host computer, the chassis first selects the closest speed gear to match, and adjusts the output amplitude of the sine wave to affect the acceleration value. The final constant speed value is consistent with the set value.

Similarly, the mobile device chassis also adopts the same control process when decelerating. The difference is that the sine wave starts from PI, goes to zero, and then starts from zero to PI again.

When the mobile device is driving in the reverse direction, it only needs to invert the speed output value, and the whole process remains unchanged.

Fig. 4 is a schematic diagram of a speed control device of a mobile device provided by another embodiment of the present disclosure. The speed control device of the movable device includes: an acceleration module 401 , a jerk module 402 and a speed control module 403 . in:

The acceleration module 401 is configured to control the variation of the driving force of the movable device through the jerk corresponding to the second waveform.

In the embodiment of the present disclosure, the moving part of the chassis of the mobile device is always connected to the host computer through communication, and receives the control commands of the host computer in real time to move and walk. The control commands generally include automatic navigation, remote control debugging, and remote terminal control. Which party sends the control command, in this disclosure, the movable device will not immediately drive the movable device at the set speed, but use jerk, acceleration and speed to smoothly control the movement of the movable device Accelerate, decelerate, prevent movable equipment Chassis shaking.

The acceleration module is specifically configured to: provide a driving force to the movable device with a driving force value corresponding to a point value of the first waveform, and obtain an acceleration of the movable device through the driving force. Wherein, the frequency of the point value of the first waveform is the drive control frequency of the movable device, and the drive control frequency corresponds to the acceleration frequency of the movable device. The drive control frequency is determined according to the acceleration duration of each gear of the movable device; the point value of the first waveform of the movable device in the acceleration and deceleration stages is generated through the acceleration duration, and the movable device The driving force of the mobile device is linear drive and/or left-right drive, which is used to control the linear motion and/or left-right steering motion of the movable device.

The acceleration module is specifically further configured to: the first waveform corresponds to the acceleration of the movable device, and the acceleration of the first waveform is controlled by the jerk of the second waveform; The acceleration stage of the second waveform corresponds to the positive half-band of the second waveform to form the sinusoidal distribution of the first waveform, and the 0-value interval corresponding to the second waveform forms the constant-value distribution of the first waveform. In the The negative half-wave segment on the side of the second waveform constitutes the sinusoidal distribution of the first waveform, and the flat top sinusoidal distribution of the first waveform is formed as a whole in the acceleration phase of the movable device; in the deceleration phase of the movable device, The distribution of the first waveform is point-symmetrical to the first waveform in the acceleration phase of the movable device.

The jerk module 402 is configured to control the change of the driving force of the movable device through the jerk corresponding to the second waveform, and the second waveform has a positive wave band and a negative wave band.

In the embodiment of the present disclosure, in order to ensure the smooth acceleration, constant speed and deceleration motion of the movable device, the present disclosure controls the motion of the movable device through three-order velocity smoothing of jerk (also called jerk), acceleration and velocity of the movable device . Where it is most critical to control the change of the driving force of the movable device through the jerk, the second waveform corresponding to the jerk is corresponding to a sinusoidal waveform with intervals of 0 values. Specifically, the second waveform is a sinusoidal waveform with a 0-value interval, and the 0-value interval is set between the positive wave segment and the negative wave segment. In the acceleration stage of the movable device, the jerk is controlled to increase or decrease smoothly according to the sinusoidal waveform with intervals of 0 values; in the constant speed stage of the movable device, the jerk and acceleration are kept at 0 value at the same time; During the deceleration phase of the mobile device, the jerk is According to the sinusoidal waveform with intervals of 0 values, the driving force is controlled to increase or decrease smoothly in the reverse direction. The sine waveform corresponding to the second waveform is divided into a positive half-wave segment and a negative half-wave segment during the acceleration phase of the movable device, wherein there is a 0-value interval between the positive half-wave segment and the negative half-wave segment; The waveform of the second waveform in the deceleration phase of the movable device is axisymmetric to the waveform of the movable device in the acceleration phase.

