WO2023035210A1 - Power adjustment system and method for autonomous mobile device - Google Patents

Power adjustment system and method for autonomous mobile device Download PDF

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Publication number
WO2023035210A1
WO2023035210A1 PCT/CN2021/117594 CN2021117594W WO2023035210A1 WO 2023035210 A1 WO2023035210 A1 WO 2023035210A1 CN 2021117594 W CN2021117594 W CN 2021117594W WO 2023035210 A1 WO2023035210 A1 WO 2023035210A1
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mobile device
autonomous mobile
module
current
weight
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PCT/CN2021/117594
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French (fr)
Chinese (zh)
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林继谦
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威刚科技股份有限公司
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Priority to PCT/CN2021/117594 priority Critical patent/WO2023035210A1/en
Publication of WO2023035210A1 publication Critical patent/WO2023035210A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

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  • the invention relates to a power adjustment system and method applied to an autonomous mobile device, in particular to a power adjustment system and method for improving the stability of an autonomous mobile device when turning.
  • an autonomous mobile device such as an autonomous mobile robot (Autonomous Mobile Robot, AMR) or an autonomous guided vehicle (Automated Guided Vehicle, AGV)
  • AMR Autonomous Mobile Robot
  • AGV Automated Guided Vehicle
  • the technical problem to be solved by the present invention is to provide a power adjustment system and method for an autonomous mobile device in view of the deficiencies in the prior art.
  • one of the technical solutions adopted by the present invention is to provide a power adjustment system for an autonomous mobile device, which includes two drive modules, an inertial measurement module, a navigation module, a database module and a control module.
  • Two driving modules are arranged in the autonomous mobile device and are respectively connected to the two wheels of the autonomous mobile device.
  • the two driving modules operate independently of each other.
  • Each driving module includes a driver and a motor electrically connected to the driver.
  • Each motor is connected to a corresponding wheel.
  • the inertial measurement module is arranged in the autonomous mobile device to detect the tilt angle of the autonomous mobile device.
  • the navigation module is used for planning a traveling route, so that the autonomous mobile device drives according to the traveling route.
  • the database module is used to store different weight values of the autonomous mobile device.
  • the control module is set in the autonomous mobile device, and the control module is electrically connected to the two drive modules, the inertial measurement module and the navigation module.
  • the control module is used to obtain the steering angle.
  • the control module is used to output two first current control signals to the two drivers respectively, so that the two drivers respectively output two initial currents to the two motors, so that the two motors drive the two wheels respectively to drive the autonomous mobile device driving, and the control module is used to estimate the weight of the autonomous mobile device according to the data of the database module.
  • the control module outputs two second current control signals to the two drivers according to the two first current control signals, the weight of the autonomous mobile device, the steering angle, and the tilt angle, and the two drivers output two adjusted currents to the two drivers accordingly.
  • Two motors so that the two motors respectively drive the two wheels for differential speed control.
  • the weight of the autonomous mobile device includes its own weight and the carrying weight of the autonomous mobile device.
  • the navigation module is used to locate the location of the autonomous mobile device in real time, and construct a surrounding environment map of the location of the autonomous mobile device, so as to further plan travel routes.
  • control module outputs the second current control signal after adjusting the first current control signal according to a signal gain function
  • signal gain function includes:
  • L2 L1 ⁇ (W/W 0 ) ⁇ (1 ⁇ tan( ⁇ 1)) ⁇ (1 ⁇ tan( ⁇ 2));
  • L1 is the first current control signal
  • L2 is the second current control signal
  • W is the weight of the autonomous mobile device
  • W 0 is the preset reference weight of the autonomous mobile device
  • ⁇ 1 is the tilt angle
  • ⁇ 2 is the steering angle.
  • the database module further includes the gradient of the location of the autonomous mobile device, the amount of current change output by the driver, and the speed of the autonomous mobile device.
  • the control module when the change in current output by each driver exceeds half of the maximum current in the nth second, the control module is used to collect the current value in the nth second, and when the change in current output by each driver lasts for k seconds and When the range of variation within k seconds is less than 10% of the current variation in the nth second, the control module is used to collect the speed of the autonomous mobile device at the n+k second, and the control module is used to set the autonomous mobile device at the n+th second The speed in k seconds, the change in current output by the driver in the nth second, and the slope of the location of the autonomous mobile device are compared with the data in the database module to estimate the weight of the autonomous mobile device.
  • the autonomous mobile device is provided with two driving modules, an inertial measurement module, a navigation module, a database module and A control module, the two drive modules are respectively connected to the two wheels of the autonomous mobile device, each drive module includes a driver and a motor electrically connected to the driver, each motor is connected to the corresponding wheel, the control module is electrically connected to the two
  • the power adjustment method includes: outputting two first current control signals through the control module and sending them to the two drivers respectively, so that the two drivers respectively output two initial currents to the two motors, so as to Make the two motors respectively drive two wheels to push the autonomous mobile device to travel; detect the inclination angle of the autonomous mobile device through the inertial measurement module; plan a travel route through the navigation module, so that the autonomous mobile device travels according to the travel route, and the control module It is used to obtain the
  • the weight of the autonomous mobile device includes its own weight and the carrying weight of the autonomous mobile device.
  • the navigation module is used to locate the location of the autonomous mobile device in real time, and construct a surrounding environment map of the location of the autonomous mobile device, so as to further plan travel routes.
  • control module outputs the second current control signal after adjusting the first current control signal according to a signal gain function
  • signal gain function includes:
  • L2 L1 ⁇ (W/W 0 ) ⁇ (1 ⁇ tan( ⁇ 1)) ⁇ (1 ⁇ tan( ⁇ 2));
  • L1 is the first current control signal
  • L2 is the second current control signal
  • W is the weight of the autonomous mobile device
  • W 0 is the preset reference weight of the autonomous mobile device
  • ⁇ 1 is the steering angle
  • ⁇ 2 is the tilt angle.
  • the database module also includes the gradient of the location of the autonomous mobile device, the amount of current change output by the driver, and the speed of the autonomous mobile device.
  • the control module when the change in current output by each driver exceeds half of the maximum current in the nth second, the control module is used to collect the current value in the nth second, and when the change in current output by each driver lasts for k seconds and When the range of variation within k seconds is less than 10% of the current variation in the nth second, the control module is used to collect the speed of the autonomous mobile device at the n+k second, and the control module is used to set the autonomous mobile device at the n+th second The speed in k seconds, the change in current output by the driver in the nth second, and the slope of the location of the autonomous mobile device are compared with the data in the database module to estimate the weight of the autonomous mobile device.
  • the power adjustment system and method of the autonomous mobile device can use the "control module to output two first current control signals and send them to the two drivers respectively, so that The two drivers respectively output two initial currents to the two motors, so that the two motors respectively drive the two wheels to drive the autonomous mobile device, and the control module is used to estimate Measure the weight of the autonomous mobile device" and "the control module outputs two second current control signals to the two drivers respectively according to the two first current control signals, the weight of the autonomous mobile device, the steering angle and the tilt angle, and The two drivers are used to output two adjustment currents to the two motors, so that the two motors drive the two wheels respectively for differential speed control", so as to improve the stability of the autonomous mobile device when turning, and improve the autonomy.
  • Mobile devices work more efficiently and reduce energy consumption.
  • FIG. 1 is a first perspective view of the autonomous mobile device of the present invention.
  • FIG. 2 is a second perspective view of the autonomous mobile device of the present invention.
  • FIG. 3 is a schematic diagram of the power adjustment system of the autonomous mobile device of the present invention.
  • Fig. 4 is a schematic oblique view of the autonomous mobile device of the present invention.
  • Fig. 5 is a schematic diagram of steering of the autonomous mobile device of the present invention.
  • FIG. 6 is a schematic flow diagram of the weight estimation process of the power adjustment system of the autonomous mobile device of the present invention.
  • FIG. 7 is a schematic diagram of a vehicle weight estimation table of the power adjustment system of the autonomous mobile device of the present invention.
  • FIG. 8 is a schematic diagram of steps S1 to S5 of the power adjustment method of the autonomous mobile device of the present invention.
  • FIG. 1 and FIG. 2 are three-dimensional schematic diagrams of the autonomous mobile device of the present invention
  • FIG. 3 is a system schematic diagram of the power adjustment system of the autonomous mobile device of the present invention.
  • An embodiment of the present invention provides an autonomous mobile device Z, which can be, for example, an autonomous mobile robot (Autonomous Mobile Robot, AMR) or an autonomous guided vehicle (Automated Guided Vehicle, AGV).
  • the autonomous mobile device Z includes: two driving modules 1 , an inertial measurement module 2 , a navigation module 3 , a database module 4 and a control module 5 .
  • the two drive modules 1 , inertial measurement module 2 , database module 4 and control module 5 are arranged in the autonomous mobile device Z, and the navigation module 3 is arranged on the autonomous mobile device Z.
  • the control module 5 is electrically connected to the two driving modules 1 , the inertial measurement module 2 , the navigation module 3 and the database module 4 .
  • the two drive modules 1 are respectively connected to the two wheels 13 of the autonomous mobile device Z.
  • the two wheels 13 of the autonomous mobile device Z are arranged on the bottom of the autonomous mobile device Z.
  • the two driving modules 1 operate independently of each other, each driving module 1 includes a driver 11 and a motor 12 electrically connected to the driver 11 , and each motor 12 is connected to a corresponding wheel 13 .
  • the driver 11 of the driving module 1 can be connected to a power module 6 , and the control module 5 can be electrically connected between the driver 11 and the power module 6 .
  • the power module 6 provides power to the motor 12 via the driver 11 .
  • the driver 11 converts a constant voltage from an AC power supply provided by the power module 6 into a variable voltage that can control the torque and speed of the motor 12 .
