CN-115656607-B - Method for detecting walking resistance current value by robot

CN115656607BCN 115656607 BCN115656607 BCN 115656607BCN-115656607-B

Abstract

The application discloses a method for detecting a walking resistance current value by a robot, which comprises the steps of performing closed-loop adjustment on a PWM value used for controlling a driving motor by the robot, determining a first PWM value obtained in real time in a closed-loop adjustment process, performing closed-loop adjustment on the PWM value used for controlling a fan by the robot, determining a second PWM value obtained in real time in the closed-loop adjustment process, after the first PWM value is transmitted to the driving motor, sampling a current signal of the driving motor by the robot to obtain a driving wheel current sampling value, and calculating the current walking resistance current value of the robot and/or calculating the current relative walking resistance current value based on the driving wheel current sampling value, the first PWM value and the second PWM value.

Inventors

WANG YUELIN
LIANG HUAJIE
LAI QINWEI

Assignees

珠海一微半导体股份有限公司

Dates

Publication Date: 20260505
Application Date: 20221031

Claims (9)

1. The method for detecting the walking resistance current value by the robot is characterized in that the method for detecting the walking resistance current value by the robot comprises the following steps: The robot performs closed-loop adjustment on a PWM value for controlling a driving motor, and determines that a first PWM value is obtained in real time in the closed-loop adjustment process; the robot performs closed-loop regulation on the PWM value for controlling the fan, and determines to obtain a second PWM value in real time in the closed-loop regulation process; calculating a current walking resistance current value of the robot and/or calculating a current relative walking resistance current value based on the driving wheel current sampling value, the first PWM value and the second PWM value; The first PWM value is used for controlling the output torque change of the driving motor so as to feed back one electric quantity change value in the sampling value of the driving wheel current, and the second PWM value is used for controlling the change of the suction force of the fan generated by the fan so as to feed back the other electric quantity change value in the sampling value of the driving wheel current; The method for calculating the current walking resistance current value of the robot based on the driving wheel current sampling value, the first PWM value and the second PWM value comprises the steps of sequentially subtracting an electric quantity change value caused by the PWM value for controlling a driving motor in closed-loop adjustment and an electric quantity change value caused by the PWM value for controlling a fan in closed-loop adjustment from the driving wheel current sampling value after the robot starts to walk on a current walking surface to obtain the current walking resistance current value of the robot, wherein the electric quantity change values caused by the driving wheel current sampling value and the PWM value for controlling the driving motor in closed-loop adjustment are all derived from driving wheels connected by the same driving motor so as to obtain the current walking resistance current value of the driving wheels installed on the same side of the robot; The method for calculating the current relative walking resistance current value of the robot based on the driving wheel current sampling value, the first PWM value and the second PWM value comprises the steps of sequentially subtracting the relative electric quantity change value corresponding to the first PWM value and the relative electric quantity change value corresponding to the second PWM value from the relative electric quantity change value of the driving wheel current sampling value after the robot starts to walk on the current walking surface, and obtaining the current relative walking resistance current value of the robot, wherein the relative electric quantity change value of the driving wheel current sampling value and the relative electric quantity change value corresponding to the first PWM value are all derived from driving wheels connected by the same driving motor so as to obtain the current relative walking resistance current value of driving wheels mounted on the same side of the robot, and the current relative walking resistance current value of the robot is represented by electric quantity.
2. The method for detecting a traveling resistance current value of a robot according to claim 1, wherein the method for calculating the present traveling resistance current value of the robot based on the driving wheel current sampling value, the first PWM value, and the second PWM value specifically comprises: Before the robot starts to walk, the robot has static friction force relative to the contacted walking surface and starts to start the driving motor until the robot starts to walk on the current walking surface from rest to overcome the static friction force; in the process that the robot walks on the current walking surface, the robot marks a first PWM value obtained in real time as a first PWM value to be detected, and marks a second PWM value obtained in real time as a second PWM value to be detected; the robot marks the product of the first PWM value to be measured and the first conversion coefficient as an electric quantity change value caused by the PWM value for controlling the driving motor in closed-loop regulation, and marks the product of the second PWM value to be measured and the second conversion coefficient as an electric quantity change value caused by the PWM value for controlling the fan in closed-loop regulation; Then, the driving wheel current sampling value obtained in real time by the robot control subtracts the electric quantity change value caused by the PWM value for controlling the driving motor in closed-loop adjustment to obtain a first electric quantity difference value, then subtracts the electric quantity change value caused by the PWM value for controlling the fan in closed-loop adjustment from the first electric quantity difference value to obtain a second electric quantity difference value, and then marks the second electric quantity difference value as the current running resistance current value of the robot.