The jerk module is specifically configured to: during the acceleration phase of the movable device, the jerk corresponding to the positive half-wave band of the second waveform controls the increase of the acceleration, and the second The jerk corresponding to the negative half-wave segment of the waveform controls the decline of the acceleration; during the deceleration phase of the movable device, the jerk corresponding to the negative half-wave segment of the second waveform controls The rise in the opposite direction of the acceleration, and the jerk corresponding to the positive half-band of the second waveform control the fall in the opposite direction of the acceleration.

The speed control module 403 is configured to control the moving speed of the movable device according to the acceleration and jerk, and the moving speed of the movable device corresponds to the third waveform distribution.

The embodiment of the present disclosure provides the driving force of acceleration and change for the movable device, and generates constantly changing acceleration. The jerk (curve ②) in different stages corresponds to the distribution according to a certain curve, and the driving force of the movable device is controlled by the jerk (Curve ①) rate of change (corresponding rate of change of acceleration). In the acceleration phase of the movable device, the jerk is controlled according to the sinusoidal waveform with 0-value intervals to increase or decrease smoothly, thereby controlling the movement speed of the movable device (curve ③) to increase smoothly; in the movable device In the constant velocity stage, the jerk and acceleration are kept at 0 value at the same time, so as to control the movement speed (curve ③) of the movable device to move at a constant speed; Control the driving force to increase or decrease smoothly in the opposite direction, thereby controlling the movement speed of the movable device (curve ③) to decrease smoothly until it stops.

The speed control module is specifically used for: the third waveform reflects the moving speed of the movable device; during the acceleration phase of the movable device, the speed of the movable device is distributed according to a sinusoidal rising part; In the constant speed stage of the movable device, the speed of the movable device is distributed according to a constant value; in the deceleration stage of the movable device, the speed of the movable device is distributed according to a sinusoidal descending The waveforms of the mobile device during the acceleration phase are axisymmetric to each other.

In addition, the speed control device of the movable device also includes:

The constant speed module is used to: reduce the driving force of the movable device to 0 after the speed of the controlled movable device reaches a preset speed; keep the driving force at 0, and control the movable device The device is moving at a constant speed until the movable device automatically detects an obstacle or receives a deceleration command; wherein the movable device is moving at a constant speed, the acceleration of the movable device is 0, and the jerk is 0.

The device shown in FIG. 4 can execute the method of the embodiment shown in FIG. 1 . For parts not described in detail in this embodiment, reference can be made to relevant descriptions of the embodiment shown in FIG. 1 . For the execution process and technical effect of this technical solution, refer to the description in the embodiment shown in FIG. 1 , and details are not repeated here.

Referring now to FIG. 5 , it shows a schematic structural diagram of an electronic device 500 corresponding to a mobile device suitable for implementing another embodiment of the present disclosure. The terminal equipment in the embodiment of the present disclosure may include but not limited to such as mobile phone, notebook computer, digital broadcast receiver, PDA (personal digital assistant), PAD (tablet computer), PMP (portable multimedia player), vehicle terminal (such as mobile terminals such as car navigation terminals) and fixed terminals such as digital TVs, desktop computers and the like. The electronic device shown in FIG. 5 is only an example, and should not limit the functions and scope of use of the embodiments of the present disclosure.

As shown in FIG. 5, an electronic device 500 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 501, which may be randomly accessed according to a program stored in a read-only memory (ROM) 502 or loaded from a storage device 508. Various appropriate actions and processes are executed by programs in the memory (RAM) 503 . In the RAM 503, various programs and data necessary for the operation of the electronic device 500 are also stored. The processing device 501, ROM 502, and RAM 503 are connected to each other through a communication line 504. An input/output (I/O) interface 505 is also connected to the communication line 504 .