  • FIG. 4 is a schematic oblique view of the autonomous mobile device of the present invention.
  • the inertial measurement module 2 may be composed of multiple acceleration sensing components (mainly measuring the linear acceleration of the direction of motion of the autonomous mobile device) and multiple gyroscopes (mainly measuring the angular velocity of the direction of motion of the autonomous mobile device), so it can further
  • the pose of the autonomous mobile device Z is calculated. It is used to detect the inclination angle ⁇ 1 of the autonomous mobile device Z.
  • the inertial measurement module 2 can measure that the autonomous mobile device Z is in a tilted state, that is, the vehicle body of the autonomous mobile device Z is at an inclination angle ⁇ 1 relative to the horizontal ground. Therefore, the inertial measurement module 2 The inclination angle ⁇ 1 of the autonomous mobile device Z can be detected, and the inclination angle ⁇ 1 is equal to the slope angle of the hillside P, indicating the slope of the hillside P.
  • the autonomous mobile device Z may also include a speed sensing component (not shown in the figure), the speed sensing component may be, for example, a magnetic induction shaft speed sensing component, coupled to the motor 12 to connect the output shaft of the wheel 13 (not shown in the figure) and detect the rotation speed of the output shaft, and the control module 5 receives the sensing signal output by the speed sensing component to estimate the speed of the autonomous mobile device Z.
  • the speed sensing component may be, for example, a magnetic induction shaft speed sensing component, coupled to the motor 12 to connect the output shaft of the wheel 13 (not shown in the figure) and detect the rotation speed of the output shaft, and the control module 5 receives the sensing signal output by the speed sensing component to estimate the speed of the autonomous mobile device Z.
  • FIG. 5 is a schematic diagram of steering of the autonomous mobile device of the present invention.
  • the navigation module 3 includes an optical radar (LiDAR) 31, an ultrasonic sensor 32 or an image capture component 33.
  • the autonomous mobile device Z can perform light reflection navigation and positioning through the optical radar 31; or, the autonomous mobile device Z can Ultrasonic navigation and positioning is performed through the ultrasonic sensor 32; alternatively, the autonomous mobile device Z can perform visual navigation and positioning through the image capture component 33 (including but not limited to a camera or a CCD image sensor).
  • the navigation module 3 can locate the location of the autonomous mobile device Z in real time, and construct a surrounding environment map of the location of the autonomous mobile device Z, and then plan a travel route based on this, so that the autonomous mobile device Z The mobile device Z travels according to the traveling route.
  • the control module 5 can obtain the steering angle ⁇ 2 of the autonomous mobile device Z during the traveling process.
  • the control module 5 is a vehicle control unit (Vehicle Control Unit, VCU), which is arranged inside the autonomous mobile device Z to receive various sensing signals output by various sensing components inside the autonomous mobile device Z.
  • VCU Vehicle Control Unit
  • the control module 5 is electrically connected to the two drive modules 1, the inertial measurement module 2, the navigation module 3 and the database module 4, so as to transmit signals with the drive module 1, the inertial measurement module 2 and the navigation module 3, so as to Collect information such as current variation, tilt angle, and steering angle, and further read and analyze it to output corresponding control signals to related components to order them to take corresponding actions.
  • FIG. 6 is a schematic flow diagram of the weight estimation process of the power adjustment system of the autonomous mobile device of the present invention.
  • the control module 5 can detect the current value output by the power module 6 and then transmitted to the motor 12 via the driver 11 to detect whether the active state of the autonomous mobile device Z is in a static state.
  • the inertial measurement module 2 detects the slope of the autonomous mobile device Z to obtain an inclination angle ⁇ 1, and the control unit 4 collects the inclination angle ⁇ 1 and stores it in the database module 4 .
  • the control module 5 is used to collect the speed of the autonomous mobile device Z at the n+k second, and the control module 5 collects the speed of the autonomous mobile device Z at the n+k second, and the driver 11 at the second
  • the output current variation in n seconds and the slope of the location of the autonomous mobile device Z are compared with the data in the database module 4 to estimate the weight of the autonomous mobile device Z.
  • the database module 4 may be a storage device provided in the autonomous mobile device Z, such as a hard disk or a memory, but the present invention is not limited thereto.
  • the database module 4 can also be a remote server, which transmits signals with the autonomous mobile device Z through network connection.
  • the database module 4 stores different weight values of the autonomous mobile device Z, and it should be noted that the so-called weight of the autonomous mobile device Z includes its own weight and the carrying weight of the autonomous mobile device Z.
  • the database module 4 not only stores the different weight values of the autonomous mobile device Z, but also includes the gradient of the location of the autonomous mobile device Z, the change in current output by the driver 11 and the speed of the autonomous mobile device Z.
  • the data stored in the database module 4 is formed into a database, which mainly includes a correspondence table between various parameters obtained through multiple field tests, which shows the gradient of the autonomous mobile device Z at different positions ( That is, the inclination angle), the output current variation of the driver 11 at different times and different speeds correspond to the weights of different autonomous mobile devices Z.
  • the database is an aggregate of a group of relevant data (the gradient of the location of the autonomous mobile device Z, the amount of current change output by the driver 11 at different times, the different speeds of the autonomous mobile device Z, and the weight of the autonomous mobile device Z), so that The control module 5 can obtain the required results through retrieval, sorting, calculation, query and other methods.
  • vehicle weights are 300kg, 500kg, 700kg
  • slopes inclination angle ⁇ 1 0 degrees, 5 degrees, 10 degrees and 15 degrees
  • the vehicle speed measured by the control module 5 is 5.23m/s under the condition that the inclination angle ⁇ 1 is 0 degrees, and the output current of the driver 11 is 100% and lasts for one second, it is 18.8KPH ( km/hr), it can be seen from the vehicle weight estimation table that the estimated vehicle weight is 300kg.
  • the above-mentioned example is only one possible embodiment and is not intended to limit the present invention.
  • FIG. 8 is a schematic diagram of steps S1 to S5 of the power adjustment method of the autonomous mobile device of the present invention.
  • the power adjustment method of the autonomous mobile device of the present invention can be implemented through the power adjustment system of the autonomous mobile device Z disclosed above. to fulfill.
  • the power adjustment method includes at least the following steps:
  • Step S1 output two first current control signals through the control module 5 and send them to the two drivers respectively, so that the two drivers 11 respectively output two initial currents to the two motors 12, so that the two motors 12 respectively drive two The wheels 13 promote the autonomous mobile device Z to travel;
  • Step S2 Detect the inclination angle ⁇ 1 of the autonomous mobile device Z through the inertial measurement module 2;
  • Step S3 planning a travel route through the navigation module 3, so that the autonomous mobile device Z drives according to the travel route, and the control module 5 is used to obtain the steering angle ⁇ 2 of the autonomous mobile device Z during the travel process;
  • Step S4 Estimate the weight of the autonomous mobile device Z through the control module 5 according to the different weight values of the autonomous mobile device Z stored in the database module 4;
  • Step S5 output two second current control signals through the control module 5 according to the two first current control signals, the weight of the autonomous mobile device Z, the steering angle ⁇ 2 and the tilt angle ⁇ 1, and send them to the two drivers 11 respectively, and the two drivers 11 respectively outputs two adjustment currents to the two motors 12, so that the two motors 12 respectively drive the two wheels 13 for differential speed control.
  • control module 5 adjusts the first current control signal according to a signal gain function to output the second current control signal, and the signal gain function is:
  • L2 L1 ⁇ (W/W 0 ) ⁇ (1 ⁇ tan( ⁇ 1)) ⁇ (1 ⁇ tan( ⁇ 2));
  • L1 is the first current control signal
  • L2 is the second current control signal
  • W is the weight of the autonomous mobile device
  • (W/W 0 ) is the weight factor
  • ⁇ 1 is the bank angle and (1 ⁇ tan( ⁇ 1)) is the slope factor
  • ⁇ 2 is the steering angle
  • (1 ⁇ tan( ⁇ 2)) is the steering factor.
  • the power adjustment system and method of the autonomous mobile device Z provided by the present invention can be used to output two first current control signals through the "control module 5 and send them to the two drivers 11 respectively.” so that the two drivers 11 respectively output two initial currents to the two motors 13, so that the two motors 12 respectively drive the two wheels 13 to push the autonomous mobile device Z to travel, and the control module 5 is used to The data estimates the weight of the autonomous mobile device Z" and “the control module 5 outputs two second currents according to the two first current control signals, the weight of the autonomous mobile device Z, the steering angle ⁇ 2, and the tilt angle ⁇ 1 of the autonomous mobile device Z
  • the control signals are respectively sent to the two drivers 11, and the two drivers 11 output two adjustment currents to the two motors 12 accordingly, so that the two motors 12 drive the two wheels 13 respectively for differential speed control", Differential speed control is performed on two driving modules 1 that operate independently, so as to improve the stability of the autonomous mobile device Z when turning, improve the working efficiency of the autonomous mobile device Z and reduce energy

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Abstract

A power adjustment system and method for an autonomous mobile device (Z). The power adjustment method comprises: outputting, by a control module (5), two first current control signals and respectively transmitting same to two drivers (11); measuring the inclination angle (θ1) of the autonomous mobile device (Z) by an inertial measurement module (2); planning a travel route by a navigation module (3), and acquiring, using the control module (5), the steering angle (θ2) of the autonomous mobile device (Z) during travel; estimating the weight of the autonomous mobile device (Z) by the control module (5) according to different weight values of the autonomous mobile device (Z) stored in a database module (4); and outputting, by the control module (5), according to the two first current control signals, the weight of the autonomous mobile device (Z), the steering angle (θ2), and the inclination angle (θ1), two second current control signals and respectively transmitting same to the two drivers (11), so that the two motors (12) respectively drive two wheels (13) to perform differential control.

