WO2023035210A1

WO2023035210A1 - Power adjustment system and method for autonomous mobile device

Info

Publication number: WO2023035210A1
Application number: PCT/CN2021/117594
Authority: WO
Inventors: 林继谦
Original assignee: 威刚科技股份有限公司
Priority date: 2021-09-10
Filing date: 2021-09-10
Publication date: 2023-03-16

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

Power adjustment system and method for autonomous mobile device

technical field

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.

Background technique

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.

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.

Contents of the invention

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.

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.

Preferably, the weight of the autonomous mobile device includes its own weight and the carrying weight of the autonomous mobile device.

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.

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));

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.

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.

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.

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.

L2＝L1×(W/W ₀ )×(1±tan(θ1))×(1±tan(θ2));

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.

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.

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.

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.

Description of drawings

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.

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.

Detailed ways

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.

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.

Example

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 .

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.

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.

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.

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.

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.

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.

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:

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 θ1 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 θ2 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 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.

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));

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.

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".

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.

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.

However, the above-mentioned example is only one possible embodiment and is not intended to limit the present invention.

Beneficial effects of the embodiment

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.

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

A power adjustment system for an autonomous mobile device, characterized in that the power adjustment system for an autonomous mobile device includes:

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;

An inertial measurement module, arranged in the autonomous mobile device, for detecting the tilt angle of the autonomous mobile device;

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;

a database module disposed within the autonomous mobile device for storing different weight values of the autonomous mobile device; and

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;

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;

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.
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.
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.
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));

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.
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.
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.
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:

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;

detecting a tilt angle of the autonomous mobile device by the inertial measurement module;

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;

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

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.
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.
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.
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));

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.
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.
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.