Typically, the following devices can be connected to the I/O interface 505: input devices 506 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; including, for example, a liquid crystal display (LCD), speaker, vibration The output device 507 of the device or the like; including, for example, a magnetic a storage device 508 such as a tape, a hard disk, or the like; and a communication device 509 . The communication means 509 may allow the electronic device 500 to perform wireless or wired communication with other devices to exchange data. While FIG. 4 shows electronic device 500 having various means, it should be understood that implementing or having all of the means shown is not a requirement. More or fewer means may alternatively be implemented or provided.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product, which includes a computer program carried on a non-transitory computer readable medium, where the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via communication means 509, or from storage means 508, or from ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are performed.

It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave carrying computer-readable program code therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can transmit, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device . The program code contained on the computer readable medium can be used in any suitable Media transmission, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

In some embodiments, the client and the server can communicate using any currently known or future network protocols such as HTTP (HyperText Transfer Protocol, Hypertext Transfer Protocol), and can communicate with digital data in any form or medium Communications (eg, communication networks) are interconnected. Examples of communication networks include local area networks ("LANs"), wide area networks ("WANs"), internetworks (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network of.

The above-mentioned computer-readable medium may be included in the above-mentioned electronic device, or may exist independently without being incorporated into the electronic device.

The above-mentioned computer-readable medium carries one or more programs, and when the above-mentioned one or more programs are executed by the electronic device, the electronic device: executes the interaction method in the above-mentioned embodiment.

Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, or combinations thereof, including but not limited to object-oriented programming languages—such as Java, Smalltalk, C++, and Includes conventional procedural programming languages - such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through an Internet service provider). Internet connection).

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more logical functions for implementing specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two boxes shown in succession can actually be Executed substantially in parallel, they may also sometimes be executed in reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified functions or operations , or may be implemented by a combination of dedicated hardware and computer instructions.

The units involved in the embodiments described in the present disclosure may be implemented by software or by hardware. Wherein, the name of a unit does not constitute a limitation of the unit itself under certain circumstances.

The functions described herein above may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), System on Chips (SOCs), Complex Programmable Logical device (CPLD) and so on.

In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, portable computer discs, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.

According to one or more embodiments of the present disclosure, there is provided an electronic device, including: at least one processor; and a memory connected in communication with the at least one processor; wherein, the memory stores information that can be used by the Instructions executed by at least one processor, the instructions being executed by the at least one processor, so that the at least one processor can execute any one of the methods in the foregoing first aspect.

According to one or more embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium, characterized in that the non-transitory computer-readable storage medium stores computer instructions, and the computer The instructions are used to cause the computer to execute any one of the methods in the aforementioned first aspect.

The above description is only a preferred embodiment of the present disclosure and an illustration of the applied technical principles. Those skilled in the art should understand that the disclosure scope involved in this disclosure is not limited to the technical solution formed by the specific combination of the above-mentioned technical features, but also covers the technical solutions formed by the above-mentioned technical features or Other technical solutions formed by any combination of equivalent features. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

A speed control method for a movable device, characterized in that it comprises:

providing a driving force to the movable device with a driving force value corresponding to a point value of the first waveform, and obtaining an acceleration of the movable device through the driving force;

Controlling the change of the driving force of the movable device through the jerk corresponding to the second waveform, the second waveform has a positive wave band and a negative wave band;

controlling the movement speed of the movable device according to the acceleration and the jerk, and the movement speed of the movable device corresponds to a third waveform distribution.
The method according to claim 1, characterized in that,

The second waveform is a sinusoidal waveform with a 0-value interval, and the 0-value interval is set between the positive wave segment and the negative wave segment.
The method according to claim 1 or 2, characterized in that,

The movement of the movable device is divided into an acceleration stage, a constant speed stage and a deceleration stage. In different stages of the movable device, the first waveform, the second waveform and the third waveform have corresponding symmetrical distributions.
The method according to claim 3, characterized in that,