Description

自主移动装置的动力调整***及其方法Power adjustment system and method for autonomous mobile device 技术领域technical field
本发明涉及一种应用于自主移动装置的动力调整***及其方法，特别是涉及一种提升自主移动装置转向时的稳定性的动力调整***及其方法。The invention relates to a power adjustment system and method applied to an autonomous mobile device, in particular to a power adjustment system and method for improving the stability of an autonomous mobile device when turning.
背景技术Background technique
现有技术中，自主移动装置，例如自主移动机器人(Autonomous Mobile Robot，AMR)或是自主导引车(Automated Guided Vehicle，AGV)，在行进转向过程中，通常因为无法确认转向时的准确角度，使得装置内部的驱动电机***无法输出适当动力至两侧轮轴，因此，驱动电机***容易产生多余的动力而使得自主移动装置在转弯时的稳定性不佳。In the prior art, an autonomous mobile device, such as an autonomous mobile robot (Autonomous Mobile Robot, AMR) or an autonomous guided vehicle (Automated Guided Vehicle, AGV), is usually unable to confirm the exact angle of the steering during the steering process. As a result, the drive motor system inside the device cannot output proper power to the axles on both sides. Therefore, the drive motor system tends to generate excess power, which makes the stability of the autonomous mobile device poor when turning.
故，如何通过改良，来改善自主移动装置转弯时的稳定性，以提升自主移动装置的工作效率且减少耗能，来克服上述的缺陷，已成为该领域所欲解决的重要课题之一。Therefore, how to improve the stability of the autonomous mobile device when turning, so as to improve the working efficiency of the autonomous mobile device and reduce energy consumption, so as to overcome the above defects has become one of the important issues to be solved in this field.
发明内容Contents of the invention
本发明所要解决的技术问题在于，针对现有技术的不足提供一种自主移动装置的动力调整***及其方法。The technical problem to be solved by the present invention is to provide a power adjustment system and method for an autonomous mobile device in view of the deficiencies in the prior art.
为了解决上述的技术问题，本发明所采用的其中一技术方案是，提供一种自主移动装置的动力调整***，其包括两个驱动模块、一惯性测量模块、一导航模块、一数据库模块以及一控制模块。两个驱动模块设置在自主移动装置内且分别连接自主移动装置的两个车轮，两个驱动模块彼此独立运行，每一驱动模块包括一驱动器与一电性连接驱动器的马达，每一马达连接对应的车轮。惯性测量模块设置在自主移动装置内，用以检测自主移动装置的倾斜角。导航模块用以规划一行进路线，使自主移动装置依据行进路线行驶。数据库模块用以存储自主移动装置的不同重量值。控制模块设置在自主移动装置内，控制模块电性连接于两个驱动模块、惯性测量模块以及导航模块，当自主移动装置沿着行进路线移动时，控制模块用以获取自主移动装置在行进过程中的转向角。控制模块用以输出两个第一电流控制信号分别传送至两个驱动器，以使两个驱动器分别输出两个初始电流至两个马达，以使两个马达分别驱动两个车轮而推动自主移动装置行驶，且控制模块用以依据数据库模块的数据估测出自主移动装置的重量。控制模块依据两个第一电流控制信号、自主移动装置的重量、转向角以及倾斜角输出两个第二电流控制信号分别传送至两个驱动器，且两个驱动器据以分别输出两个调整电流至两个马达，以使两个马达分别驱动两个车轮进行差速控制。In order to solve the above technical problems, one of the technical solutions adopted by the present invention is to provide a power adjustment system for an autonomous mobile device, which includes two drive modules, an inertial measurement module, a navigation module, a database module and a control module. Two driving modules are arranged in the autonomous mobile device and are respectively connected to the two wheels of the autonomous mobile device. The two driving modules operate independently of each other. Each driving module includes a driver and a motor electrically connected to the driver. Each motor is connected to a corresponding wheel. The inertial measurement module is arranged in the autonomous mobile device to detect the tilt angle of the autonomous mobile device. The navigation module is used for planning a traveling route, so that the autonomous mobile device drives according to the traveling route. The database module is used to store different weight values of the autonomous mobile device. The control module is set in the autonomous mobile device, and the control module is electrically connected to the two drive modules, the inertial measurement module and the navigation module. When the autonomous mobile device moves along the route, the control module is used to obtain the steering angle. The control module is used to output two first current control signals to the two drivers respectively, so that the two drivers respectively output two initial currents to the two motors, so that the two motors drive the two wheels respectively to drive the autonomous mobile device driving, and the control module is used to estimate the weight of the autonomous mobile device according to the data of the database module. The control module outputs two second current control signals to the two drivers according to the two first current control signals, the weight of the autonomous mobile device, the steering angle, and the tilt angle, and the two drivers output two adjusted currents to the two drivers accordingly. Two motors, so that the two motors respectively drive the two wheels for differential speed control.
优选地，自主移动装置的重量包括自主移动装置的本身重量以及承载重量。Preferably, the weight of the autonomous mobile device includes its own weight and the carrying weight of the autonomous mobile device.
优选地，导航模块用以即时定位自主移动装置的所在位置，以及构建出自主移动装置所在位置的周边环境地图，以进一步规划出行进路线。Preferably, the navigation module is used to locate the location of the autonomous mobile device in real time, and construct a surrounding environment map of the location of the autonomous mobile device, so as to further plan travel routes.
优选地，控制模块依据一信号增益函数将第一电流控制信号调整后输出第二电流控制信号，信号增益函数包括：Preferably, the control module outputs the second current control signal after adjusting the first current control signal according to a signal gain function, and the signal gain function includes:
L2＝L1×(W/W 0)×(1±tan(θ1))×(1±tan(θ2))； L2＝L1×(W/W 0 )×(1±tan(θ1))×(1±tan(θ2));
其中，L1为第一电流控制信号，L2为第二电流控制信号，W为自主移动装置的重量，W 0为自主移动装置的预设基准重量，θ1是倾斜角，θ2是转向角。 Among them, L1 is the first current control signal, L2 is the second current control signal, W is the weight of the autonomous mobile device, W 0 is the preset reference weight of the autonomous mobile device, θ1 is the tilt angle, and θ2 is the steering angle.
优选地，数据库模块还包括自主移动装置所在位置的坡度、驱动器输出的电流变化量以及自主移动装置的速度。Preferably, the database module further includes the gradient of the location of the autonomous mobile device, the amount of current change output by the driver, and the speed of the autonomous mobile device.
优选地，当每一驱动器在第n秒输出的电流变化量超过最大电流量的一半时，控制模块用以收集第n秒的电流值，且当每一驱动器输出的电流变化量持续k秒且在k秒内的变动幅度小于第n秒的电流变化量的10％时，控制模块用以收集自主移动装置在第n+k秒的速度，且控制模块用以将自主移动装置在第n+k秒的速度、驱动器在第n秒输出的电流变化量以及自主移动装置所在位置的坡度与数据库模块内的数据进行比对，以估算出自主移动装置的重量。Preferably, when the change in current output by each driver exceeds half of the maximum current in the nth second, the control module is used to collect the current value in the nth second, and when the change in current output by each driver lasts for k seconds and When the range of variation within k seconds is less than 10% of the current variation in the nth second, the control module is used to collect the speed of the autonomous mobile device at the n+k second, and the control module is used to set the autonomous mobile device at the n+th second The speed in k seconds, the change in current output by the driver in the nth second, and the slope of the location of the autonomous mobile device are compared with the data in the database module to estimate the weight of the autonomous mobile device.
为了解决上述的技术问题，本发明所采用的另外一技术方案是提供一种自主移动装置的动力调整方法，自主移动装置设置两个驱动模块、一惯性测量模块、一导航模块、一数据库模块以及一控制模块，两个驱动模块分别连接自主移动装置的两个车轮，每一驱动模块包括一驱动器与一电性连接驱动器的马达，每一马达连接对应的车轮，控制模块电性连接于两个驱动模块、惯性测量模块以及导航模块，动力调整方法包括：通过控制模块输出两个第一电流控制信号分别传送至两个驱动器，以使两个驱动器分别输出两个初始电流至两个马达，以使两个所述马达分别驱动两个车轮而推动自主移动装置行驶；通过惯性测量模块检测自主移动装置的倾斜角；通过导航模块规划一行进路线，使自主移动装置依据行进路线行驶，且控制模块用以获取自主移动装置在行进过程中的转向角；通过控制模块依据数据库模块存储的自主移动装置的不同重量值，以估测出自主移动装置的重量；通过控制模块依据两个第一电流控制信号、自主移动装置的重量、转向角以及倾斜角输出两个第二电流控制信号分别传送至两个驱动器，且两个驱动器据以分别输出两个调整电流至两个马达，以使两个马达分别驱动两个车轮进行差速控制。In order to solve the above-mentioned technical problems, another technical solution adopted by the present invention is to provide a power adjustment method of an autonomous mobile device. The autonomous mobile device is provided with two driving modules, an inertial measurement module, a navigation module, a database module and A control module, the two drive modules are respectively connected to the two wheels of the autonomous mobile device, each drive module includes a driver and a motor electrically connected to the driver, each motor is connected to the corresponding wheel, the control module is electrically connected to the two The driving module, the inertial measurement module and the navigation module, the power adjustment method includes: outputting two first current control signals through the control module and sending them to the two drivers respectively, so that the two drivers respectively output two initial currents to the two motors, so as to Make the two motors respectively drive two wheels to push the autonomous mobile device to travel; detect the inclination angle of the autonomous mobile device through the inertial measurement module; plan a travel route through the navigation module, so that the autonomous mobile device travels according to the travel route, and the control module It is used to obtain the steering angle of the autonomous mobile device during travel; the weight of the autonomous mobile device is estimated by the control module based on the different weight values of the autonomous mobile device stored in the database module; the control module controls the weight of the autonomous mobile device based on the two first currents The signal, the weight of the autonomous mobile device, the steering angle, and the tilt angle output two second current control signals to the two drivers respectively, and the two drivers output two adjustment currents to the two motors accordingly, so that the two motors Drive the two wheels separately for differential speed control.