3. The method for detecting a traveling resistance current value of a robot according to claim 1, wherein the method for calculating the present traveling resistance current value of the robot based on the driving wheel current sampling value, the first PWM value, and the second PWM value specifically comprises: Before the robot starts to walk, the robot has static friction force relative to the contacted walking surface and starts to start the driving motor until the robot starts to walk on the current walking surface from rest, so that the driving wheel of the robot overcomes the static friction force; Then, in a preset sampling time, the robot calculates a first reference PWM value based on all obtained first PWM values, calculates a second reference PWM value based on all obtained second PWM values, and calculates a driving wheel reference current value based on all obtained driving wheel current sampling values; the robot marks the product of the first reference PWM value and the first conversion coefficient as an electric quantity change value caused by the PWM value for controlling the driving motor in closed-loop regulation, and marks the product of the second reference PWM value and the second conversion coefficient as an electric quantity change value caused by the PWM value for controlling the fan in closed-loop regulation; The reference current value of the driving wheel of the robot is subtracted by the electric quantity change value caused by the PWM value for controlling the driving motor in closed-loop regulation to obtain a first electric quantity difference value, then the electric quantity change value caused by the PWM value for controlling the fan in closed-loop regulation is subtracted by the first electric quantity difference value to obtain a second electric quantity difference value, and the second electric quantity difference value is marked as the current running resistance current value of the robot.
4. The method for detecting a traveling resistance current value of a robot according to claim 1, wherein the method for calculating a present relative traveling resistance current value of the robot based on the driving wheel current sampling value, the first PWM value, and the second PWM value specifically comprises: Before the robot starts to walk, the robot has static friction force relative to the contacted walking surface and starts to start the driving motor until the robot starts to walk on the current walking surface from rest, so that the driving wheel of the robot overcomes the static friction force; then, in a preset sampling time, the robot calculates a first reference PWM value based on all obtained first PWM values, calculates a second reference PWM value based on all obtained second PWM values, and calculates a driving wheel reference current value based on all obtained driving wheel current sampling values; After the preset sampling time, the robot marks a first PWM value obtained in real time as a first PWM value to be detected, and marks a second PWM value obtained in real time as a second PWM value to be detected; then, marking a difference value between a driving wheel current sampling value and a driving wheel reference current value obtained in real time as a relative electric quantity change value of the driving wheel current sampling value, marking the product of the difference value between a first PWM value to be detected and a first reference PWM value and a first conversion coefficient as a relative electric quantity change value corresponding to the first PWM value, and marking the product of the difference value between a second PWM value to be detected and a second reference PWM value and a second conversion coefficient as a relative electric quantity change value corresponding to the second PWM value; Then, the relative electric quantity change value corresponding to the first PWM value is subtracted from the relative electric quantity change value of the driving wheel current sampling value to obtain a first difference value, the relative electric quantity change value corresponding to the second PWM value is subtracted from the first difference value to obtain a second difference value, and the second difference value is marked as the current relative walking resistance current value of the robot.
5. The method for detecting the walking resistance current value of the robot according to claim 3 or 4, wherein the method for calculating the first reference PWM value based on all the obtained first PWM values in the preset sampling time comprises the steps of averaging all the obtained first PWM values in the preset sampling time to obtain the first reference PWM value, or screening out the first PWM value with the largest value from all the obtained first PWM values in the preset sampling time to obtain the first reference PWM value; the method for calculating the second reference PWM value based on all the obtained second PWM values in the preset sampling time comprises the steps of averaging all the obtained second PWM values in the preset sampling time to obtain the second reference PWM value, or screening out the second PWM value with the largest value from all the obtained second PWM values in the preset sampling time to obtain the second reference PWM value; The method for calculating the driving wheel reference current value based on all the obtained driving wheel current sampling values in the preset sampling time comprises the steps of averaging all the obtained driving wheel current sampling values in the preset sampling time to obtain the driving wheel reference current value, or screening out the driving wheel current sampling value with the largest value from all the obtained driving wheel current sampling values in the preset sampling time to obtain the driving wheel reference current value.