The sine waveform corresponding to the second waveform is divided into a positive half-wave segment and a negative half-wave segment during the acceleration phase of the movable device, wherein there is a 0-value interval between the positive half-wave segment and the negative half-wave segment;

The waveform of the second waveform in the deceleration phase of the movable device is axisymmetric to the waveform of the movable device in the acceleration phase.
The method according to claim 4, characterized in that,

During the acceleration phase of the movable device, the jerk corresponding to the positive half-band of the second waveform controls the rise of the acceleration, and the negative half-band of the second waveform corresponds to the jerk jerk controls the fall of said acceleration;

During the deceleration phase of the movable device, the negative half-wave band of the second waveform corresponds to the The jerk controls the rise in the opposite direction of the acceleration, and the jerk corresponding to the positive half-wave band of the second waveform controls the fall in the reverse direction of the acceleration.
The method according to claim 3, characterized in that,

said first waveform corresponds to an acceleration of said movable device, said first waveform's acceleration being controlled by said second waveform's jerk;

In the acceleration phase of the movable device, the positive half-wave segment corresponding to the second waveform constitutes the sinusoidal distribution of the first waveform, and the 0-value interval corresponding to the second waveform constitutes the constant of the first waveform. a value distribution, the negative half-band on the side of the second waveform constitutes a sinusoidal distribution of the first waveform, and a flat-top sinusoidal distribution of the first waveform is formed as a whole during the acceleration phase of the movable device;

In the deceleration phase of the movable device, the distribution of the first waveform is point-symmetrical to the first waveform in the acceleration phase of the movable device.
The method according to claim 3, characterized in that,

The third waveform reflects the movement speed of the movable device;

During the acceleration phase of the mobile device, the velocity of the mobile device is distributed according to a sinusoidal rising portion;

In the constant speed stage of the movable device, the speed of the movable device is distributed according to a constant value;

In the deceleration phase of the movable device, the velocity of the movable device is distributed according to a sinusoidal descending part, which is axisymmetric to the waveform of the movable device in the acceleration phase.
The method according to claim 3, characterized in that,

When the first waveform and the second waveform coincide with zero value, the third waveform has zero value or constant value, which corresponds to the state that the movable device is at rest or at a constant speed.
The method according to claim 1, characterized in that,

The frequency of the point value of the first waveform is the drive control frequency of the movable device, and the drive control frequency corresponds to the acceleration frequency of the movable device.
The method according to claim 9, characterized in that,

The drive control frequency is determined according to the acceleration duration of each gear of the movable device;

Generate the first wave of the mobile device in the acceleration and deceleration phases through the acceleration duration The point value of the shape.
The method according to claim 1, characterized in that,

The driving force of the movable device is linear drive and/or left-right drive, which is used to control the linear motion and/or left-right steering motion of the movable device.
The method according to claim 1, further comprising:

After the speed of controlling the movable device is accelerated to a preset speed, the driving force of the movable device is reduced to 0;

Keeping the driving force at 0, controlling the movable device to move at a constant speed until the movable device automatically detects an obstacle or receives a deceleration instruction;

Wherein the movable device is in the process of uniform motion, the acceleration of the movable device is 0, and the jerk is 0.
A speed control device for movable equipment, characterized in that it comprises:

an acceleration module, configured to provide a driving force to the movable device with a driving force value corresponding to a point value of the first waveform, and obtain an acceleration of the movable device through the driving force;

a jerk module, configured to control the change of the driving force of the movable device through the jerk corresponding to the second waveform, the second waveform has a positive wave band and a negative wave band;

A speed control module, configured to control the moving speed of the movable device according to the acceleration and the jerk, and the moving speed of the movable device corresponds to the third waveform distribution.
The device according to claim 13, characterized in that,

The second waveform is a sinusoidal waveform with a 0-value interval, and the 0-value interval is set between the positive wave segment and the negative wave segment.
Apparatus according to claim 13 or 14, characterized in that