优选地，自主移动装置的重量包括自主移动装置的本身重量以及承载重量。Preferably, the weight of the autonomous mobile device includes its own weight and the carrying weight of the autonomous mobile device.
优选地，导航模块用以即时定位自主移动装置的所在位置，以及构建出自主移动装置所在位置的周边环境地图，以进一步规划出行进路线。Preferably, the navigation module is used to locate the location of the autonomous mobile device in real time, and construct a surrounding environment map of the location of the autonomous mobile device, so as to further plan travel routes.
优选地，控制模块依据一信号增益函数将第一电流控制信号调整后输出第二电流控制信号，信号增益函数包括：Preferably, the control module outputs the second current control signal after adjusting the first current control signal according to a signal gain function, and the signal gain function includes:
L2＝L1×(W/W 0)×(1±tan(θ1))×(1±tan(θ2))； L2＝L1×(W/W 0 )×(1±tan(θ1))×(1±tan(θ2));
其中，L1为第一电流控制信号，L2为第二电流控制信号，W为自主移动装置的重量，W 0为自主移动装置的预设基准重量，θ1是转向角，θ2是倾斜角。 Among them, L1 is the first current control signal, L2 is the second current control signal, W is the weight of the autonomous mobile device, W 0 is the preset reference weight of the autonomous mobile device, θ1 is the steering angle, and θ2 is the tilt angle.
优选地，数据库模块还包括自主移动装置所在位置的坡度、驱动器输出的电流变化量 以及自主移动装置的速度。Preferably, the database module also includes the gradient of the location of the autonomous mobile device, the amount of current change output by the driver, and the speed of the autonomous mobile device.
优选地，当每一驱动器在第n秒输出的电流变化量超过最大电流量的一半时，控制模块用以收集第n秒的电流值，且当每一驱动器输出的电流变化量持续k秒且在k秒内的变动幅度小于第n秒的电流变化量的10％时，控制模块用以收集自主移动装置在第n+k秒的速度，且控制模块用以将自主移动装置在第n+k秒的速度、驱动器在第n秒输出的电流变化量以及自主移动装置所在位置的坡度与数据库模块内的数据进行比对，以估算出自主移动装置的重量。Preferably, when the change in current output by each driver exceeds half of the maximum current in the nth second, the control module is used to collect the current value in the nth second, and when the change in current output by each driver lasts for k seconds and When the range of variation within k seconds is less than 10% of the current variation in the nth second, the control module is used to collect the speed of the autonomous mobile device at the n+k second, and the control module is used to set the autonomous mobile device at the n+th second The speed in k seconds, the change in current output by the driver in the nth second, and the slope of the location of the autonomous mobile device are compared with the data in the database module to estimate the weight of the autonomous mobile device.
本发明的其中一有益效果在于，本发明所提供的自主移动装置的动力调整***及其方法，其能通过“控制模块用以输出两个第一电流控制信号分别传送至两个驱动器，以使两个驱动器分别输出两个初始电流至两个所述马达，以使两个所述马达分别驱动两个所述车轮而推动所述自主移动装置行驶，且控制模块用以依据数据库模块的数据估测出自主移动装置的重量”以及“控制模块依据两个所述第一电流控制信号、自主移动装置的重量、转向角以及倾斜角输出两个第二电流控制信号分别传送至两个驱动器，且两个驱动器据以分别输出两个调整电流至两个马达，以使两个马达分别驱动两个车轮进行差速控制”的技术方案，以提升改善自主移动装置转弯时的稳定性，并且提升自主移动装置的工作效率且减少耗能。One of the beneficial effects of the present invention is that the power adjustment system and method of the autonomous mobile device provided by the present invention can use the "control module to output two first current control signals and send them to the two drivers respectively, so that The two drivers respectively output two initial currents to the two motors, so that the two motors respectively drive the two wheels to drive the autonomous mobile device, and the control module is used to estimate Measure the weight of the autonomous mobile device" and "the control module outputs two second current control signals to the two drivers respectively according to the two first current control signals, the weight of the autonomous mobile device, the steering angle and the tilt angle, and The two drivers are used to output two adjustment currents to the two motors, so that the two motors drive the two wheels respectively for differential speed control", so as to improve the stability of the autonomous mobile device when turning, and improve the autonomy. Mobile devices work more efficiently and reduce energy consumption.
为使能更进一步了解本发明的特征及技术内容，请参阅以下有关本发明的详细说明与附图，然而所提供的附图仅用于提供参考与说明，并非用来对本发明加以限制。In order to further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings related to the present invention. However, the provided drawings are only for reference and description, and are not intended to limit the present invention.
附图说明Description of drawings
图1为本发明的自主移动装置的第一立体示意图。FIG. 1 is a first perspective view of the autonomous mobile device of the present invention.
图2为本发明的自主移动装置的第二立体示意图。FIG. 2 is a second perspective view of the autonomous mobile device of the present invention.
图3为本发明的自主移动装置的动力调整***的***示意图。FIG. 3 is a schematic diagram of the power adjustment system of the autonomous mobile device of the present invention.
图4为本发明的自主移动装置的倾斜示意图。Fig. 4 is a schematic oblique view of the autonomous mobile device of the present invention.
图5为本发明的自主移动装置的转向示意图。Fig. 5 is a schematic diagram of steering of the autonomous mobile device of the present invention.
图6为本发明的自主移动装置的动力调整***的重量估算流程示意图。FIG. 6 is a schematic flow diagram of the weight estimation process of the power adjustment system of the autonomous mobile device of the present invention.
图7为本发明的自主移动装置的动力调整***的车重估算表示意图。7 is a schematic diagram of a vehicle weight estimation table of the power adjustment system of the autonomous mobile device of the present invention.
图8为本发明的自主移动装置的动力调整方法的步骤S1至S5的示意图。FIG. 8 is a schematic diagram of steps S1 to S5 of the power adjustment method of the autonomous mobile device of the present invention.
具体实施方式Detailed ways
以下是通过特定的具体实施例来说明本发明所公开有关“自主移动装置的动力调整***及其方法”的实施方式，本领域技术人员可由本说明书所公开的内容了解本发明的优点与效果。本发明可通过其他不同的具体实施例加以施行或应用，本说明书中的各项细节也可基于不同观点与应用，在不悖离本发明的构思下进行各种修改与变更。另外，本发明的附图仅为简单示意说明，并非依实际尺寸的描绘，事先声明。以下的实施方式将进一步详 细说明本发明的相关技术内容，但所公开的内容并非用以限制本发明的保护范围。The following is a description of the implementation of the "power adjustment system and method for an autonomous mobile device" disclosed in the present invention through specific specific examples. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various modifications and changes can be made to the details in this specification based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only for simple illustration, and are not drawn according to the actual size, which is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the protection scope of the present invention.
应当可以理解的是，虽然本文中可能会使用到“第一”、“第二”、“第三”等术语来描述各种元件，但这些元件不应受这些术语的限制。这些术语主要是用以区分一元件与另一元件。另外，本文中所使用的术语“或”，应视实际情况可能包括相关联的列出项目中的任一个或者多个的组合。It should be understood that although terms such as "first", "second" and "third" may be used herein to describe various elements, these elements should not be limited by these terms. These terms are mainly used to distinguish one element from another. In addition, the term "or" used herein may include any one or a combination of more of the associated listed items depending on the actual situation.
实施例Example
参阅图1、图2及图3所示，图1与图2为本发明的自主移动装置的立体示意图，图3为本发明的自主移动装置的动力调整***的***示意图。本发明实施例提供一种自主移动装置Z，自主移动装置Z可例如为自主移动机器人(Autonomous Mobile Robot，AMR)或是自主导引车(Automated Guided Vehicle，AGV)。自主移动装置Z包括：两个驱动模块1、一惯性测量模块2、一导航模块3、一数据库模块4以及一控制模块5。两个驱动模块1、惯性测量模块2、数据库模块4及控制模块5是设置在自主移动装置Z内，导航模块3设置在自主移动装置Z上。控制模块5电性连接于两个驱动模块1、惯性测量模块2、导航模块3以及数据库模块4。两个驱动模块1分别连接自主移动装置Z的两个车轮13。自主移动装置Z的两个车轮13设置在自主移动装置Z的底部。在本实施例中，两个驱动模块1彼此独立运行，每一驱动模块1包括一驱动器11与一电性连接驱动器11的马达12，每一马达12连接对应的车轮13。进一步来说，驱动模块1的驱动器11可连接一电源模块6，而控制模块5可再电性连接于驱动器11与电源模块6之间。电源模块6提供电力经由驱动器11而传输至马达12，驱动器11可将来自于电源模块6所提供的一交流电源的恒定电压，转换成可控制马达12转矩和转速的变动电压。Referring to FIG. 1 , FIG. 2 and FIG. 3 , FIG. 1 and FIG. 2 are three-dimensional schematic diagrams of the autonomous mobile device of the present invention, and FIG. 3 is a system schematic diagram of the power adjustment system of the autonomous mobile device of the present invention. An embodiment of the present invention provides an autonomous mobile device Z, which can be, for example, an autonomous mobile robot (Autonomous Mobile Robot, AMR) or an autonomous guided vehicle (Automated Guided Vehicle, AGV). The autonomous mobile device Z includes: two driving modules 1 , an inertial measurement module 2 , a navigation module 3 , a database module 4 and a control module 5 . The two drive modules 1 , inertial measurement module 2 , database module 4 and control module 5 are arranged in the autonomous mobile device Z, and the navigation module 3 is arranged on the autonomous mobile device Z. The control module 5 is electrically connected to the two driving modules 1 , the inertial measurement module 2 , the navigation module 3 and the database module 4 . The two drive modules 1 are respectively connected to the two wheels 13 of the autonomous mobile device Z. The two wheels 13 of the autonomous mobile device Z are arranged on the bottom of the autonomous mobile device Z. In this embodiment, the two driving modules 1 operate independently of each other, each driving module 1 includes a driver 11 and a motor 12 electrically connected to the driver 11 , and each motor 12 is connected to a corresponding wheel 13 . Furthermore, the driver 11 of the driving module 1 can be connected to a power module 6 , and the control module 5 can be electrically connected between the driver 11 and the power module 6 . The power module 6 provides power to the motor 12 via the driver 11 . The driver 11 converts a constant voltage from an AC power supply provided by the power module 6 into a variable voltage that can control the torque and speed of the motor 12 .