6. The method according to claim 5, wherein when the medium of the walking surface through which the robot walks in the preset sampling time is the same as the medium at the preset starting point position, the current relative walking resistance current value of the robot is used for representing a current value corresponding to a difference value between the external resistance born by the robot walking at the current walking surface and the external resistance born by the walking surface contacted by the robot at the preset starting point position; Or when the medium of the walking surface on which the robot walks in the preset sampling time is different from the medium at the preset starting point position, the current relative walking resistance current value of the robot is used for representing the current value corresponding to the difference value between the external resistance born by the robot walking on the current walking surface and the external resistance born by the robot walking on the reference walking surface, wherein the robot keeps walking on the reference walking surface in the preset sampling time; The robot is started from a static state, and then starts to walk, so that the robot starts to walk linearly from the preset starting point; Wherein the driving wheel of the robot contacts with the walking surface to make the robot bear external resistance from the walking surface.
7. The method for detecting a traveling resistance current value of a robot according to claim 6, wherein when a current relative traveling resistance current value of the robot increases or a current traveling resistance current value of the robot increases, it is determined that an external resistance to which the robot is subjected on a current traveling surface increases; And when the current relative walking resistance current value of the robot is reduced or the current walking resistance current value of the robot is reduced, determining that the external resistance born by the robot on the current walking surface is reduced.
8. The method of detecting a walking resistance current value of a robot according to claim 1, wherein the method of performing closed-loop adjustment of a PWM value for controlling a driving motor comprises: When the absolute value of the angle difference between the real-time measured heading angle of the robot and the target navigation angle is not in a preset angle error range, the robot configures the absolute value of the angle difference between the real-time measured heading angle and the target navigation angle in the current adjustment period or the robot configures the real-time measured heading angle as feedback input of the next adjustment period so as to carry out PID adjustment on the PWM value used for controlling the driving motor, sets the real-time feedback adjustment result of the PWM value used for controlling the driving motor as a first PWM value, inputs the first PWM value into the driving motor to adjust the heading angle of the robot in real time until the absolute value of the angle difference between the real-time measured heading angle of the robot and the target navigation angle is changed in the preset angle error range or keeps a constant value in the preset angle error range, and keeps the latest obtained first PWM value to be input into the driving motor so as to guide the robot to walk along the direction corresponding to the target navigation angle; the target navigation angle is a target navigation angle which is pre-planned by the robot to guide the robot to walk along a pre-planned working path, and the heading angle of the robot is measured by a gyroscope built in the robot in real time.
9. The method for detecting a traveling resistance current value of a robot according to claim 1, wherein the method for performing a closed-loop adjustment of a PWM value for controlling a blower comprises: When the absolute value of the air pressure difference value between the air pressure suction measured by the robot in real time and the target working suction in the current regulation period is not in the preset air pressure error range, the robot configures the absolute value of the air pressure difference value between the air pressure suction measured by the robot in real time and the target working suction in the current regulation period or the air pressure suction measured by the robot in real time as feedback input of the next regulation period so as to carry out PID regulation on the PWM value used for controlling the air pressure, sets the real-time feedback regulation result of the PWM value used for controlling the air pressure as a second PWM value, inputs the second PWM value into the air pressure to regulate the air pressure of the air pressure sensor in real time until the absolute value of the air pressure difference value between the air pressure suction measured by the robot in real time and the target working suction in the current regulation period is changed in the preset air pressure error range or kept to be constant in the preset air pressure error range, wherein the target working suction is preset by the robot so as to adapt to the current working surface of the robot, and the air pressure sensor is arranged at the air inlet of the air pressure sensor used for monitoring the air pressure of the air pressure sensor.