The movement of the movable device is divided into an acceleration stage, a constant speed stage and a deceleration stage. In different stages of the movable device, the first waveform, the second waveform and the third waveform have corresponding symmetrical distributions.
The device according to claim 15, characterized in that,

The sine waveform corresponding to the second waveform is divided into a positive half-wave during the acceleration phase of the movable device segment and a negative half-band, wherein there is a 0-value interval between the positive half-band and the negative half-band;

The waveform of the second waveform in the deceleration phase of the movable device is axisymmetric to the waveform of the movable device in the acceleration phase.
The device according to claim 16, wherein the jerk module is configured to include:

During the acceleration phase of the movable device, the jerk corresponding to the positive half-band of the second waveform controls the rise of the acceleration, and the negative half-band of the second waveform corresponds to the jerk jerk controls the fall of said acceleration;

During the deceleration phase of the movable device, the jerk corresponding to the negative half-band of the second waveform controls the rise in the opposite direction of the acceleration, and the positive half-band of the second waveform corresponds to The jerk controls the decline in the opposite direction of the acceleration.
The device according to claim 15, wherein the acceleration module is configured to include:

said first waveform corresponds to an acceleration of said movable device, said first waveform's acceleration being controlled by said second waveform's jerk;

In the acceleration phase of the movable device, the positive half-wave segment corresponding to the second waveform constitutes the sinusoidal distribution of the first waveform, and the 0-value interval corresponding to the second waveform constitutes the constant of the first waveform. a value distribution, the negative half-band on the side of the second waveform constitutes a sinusoidal distribution of the first waveform, and a flat-top sinusoidal distribution of the first waveform is formed as a whole during the acceleration phase of the movable device;

In the deceleration phase of the movable device, the distribution of the first waveform is point-symmetrical to the first waveform in the acceleration phase of the movable device.
The device according to claim 15, wherein the speed control module is configured to include:

The third waveform reflects the movement speed of the movable device;

During the acceleration phase of the mobile device, the velocity of the mobile device is distributed according to a sinusoidal rising portion;

In the constant speed stage of the movable device, the speed of the movable device is distributed according to a constant value;

In the deceleration phase of the movable device, the velocity of the movable device is distributed according to a sinusoidal descending part, which is axisymmetric to the waveform of the movable device in the acceleration phase.
The device according to claim 15, characterized in that,

When the first waveform and the second waveform coincide with zero value, the third waveform has zero value or constant value, which corresponds to the state that the movable device is at rest or at a constant speed.
The device according to claim 13, characterized in that,

The frequency of the point value of the first waveform is the drive control frequency of the movable device, and the drive control frequency corresponds to the acceleration frequency of the movable device.
The device according to claim 21, characterized in that,

The drive control frequency is determined according to the acceleration duration of each gear of the movable device;

The point value of the first waveform of the movable device in the acceleration and deceleration phases is generated by the acceleration duration.
The device according to claim 13, characterized in that,

The driving force of the movable device is linear drive and/or left-right drive, which is used to control the linear motion and/or left-right steering motion of the movable device.
The device according to claim 13, wherein the device further comprises a constant velocity module, and the constant velocity module is used for:

After the speed of controlling the movable device is accelerated to a preset speed, the driving force of the movable device is reduced to 0;

Keeping the driving force at 0, controlling the movable device to move at a constant speed until the movable device automatically detects an obstacle or receives a deceleration instruction;

Wherein the movable device is in the process of uniform motion, the acceleration of the movable device is 0, and the jerk is 0.
A removable device comprising:

at least one memory for storing computer readable instructions; and

At least one processor configured to execute the computer-readable instructions, so that the mobile device implements the method according to any one of claims 1-12.
A computer storage medium, wherein at least one executable instruction is stored in the storage medium, and the executable instruction causes a processor to execute the steps of the method for controlling the speed of a mobile device according to any one of claims 1-12.
A computer program, comprising instructions, which, when run on a computer, cause the computer to execute the method for controlling the speed of a mobile device according to any one of claims 1-12.