参阅图4所示，图4为本发明的自主移动装置的倾斜示意图。举例来说，惯性测量模块2可由多个加速度感测组件(主要测量自主移动装置的运动方向的直线加速度)和多个陀螺仪(主要测量自主移动装置的运动方向的角速度)组成，因此能够进一步计算出自主移动装置Z的姿态。用以检测自主移动装置Z的倾斜角θ1。若自主移动装置Z位于一山坡面P，惯性测量模块2能够测量到自主移动装置Z呈倾斜状态，即自主移动装置Z的车体相对于水平地面呈一倾斜角θ1，因此，惯性测量模块2可检测出自主移动装置Z的倾斜角θ1，而倾斜角θ1即等于该山坡面P的坡度角，表示山坡面P的坡度。此外，自主移动装置Z还可包括一速度感测组件(图未示出)，速度感测组件可例如为磁感应式的轴转速感测组件，耦接于马达12用以连接车轮13的输出轴(图未示出)并且检测该输出轴的转速，而控制模块5接收速度感测组件输出的感测信号而推算得到自主移动装置Z的速度。Referring to FIG. 4 , FIG. 4 is a schematic oblique view of the autonomous mobile device of the present invention. For example, the inertial measurement module 2 may be composed of multiple acceleration sensing components (mainly measuring the linear acceleration of the direction of motion of the autonomous mobile device) and multiple gyroscopes (mainly measuring the angular velocity of the direction of motion of the autonomous mobile device), so it can further The pose of the autonomous mobile device Z is calculated. It is used to detect the inclination angle θ1 of the autonomous mobile device Z. If the autonomous mobile device Z is located on a hillside P, the inertial measurement module 2 can measure that the autonomous mobile device Z is in a tilted state, that is, the vehicle body of the autonomous mobile device Z is at an inclination angle θ1 relative to the horizontal ground. Therefore, the inertial measurement module 2 The inclination angle θ1 of the autonomous mobile device Z can be detected, and the inclination angle θ1 is equal to the slope angle of the hillside P, indicating the slope of the hillside P. In addition, the autonomous mobile device Z may also include a speed sensing component (not shown in the figure), the speed sensing component may be, for example, a magnetic induction shaft speed sensing component, coupled to the motor 12 to connect the output shaft of the wheel 13 (not shown in the figure) and detect the rotation speed of the output shaft, and the control module 5 receives the sensing signal output by the speed sensing component to estimate the speed of the autonomous mobile device Z.
参阅图3与图5所示，图5为本发明的自主移动装置的转向示意图。导航模块3包括一光学雷达(LiDAR)31、一超声波传感器32或一影像撷取组件33，举例来说，自主移动装置Z可通过光学雷达31进行光反射导航定位；或者，自主移动装置Z可通过超声波传感器32进行超声波导航定位；或者，自主移动装置Z可通过影像撷取组件33(包括不限于摄像机或CCD图像传感器)进行视觉导航定位。进一步来说，在本发明的实施例中，导航 模块3可即时定位自主移动装置Z的所在位置，以及构建出自主移动装置Z所在位置的周边环境地图，接着据以规划一行进路线，使自主移动装置Z依据该行进路线行驶。此外，当自主移动装置Z依据行进路线行驶，控制模块5可获取自主移动装置Z在行进过程中的转向角θ2。Referring to FIG. 3 and FIG. 5 , FIG. 5 is a schematic diagram of steering of the autonomous mobile device of the present invention. The navigation module 3 includes an optical radar (LiDAR) 31, an ultrasonic sensor 32 or an image capture component 33. For example, the autonomous mobile device Z can perform light reflection navigation and positioning through the optical radar 31; or, the autonomous mobile device Z can Ultrasonic navigation and positioning is performed through the ultrasonic sensor 32; alternatively, the autonomous mobile device Z can perform visual navigation and positioning through the image capture component 33 (including but not limited to a camera or a CCD image sensor). Further, in the embodiment of the present invention, the navigation module 3 can locate the location of the autonomous mobile device Z in real time, and construct a surrounding environment map of the location of the autonomous mobile device Z, and then plan a travel route based on this, so that the autonomous mobile device Z The mobile device Z travels according to the traveling route. In addition, when the autonomous mobile device Z is traveling according to the traveling route, the control module 5 can obtain the steering angle θ2 of the autonomous mobile device Z during the traveling process.
控制模块5为整车控制器(Vehicle Control Unit，VCU)，是设置在自主移动装置Z的内部，用以接收自主移动装置Z内部各种感测组件所输出的各种感测信号。举例来说，控制模块5电性连接于两个驱动模块1、惯性测量模块2、导航模块3以及数据库模块4，借以与驱动模块1、惯性测量模块2以及导航模块3进行信号的传输，以收集电流变化量、倾斜角以及转向角等信息，并且进一步进行读取与分析再据以输出对应的控制信号至相关组件以命令其做出相对应的动作。The control module 5 is a vehicle control unit (Vehicle Control Unit, VCU), which is arranged inside the autonomous mobile device Z to receive various sensing signals output by various sensing components inside the autonomous mobile device Z. For example, the control module 5 is electrically connected to the two drive modules 1, the inertial measurement module 2, the navigation module 3 and the database module 4, so as to transmit signals with the drive module 1, the inertial measurement module 2 and the navigation module 3, so as to Collect information such as current variation, tilt angle, and steering angle, and further read and analyze it to output corresponding control signals to related components to order them to take corresponding actions.
参阅图6所示，图6为本发明的自主移动装置的动力调整***的重量估算流程示意图。接着，进一步描述本发明的自主移动装置的动力调整***的重量估算机制。首先，控制模块5可检测由电源模块6输出再经由驱动器11传输至马达12的电流值，以检测自主移动装置Z的启动状态是否处在静止状态。接着，惯性测量模块2会检测自主移动装置Z所在位置的坡度而获得一倾斜角θ1，并且控制单元4收集倾斜角θ1并且存储至数据库模块4。接着，控制模块5进一步检测每一驱动器11在第n秒输出的电流变化量，当每一驱动器11在第n秒输出的电流变化量超过每一驱动器11可输出的最大电流量的一半时，控制模块5用以收集第n秒的电流值，且当每一驱动器11输出的电流变化量持续k秒(在本实施例中k＝1)，且在k秒内的变动幅度小于第n秒的电流变化量的10％时，控制模块5用以收集自主移动装置Z在第n+k秒的速度，且控制模块5将自主移动装置Z在第n+k秒的速度、驱动器11在第n秒输出的电流变化量以及自主移动装置Z所在位置的坡度与数据库模块4内的数据进行比对，以估算出自主移动装置Z的重量。Referring to FIG. 6 , FIG. 6 is a schematic flow diagram of the weight estimation process of the power adjustment system of the autonomous mobile device of the present invention. Next, the weight estimation mechanism of the power adjustment system of the autonomous mobile device of the present invention is further described. Firstly, the control module 5 can detect the current value output by the power module 6 and then transmitted to the motor 12 via the driver 11 to detect whether the active state of the autonomous mobile device Z is in a static state. Next, the inertial measurement module 2 detects the slope of the autonomous mobile device Z to obtain an inclination angle θ1, and the control unit 4 collects the inclination angle θ1 and stores it in the database module 4 . Next, the control module 5 further detects the current variation output by each driver 11 in the n second, and when the current variation output by each driver 11 in the n second exceeds half of the maximum current output by each driver 11, The control module 5 is used to collect the current value of the nth second, and when the variation of the current output by each driver 11 lasts for k seconds (k=1 in this embodiment), and the range of variation within k seconds is smaller than that of the nth second When the current variation is 10%, the control module 5 is used to collect the speed of the autonomous mobile device Z at the n+k second, and the control module 5 collects the speed of the autonomous mobile device Z at the n+k second, and the driver 11 at the second The output current variation in n seconds and the slope of the location of the autonomous mobile device Z are compared with the data in the database module 4 to estimate the weight of the autonomous mobile device Z.