Description

Method for detecting walking resistance current value by robot Technical Field The application relates to the technical field of mobile robots, in particular to a method for detecting a walking resistance current value of a robot. Background Cleaning robots using inertial sensor navigation include sweeping robots, window cleaning robots, floor washing robots, and the like. The suction configuration of the fan with the dust collection function of the sweeping robot and the suction configuration of the fan with the suction function of the window cleaning robot are unreasonable, if the suction of the fan is too large, the walking resistance born by the driving wheel can be increased, and the corresponding current change value interference is caused; on the other hand, the cleaning robot cannot effectively detect the running resistance condition caused by the external environment because the running resistance information fed back by the current sampling information not only comprises the external resistance (such as the surface friction and the resistance caused by the collision action of external obstacles) which is passively applied, but also carries the current change value caused by the change of the suction force of the fan generated by the operation of the fan (which can reflect the resistance formed by the driving motor for overcoming the suction force of the fan) and the current change value caused by the torque actively output by the motor of the driving wheel (which can reflect the acting force required by the driving wheel to start rotating). Disclosure of Invention The application discloses a method for detecting a walking resistance current value by a robot, which comprises the following specific technical scheme: The method for detecting the running resistance current value by the robot comprises the steps of performing closed-loop adjustment on a PWM value used for controlling the driving motor by the robot and determining a first PWM value obtained in real time in a closed-loop adjustment process, performing closed-loop adjustment on the PWM value used for controlling the fan by the robot and determining a second PWM value obtained in real time in the closed-loop adjustment process, after the first PWM value is transmitted to the driving motor, the robot samples a current signal of the driving motor to obtain a driving wheel current sampling value, and based on the driving wheel current sampling value, the first PWM value and the second PWM value, the current running resistance current value of the robot is calculated, and/or the current relative running resistance current value is calculated. Further, the method for calculating the current running resistance current value of the robot based on the driving wheel current sampling value, the first PWM value and the second PWM value comprises the steps that after the robot starts to run on the current running surface, the driving wheel current sampling value is controlled to sequentially subtract an electric quantity change value caused by the PWM value for controlling the driving motor in closed-loop adjustment and an electric quantity change value caused by the PWM value for controlling the fan in closed-loop adjustment to obtain the current running resistance current value of the robot, wherein the driving wheel current sampling value and the electric quantity change value caused by the PWM value for controlling the driving motor in closed-loop adjustment are both derived from driving wheels connected with the same driving motor, so that the current running resistance current value of the driving wheels mounted on the same side of the robot is obtained. The method for calculating the current value of the current walking resistance of the robot based on the driving wheel current sampling value, the first PWM value and the second PWM value specifically comprises the steps that before the robot starts to walk, static friction force exists on the robot relative to a walking surface which is contacted with the robot and starts to start a driving motor until the robot starts to walk on the current walking surface from rest to overcome the static friction force, the first PWM value obtained in real time is marked as a first PWM value to be measured by the robot in the process of walking on the current walking surface by the robot, the second PWM value obtained in real time is marked as a second PWM value to be measured by the robot, the product of the first PWM value to be measured and the first conversion coefficient is marked as an electric quantity change value which is caused by the PWM value used for controlling the driving motor in closed loop adjustment, then the difference value which is caused by the driving wheel current sampling value obtained in real time is subtracted by the robot in the process of walking on the current walking surface is obtained, the first electric quantity difference value which is obtained by subtracting the current