值得一提的是，数据库模块4可以为设置在自主移动装置Z内的存储装置，例如硬盘或内存等，但本发明不限于此。数据库模块4也可以是远程服务器，通过网络联机与自主移动装置Z进行信号传输。在本实施例中，数据库模块4存储自主移动装置Z的不同重量值，且须说明的是，所谓的自主移动装置Z的重量是包括自主移动装置Z的本身重量以及承载重量。另外，数据库模块4除了存储自主移动装置Z的不同重量值，还包括自主移动装置Z所在位置的坡度、驱动器11输出的电流变化量以及自主移动装置Z的速度。进一步来说，数据库模块4中所存储的数据组建成一数据库，主要包括经过多次实地测试所得到的各项参数之间的对应关系表，其表示了在自主移动装置Z在不同位置的坡度(即倾斜角)、驱动器11在不同时间输出的电流变化量以及不同速度的条件下所对应到不同的自主移动装置Z的重量。换言之，该数据库是由一群相关数据(自主移动装置Z所在位置的坡度、驱动器11在不同时间输出的电流变化量、自主移动装置Z的不同速度以及自主移动装置Z的重量)的集合体，让控制模块5可以通过检索、排序、计算、查询等方法来得到所需的结果。It is worth mentioning that the database module 4 may be a storage device provided in the autonomous mobile device Z, such as a hard disk or a memory, but the present invention is not limited thereto. The database module 4 can also be a remote server, which transmits signals with the autonomous mobile device Z through network connection. In this embodiment, the database module 4 stores different weight values of the autonomous mobile device Z, and it should be noted that the so-called weight of the autonomous mobile device Z includes its own weight and the carrying weight of the autonomous mobile device Z. In addition, the database module 4 not only stores the different weight values of the autonomous mobile device Z, but also includes the gradient of the location of the autonomous mobile device Z, the change in current output by the driver 11 and the speed of the autonomous mobile device Z. Further, the data stored in the database module 4 is formed into a database, which mainly includes a correspondence table between various parameters obtained through multiple field tests, which shows the gradient of the autonomous mobile device Z at different positions ( That is, the inclination angle), the output current variation of the driver 11 at different times and different speeds correspond to the weights of different autonomous mobile devices Z. In other words, the database is an aggregate of a group of relevant data (the gradient of the location of the autonomous mobile device Z, the amount of current change output by the driver 11 at different times, the different speeds of the autonomous mobile device Z, and the weight of the autonomous mobile device Z), so that The control module 5 can obtain the required results through retrieval, sorting, calculation, query and other methods.
参阅图7所示，图7为本发明的自主移动装置的动力调整***的车重估算表示意图，其表示出数据库模块4中所存储的对应关系表的其中一种实施型态，其主要表示在驱动器11输出的电流变化量为100％且持续一秒(k＝1)的条件下，不同的自主移动装置Z的重量(车重为300kg、500kg、700kg)在不同的坡度(倾斜角θ1为0度、5度、10度及15度)对应到的速度信息。举例来说，若控制模块5在倾斜角θ1为0度时，以及驱动器11输出的电流变化量为100％且持续一秒的条件下所测量到的车速为5.23m/s，即18.8KPH(km/hr)，由车重估算表可得知所估算出的车重为300kg。然而，上述所举的例子只是其中一可行的实施例而并非用以限定本发明。Referring to Fig. 7, Fig. 7 is a schematic diagram of the vehicle weight estimation table of the power adjustment system of the autonomous mobile device of the present invention, which shows one of the implementation types of the corresponding relationship table stored in the database module 4, which mainly shows Under the condition that the current change amount output by the driver 11 is 100% and lasts for one second (k=1), the weights of different autonomous mobile devices Z (vehicle weights are 300kg, 500kg, 700kg) at different slopes (inclination angle θ1 0 degrees, 5 degrees, 10 degrees and 15 degrees) corresponding to the speed information. For example, if the vehicle speed measured by the control module 5 is 5.23m/s under the condition that the inclination angle θ1 is 0 degrees, and the output current of the driver 11 is 100% and lasts for one second, it is 18.8KPH ( km/hr), it can be seen from the vehicle weight estimation table that the estimated vehicle weight is 300kg. However, the above-mentioned example is only one possible embodiment and is not intended to limit the present invention.
参阅图8所示，图8为本发明的自主移动装置的动力调整方法的步骤S1至S5的示意图，本发明的自主移动装置的动力调整方法可通过上述公开的自主移动装置Z的动力调整***来实现。动力调整方法至少包括下列几个步骤：Referring to FIG. 8, FIG. 8 is a schematic diagram of steps S1 to S5 of the power adjustment method of the autonomous mobile device of the present invention. The power adjustment method of the autonomous mobile device of the present invention can be implemented through the power adjustment system of the autonomous mobile device Z disclosed above. to fulfill. The power adjustment method includes at least the following steps:
步骤S1：通过控制模块5输出两个第一电流控制信号分别传送至两个驱动器，以使两个驱动器11分别输出两个初始电流至两个马达12，以使两个马达12分别驱动两个车轮13而推动自主移动装置Z行驶；Step S1: output two first current control signals through the control module 5 and send them to the two drivers respectively, so that the two drivers 11 respectively output two initial currents to the two motors 12, so that the two motors 12 respectively drive two The wheels 13 promote the autonomous mobile device Z to travel;
步骤S2：通过惯性测量模块2检测自主移动装置Z的倾斜角θ1；Step S2: Detect the inclination angle θ1 of the autonomous mobile device Z through the inertial measurement module 2;
步骤S3：通过导航模块3规划一行进路线，使自主移动装置Z依据该行进路线行驶，且控制模块5用以获取自主移动装置Z在行进过程中的转向角θ2；Step S3: planning a travel route through the navigation module 3, so that the autonomous mobile device Z drives according to the travel route, and the control module 5 is used to obtain the steering angle θ2 of the autonomous mobile device Z during the travel process;
步骤S4：通过控制模块5依据数据库模块4存储的自主移动装置Z的不同重量值，以估测出自主移动装置Z的重量；Step S4: Estimate the weight of the autonomous mobile device Z through the control module 5 according to the different weight values of the autonomous mobile device Z stored in the database module 4;
步骤S5:通过控制模块5依据两个第一电流控制信号、自主移动装置Z的重量、转向角θ2以及倾斜角θ1输出两个第二电流控制信号分别传送至两个驱动器11，且两个驱动器11据以分别输出两个调整电流至两个马达12，以使两个马达12分别驱动两个车轮13进行差速控制。Step S5: output two second current control signals through the control module 5 according to the two first current control signals, the weight of the autonomous mobile device Z, the steering angle θ2 and the tilt angle θ1, and send them to the two drivers 11 respectively, and the two drivers 11 respectively outputs two adjustment currents to the two motors 12, so that the two motors 12 respectively drive the two wheels 13 for differential speed control.
承上述，控制模块5依据一信号增益函数将第一电流控制信号调整后输出第二电流控制信号，所述信号增益函数为：Based on the above, the control module 5 adjusts the first current control signal according to a signal gain function to output the second current control signal, and the signal gain function is:
L2＝L1×(W/W 0)×(1±tan(θ1))×(1±tan(θ2))； L2＝L1×(W/W 0 )×(1±tan(θ1))×(1±tan(θ2));
其中，L1为第一电流控制信号，L2为第二电流控制信号，W为自主移动装置的重量，W 0为自主移动装置Z的预设基准重量(在本实施例中以W 0＝500kg)，(W/W 0)为重量因子，θ1是倾斜角而(1±tan(θ1))为坡度因子，θ2是转向角而(1±tan(θ2))为转向因子。 Wherein, L1 is the first current control signal, L2 is the second current control signal, W is the weight of the autonomous mobile device, W 0 is the preset reference weight of the autonomous mobile device Z (in this embodiment, W 0 =500kg) , (W/W 0 ) is the weight factor, θ1 is the bank angle and (1±tan(θ1)) is the slope factor, θ2 is the steering angle and (1±tan(θ2)) is the steering factor.
须说明的是，由于本发明中的两个驱动模块1彼此独立运行，因此在转向中两个驱动模块1所获得的增益值有所不同。接着，以下列举两个例子进一步对上述的「差速控制」进行说明。It should be noted that, since the two driving modules 1 in the present invention operate independently of each other, the gain values obtained by the two driving modules 1 are different during steering. Next, two examples are given below to further describe the above-mentioned "differential speed control".
举例来说，当重量为300kg的自主移动装置Z在坡度为10度(倾斜角θ1为10度)的右倾斜坡上进行左转10度(转向角θ2为10度)时，此时左边的驱动模块1的重量因子为(300/500)＝0.6，坡度因子为(1+tan(10))＝1.176(因为在右倾斜坡上进行左转相对来说马达 12需要输出较大扭力，因此调高坡度因子)，转向因子为(1-tan(10))＝0.823(因为进行左转时左边的驱动模块1的马达12需要输出较小扭力，因此调低转向因子)，因此左边的驱动模块1的整体增益为0.6×1.176×0.823＝0.58，也就是说，控制模块5可依据上述的信号增益函数针对左边的驱动模块1推算出第一电流控制信号经过增益加成之后输出第二电流控制信号为：L2＝L1×0.58；另一方面，同样地，当重量为300kg的自主移动装置Z在坡度为10度的右倾斜坡上进行左转10度时，此时右边的驱动模块1的重量因子为(300/500)＝0.6，坡度因子为(1+tan(10))＝1.176(因为在右倾斜坡上进行左转相对来说马达12需要输出较大扭力，因此调高坡度因子)，转向因子为(1+tan(10))＝1.176(因为进行左转时右边的驱动模块1的马达12需要输出较大扭力，因此调高转向因子)，因此右边的驱动模块1的整体增益为0.6×1.176×1.176＝0.83，也就是说，控制模块5可依据上述的信号增益函数针对右边的驱动模块1推算出第一电流控制信号经过增益加成之后输出第二电流控制信号为：L2＝L1×0.83。For example, when the autonomous mobile device Z with a weight of 300kg turns left 10 degrees (steering angle θ2 is 10 degrees) on a right slope with a slope of 10 degrees (the inclination angle θ1 is 10 degrees), the left driving The weight factor of module 1 is (300/500)=0.6, and the slope factor is (1+tan(10))=1.176 (because the motor 12 needs to output a relatively large torque on a right inclined slope, so the increase slope factor), the steering factor is (1-tan(10))=0.823 (because the motor 12 of the drive module 1 on the left needs to output a small torque when turning left, so the steering factor is lowered), so the drive module 1 on the left The overall gain is 0.6×1.176×0.823=0.58, that is to say, the control module 5 can calculate the first current control signal for the left driving module 1 according to the above-mentioned signal gain function and output the second current control signal after gain addition It is: L2=L1×0.58; on the other hand, similarly, when the autonomous mobile device Z with a weight of 300kg turns left 10 degrees on a right slope with a slope of 10 degrees, the weight factor of the drive module 1 on the right at this time is For (300/500)=0.6, the slope factor is (1+tan(10))=1.176 (because the motor 12 needs to output relatively large torque on the right inclined slope to turn left, so the slope factor is increased), the steering The factor is (1+tan(10))=1.176 (because the motor 12 of the drive module 1 on the right needs to output a large torque when turning left, so the steering factor is increased), so the overall gain of the drive module 1 on the right is 0.6 ×1.176×1.176=0.83, that is to say, the control module 5 can calculate the first current control signal for the drive module 1 on the right according to the above-mentioned signal gain function and output the second current control signal after gain addition: L2=L1 ×0.83.
举例来说，当重量为700kg的自主移动装置Z在坡度为15度(倾斜角θ1为15度)的左倾斜坡上进行左转10度(转向角θ2为10度)时，此时左边的驱动模块1的重量因子为(700/500)＝1.4，坡度因子为(1-tan(15))＝0.732(因为在左倾斜坡上进行左转相对来说马达需要输出较小扭力，因此调低坡度因子)，转向因子为(1-tan(10))＝0.823(因为进行左转时，左边的驱动模块1的马达12需要输出较小扭力，因此调低转向因子)，因此左边的驱动模块1的整体增益为1.4×0.732×0.823＝0.84，也就是说，控制模块5可依据上述的信号增益函数针对左边的驱动模块1推算出第一电流控制信号经过增益加成之后输出第二电流控制信号为：L2＝L1×0.84；另一方面，同样地，当重量为700kg的自主移动装置Z在坡度为15度(倾斜角θ1为15度)的左倾斜坡上进行左转10度(转向角θ2为10度)时，此时右边的驱动模块1的重量因子为(700/500)＝1.4，坡度因子为(1-tan(15))＝0.732(因为在左倾斜坡上进行左转相对来说马达12需要输出较小扭力，因此调低坡度因子)，转向因子为(1+tan(10))＝1.176(因为进行左转时右边的驱动模块1的马达12需要输出较大扭力，因此调高坡度因子)，因此右边的驱动模块1的整体增益为1.4×0.732×1.176＝1.2，也就是说，控制模块5可依据上述的信号增益函数针对右边的驱动模块1推算出第一电流控制信号经过增益加成之后输出第二电流控制信号为：L2＝L1×1.2。For example, when an autonomous mobile device Z with a weight of 700 kg turns left 10 degrees (steering angle θ2 is 10 degrees) on a left slope with a slope of 15 degrees (inclination angle θ1 is 15 degrees), the left driving The weight factor of module 1 is (700/500) = 1.4, and the slope factor is (1-tan(15)) = 0.732 (because the motor needs to output a small torque when turning left on a left slope, so lower the slope factor), the steering factor is (1-tan(10))=0.823 (because when turning left, the motor 12 of the drive module 1 on the left needs to output a small torque, so the steering factor is lowered), so the drive module 1 on the left The overall gain is 1.4×0.732×0.823=0.84, that is to say, the control module 5 can calculate the first current control signal for the left driving module 1 according to the above-mentioned signal gain function and output the second current control signal after gain addition It is: L2=L1×0.84; on the other hand, similarly, when the autonomous mobile device Z with a weight of 700kg turns left 10 degrees (steering angle θ2 10 degrees), the weight factor of the drive module 1 on the right is (700/500)=1.4, and the slope factor is (1-tan(15))=0.732 (because turning left on the left slope is relatively speaking The motor 12 needs to output a small torque, so the slope factor is lowered), and the steering factor is (1+tan(10))=1.176 (because the motor 12 of the drive module 1 on the right needs to output a larger torque when turning left, so adjust high slope factor), so the overall gain of the driving module 1 on the right is 1.4×0.732×1.176=1.2, that is to say, the control module 5 can calculate the first current control signal for the driving module 1 on the right according to the above-mentioned signal gain function After gain addition, the output second current control signal is: L2=L1×1.2.
然而，上述所举的例子只是其中一可行的实施例而并非用以限定本发明。However, the above-mentioned example is only one possible embodiment and is not intended to limit the present invention.
实施例的有益效果Beneficial effects of the embodiment
本发明的其中一有益效果在于，本发明所提供的自主移动装置Z的动力调整***及其方法，其能通过“控制模块5用以输出两个第一电流控制信号分别传送至两个驱动器11，以使两个驱动器11分别输出两个初始电流至两个马达13，以使两个马达12分别驱动两个车轮13而推动自主移动装置Z行驶，且控制模块5用以依据数据库模块4的数据估测出自主移动装置Z的重量”以及“控制模块5依据两个第一电流控制信号、自主移动装置Z的重量、转向角θ2以及自主移动装置Z的倾斜角θ1输出两个第二电流控制信号分别 传送至两个驱动器11，且两个驱动器11据以分别输出两个调整电流至两个马达12，以使两个马达12分别驱动两个车轮13进行差速控制”的技术方案，以针对两个彼此独立运行的驱动模块1进行差速控制，改善自主移动装置Z转弯时的稳定性，并且提升自主移动装置Z的工作效率且减少耗能。One of the beneficial effects of the present invention is that the power adjustment system and method of the autonomous mobile device Z provided by the present invention can be used to output two first current control signals through the "control module 5 and send them to the two drivers 11 respectively." so that the two drivers 11 respectively output two initial currents to the two motors 13, so that the two motors 12 respectively drive the two wheels 13 to push the autonomous mobile device Z to travel, and the control module 5 is used to The data estimates the weight of the autonomous mobile device Z" and "the control module 5 outputs two second currents according to the two first current control signals, the weight of the autonomous mobile device Z, the steering angle θ2, and the tilt angle θ1 of the autonomous mobile device Z The control signals are respectively sent to the two drivers 11, and the two drivers 11 output two adjustment currents to the two motors 12 accordingly, so that the two motors 12 drive the two wheels 13 respectively for differential speed control", Differential speed control is performed on two driving modules 1 that operate independently, so as to improve the stability of the autonomous mobile device Z when turning, improve the working efficiency of the autonomous mobile device Z and reduce energy consumption.
以上所公开的内容仅为本发明的优选可行实施例，并非因此局限本发明的权利要求书的保护范围，所以凡是运用本发明说明书及附图内容所做的等效技术变化，均包含于本发明的权利要求书的保护范围内。The content disclosed above is only a preferred feasible embodiment of the present invention, and does not therefore limit the protection scope of the claims of the present invention. Therefore, all equivalent technical changes made by using the description of the present invention and the contents of the accompanying drawings are included in this document. within the protection scope of the claims of the invention.

Claims (12)

  1. 一种自主移动装置的动力调整***，其特征在于，所述自主移动装置的动力调整***包括：A power adjustment system for an autonomous mobile device, characterized in that the power adjustment system for an autonomous mobile device includes:
    两个驱动模块，设置在所述自主移动装置内且分别连接所述自主移动装置的两个车轮，两个所述驱动模块彼此独立运行，每一所述驱动模块包括一驱动器与一电性连接所述驱动器的马达，每一所述马达连接对应的所述车轮；Two driving modules are arranged in the autonomous mobile device and respectively connected to the two wheels of the autonomous mobile device. The two driving modules operate independently of each other. Each of the driving modules includes a driver and an electrical connection The motors of the drive, each of the motors is connected to the corresponding wheels;
    一惯性测量模块，设置在所述自主移动装置内，用以检测所述自主移动装置的倾斜角；An inertial measurement module, arranged in the autonomous mobile device, for detecting the tilt angle of the autonomous mobile device;
    一导航模块，设置在所述自主移动装置上，用以规划一行进路线，使所述自主移动装置依据所述行进路线行驶；A navigation module, installed on the autonomous mobile device, for planning a travel route, so that the autonomous mobile device can drive according to the travel route;
    一数据库模块，设置在所述自主移动装置内，用以存储所述自主移动装置的不同重量值；以及a database module disposed within the autonomous mobile device for storing different weight values of the autonomous mobile device; and
    一控制模块，设置在所述自主移动装置内，所述控制模块电性连接于两个所述驱动模块、所述惯性测量模块、所述导航模块以及所述数据库模块，当所述自主移动装置沿着所述行进路线移动时，所述控制模块用以获取所述自主移动装置在行进过程中的转向角；A control module, set in the autonomous mobile device, the control module is electrically connected to the two drive modules, the inertial measurement module, the navigation module and the database module, when the autonomous mobile device When moving along the travel route, the control module is used to obtain the steering angle of the autonomous mobile device during travel;
    其中，所述控制模块用以输出两个第一电流控制信号分别传送至两个所述驱动器，以使两个所述驱动器分别输出两个初始电流至两个所述马达，以使两个所述马达分别驱动两个所述车轮而推动所述自主移动装置行驶，且所述控制模块用以依据所述数据库模块的数据估测出所述自主移动装置的重量；Wherein, the control module is used to output two first current control signals to the two drivers respectively, so that the two drivers output two initial currents to the two motors respectively, so that the two The motor respectively drives the two wheels to push the autonomous mobile device to travel, and the control module is used to estimate the weight of the autonomous mobile device according to the data of the database module;
    其中，所述控制模块用以依据两个所述第一电流控制信号、所述自主移动装置的重量、转向角以及倾斜角输出两个第二电流控制信号分别传送至两个所述驱动器，且两个所述驱动器据以分别输出两个调整电流至两个所述马达，以使两个所述马达分别驱动两个所述车轮进行差速控制。Wherein, the control module is used to output two second current control signals to the two drivers respectively according to the two first current control signals, the weight of the autonomous mobile device, the steering angle and the tilt angle, and Accordingly, the two drivers respectively output two adjustment currents to the two motors, so that the two motors respectively drive the two wheels for differential speed control.
  2. 根据权利要求1所述的自主移动装置的动力调整***，其特征在于，所述自主移动装置的重量包括所述自主移动装置的本身重量以及承载重量。The power adjustment system of the autonomous mobile device according to claim 1, wherein the weight of the autonomous mobile device includes the self weight and the carrying weight of the autonomous mobile device.
  3. 根据权利要求1所述的自主移动装置的动力调整***，其特征在于，所述导航模块用以即时定位所述自主移动装置的所在位置，以及构建出所述自主移动装置所在位置的周边环境地图，以进一步规划出所述行进路线。The power adjustment system of the autonomous mobile device according to claim 1, wherein the navigation module is used to locate the location of the autonomous mobile device in real time, and construct a surrounding environment map of the location of the autonomous mobile device , to further plan the travel route.
  4. 根据权利要求1所述的自主移动装置的动力调整***，其特征在于，所述控制模块依据一信号增益函数将第一电流控制信号调整后输出所述第二电流控制信号，所述信号增益函数包括：The power adjustment system of an autonomous mobile device according to claim 1, wherein the control module outputs the second current control signal after adjusting the first current control signal according to a signal gain function, and the signal gain function include:
    L2＝L1×(W/W 0)×(1±tan(θ1))×(1±tan(θ2))； L2＝L1×(W/W 0 )×(1±tan(θ1))×(1±tan(θ2));
    其中，L1为所述第一电流控制信号，L2为所述第二电流控制信号，W为所述自主移动装置的重量，W 0为所述自主移动装置的预设基准重量，θ1是所述倾斜角，θ2是所述转向角。 Wherein, L1 is the first current control signal, L2 is the second current control signal, W is the weight of the autonomous mobile device, W 0 is the preset reference weight of the autonomous mobile device, and θ1 is the The tilt angle, θ2 is the steering angle.
  5. 根据权利要求1所述的自主移动装置的动力调整***，其特征在于，所述数据库 模块还包括所述自主移动装置所在位置的坡度、所述驱动器输出的电流变化量以及所述自主移动装置的速度。The power adjustment system of the autonomous mobile device according to claim 1, wherein the database module further includes the gradient of the location of the autonomous mobile device, the change in current output by the driver, and the gradient of the autonomous mobile device. speed.
  6. 根据权利要求5所述的自主移动装置的动力调整***，其特征在于，当每一所述驱动器在第n秒输出的电流变化量超过最大电流量的一半时，所述控制模块用以收集第n秒的电流值，且当每一所述驱动器输出的电流变化量持续k秒且在k秒内的变动幅度小于第n秒的电流变化量的10％时，所述控制模块用以收集所述自主移动装置在第n+k秒的速度，且所述控制模块用以将所述自主移动装置在第n+k秒的速度、所述驱动器在第n秒输出的电流变化量以及所述自主移动装置所在位置的坡度与所述数据库模块内的数据进行比对，以估算出所述自主移动装置的重量。The power adjustment system of an autonomous mobile device according to claim 5, wherein when the change in current output by each driver exceeds half of the maximum current in the nth second, the control module is used to collect the first The current value of n seconds, and when the current variation output by each driver lasts for k seconds and the range of variation within k seconds is less than 10% of the current variation of the nth second, the control module is used to collect all The speed of the autonomous mobile device at the n+k second, and the control module is used to calculate the speed of the autonomous mobile device at the n+k second, the output current change of the driver at the n second, and the The gradient of the location of the autonomous mobile device is compared with the data in the database module to estimate the weight of the autonomous mobile device.
  7. 一种自主移动装置的动力调整方法，所述自主移动装置设置两个驱动模块、一惯性测量模块、一导航模块、一数据库模块以及一控制模块，两个所述驱动模块分别连接所述自主移动装置的两个车轮，每一所述驱动模块包括一驱动器与一电性连接所述驱动器的马达，每一所述马达连接对应的所述车轮，所述控制模块电性连接于两个所述驱动模块、所述惯性测量模块以及所述导航模块，其特征在于，所述动力调整方法包括：A power adjustment method for an autonomous mobile device, the autonomous mobile device is provided with two drive modules, an inertial measurement module, a navigation module, a database module and a control module, and the two drive modules are respectively connected to the autonomous mobile The two wheels of the device, each of the driving modules includes a driver and a motor electrically connected to the driver, each of the motors is connected to the corresponding wheel, and the control module is electrically connected to the two The driving module, the inertial measurement module and the navigation module are characterized in that the power adjustment method includes:
    通过所述控制模块输出两个第一电流控制信号分别传送至两个所述驱动器，以使两个所述驱动器分别输出两个初始电流至两个所述马达，以使两个所述马达分别驱动两个所述车轮而推动所述自主移动装置行驶；The two first current control signals output by the control module are sent to the two drivers respectively, so that the two drivers output two initial currents to the two motors respectively, so that the two motors respectively driving two of said wheels to propel said autonomous mobile device;
    通过所述惯性测量模块检测所述自主移动装置的倾斜角；detecting a tilt angle of the autonomous mobile device by the inertial measurement module;
    通过所述导航模块规划一行进路线，使所述自主移动装置依据所述行进路线行驶，且所述控制模块用以获取所述自主移动装置在行进过程中的转向角；Planning a traveling route through the navigation module, so that the autonomous mobile device travels according to the traveling route, and the control module is used to obtain the steering angle of the autonomous mobile device during the traveling process;
    通过所述控制模块依据所述数据库模块存储的所述自主移动装置的不同重量值，以估测出所述自主移动装置的重量；以及estimating the weight of the autonomous mobile device by the control module according to different weight values of the autonomous mobile device stored by the database module; and
    通过所述控制模块依据两个所述第一电流控制信号、所述自主移动装置的重量、转向角以及倾斜角输出两个第二电流控制信号分别传送至两个所述驱动器，且两个所述驱动器据以分别输出两个调整电流至两个所述马达，以使两个所述马达分别驱动两个所述车轮进行差速控制。The control module outputs two second current control signals according to the two first current control signals, the weight of the autonomous mobile device, the steering angle and the tilt angle, and transmits them to the two drivers respectively, and the two According to this, the driver outputs two adjustment currents to the two motors respectively, so that the two motors respectively drive the two wheels for differential speed control.
  8. 根据权利要求7所述的自主移动装置的动力调整方法，其特征在于，所述自主移动装置的重量包括所述自主移动装置的本身重量以及承载重量。The power adjustment method of the autonomous mobile device according to claim 7, characterized in that, the weight of the autonomous mobile device includes the self weight and the carrying weight of the autonomous mobile device.
  9. 根据权利要求7所述的自主移动装置的动力调整方法，其特征在于，所述导航模块用以即时定位所述自主移动装置的所在位置，以及构建出所述自主移动装置所在位置的周边环境地图，以进一步规划出所述行进路线。The power adjustment method of the autonomous mobile device according to claim 7, wherein the navigation module is used to locate the location of the autonomous mobile device in real time, and construct a surrounding environment map of the location of the autonomous mobile device , to further plan the travel route.
  10. 根据权利要求7所述的自主移动装置的动力调整方法，其特征在于，所述控制模块依据一信号增益函数将第一电流控制信号调整后输出所述第二电流控制信号，所述信号增益函数包括：The power adjustment method of an autonomous mobile device according to claim 7, wherein the control module outputs the second current control signal after adjusting the first current control signal according to a signal gain function, and the signal gain function include:
    L2＝L1×(W/W 0)×(1±tan(θ1))×(1±tan(θ2))； L2＝L1×(W/W 0 )×(1±tan(θ1))×(1±tan(θ2));
    其中，L1为所述第一电流控制信号，L2为所述第二电流控制信号，W为所述自主移动装置的重量，W 0为所述自主移动装置的预设基准重量，θ1是所述转向角，θ2是所述倾斜角。 Wherein, L1 is the first current control signal, L2 is the second current control signal, W is the weight of the autonomous mobile device, W 0 is the preset reference weight of the autonomous mobile device, and θ1 is the Steering angle, θ2 is the lean angle.
  11. 根据权利要求7所述的自主移动装置的动力调整方法，其特征在于，所述数据库模块还包括所述自主移动装置所在位置的坡度、所述驱动器输出的电流变化量以及所述自主移动装置的速度。The power adjustment method of the autonomous mobile device according to claim 7, characterized in that, the database module further includes the gradient of the location of the autonomous mobile device, the change in current output by the driver, and the gradient of the autonomous mobile device. speed.
  12. 根据权利要求11所述的自主移动装置的动力调整方法，其特征在于，当每一所述驱动器在第n秒输出的电流变化量超过最大电流量的一半时，所述控制模块用以收集第n秒的电流值，且当每一所述驱动器输出的电流变化量持续k秒且在k秒内的变动幅度小于第n秒的电流变化量的10％时，所述控制模块用以收集所述自主移动装置在第n+k秒的速度，且所述控制模块用以将所述自主移动装置在第n+k秒的速度、所述驱动器在第n秒输出的电流变化量以及所述自主移动装置所在位置的坡度与所述数据库模块内的数据进行比对，以估算出所述自主移动装置的重量。The method for adjusting the power of an autonomous mobile device according to claim 11, wherein when the output current variation of each driver exceeds half of the maximum current in the nth second, the control module is used to collect the first The current value of n seconds, and when the current variation output by each driver lasts for k seconds and the range of variation within k seconds is less than 10% of the current variation of the nth second, the control module is used to collect all The speed of the autonomous mobile device at the n+k second, and the control module is used to calculate the speed of the autonomous mobile device at the n+k second, the output current change of the driver at the n second, and the The gradient of the location of the autonomous mobile device is compared with the data in the database module to estimate the weight of the autonomous mobile device.
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