CN105269583B - Robot motion control method and device and robot - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及人工智能技术领域，特别是涉及一种机器人运动控制方法、装置及机器人。The invention relates to the technical field of artificial intelligence, and in particular, to a robot motion control method, device and robot.
背景技术Background technique
随着物联网和智能家居的深度发展，智能设备也随之增多，为了便于管理和控制，机器人逐渐成为这些智能设备的中心。机器人能够根据指令运动到指定地点，并进行相应的操作，为智能家居的使用提供了极大的便利。然而，在机器人运行过程中，如果机器人接到停止命令立即停止，则会出现“急刹车”情况，导致机器人头部、腰部等部件摇晃、受伤甚至脱落。With the in-depth development of the Internet of Things and smart homes, smart devices have also increased. In order to facilitate management and control, robots have gradually become the center of these smart devices. The robot can move to the designated location according to the instructions and perform corresponding operations, which provides great convenience for the use of smart homes. However, during the operation of the robot, if the robot stops immediately after receiving the stop command, there will be a "sudden braking" situation, which will cause the robot's head, waist and other parts to shake, be injured or even fall off.
发明内容SUMMARY OF THE INVENTION
本发明要解决的技术问题是提供一种机器人运动控制方法、装置及机器人，用以解决现有技术中机器人的运动控制容易导致机器人受伤的问题。The technical problem to be solved by the present invention is to provide a robot motion control method, device and robot, which are used to solve the problem that the motion control of the robot in the prior art easily causes the robot to be injured.
一方面，本发明提供一种机器人运动控制方法，包括：获取机器人运动的当前理论速度、目标速度和动力参数；根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度；根据所述目标速度与所述当前实际速度之差以及预设的加速度，确定速度变化所需要的变速时间，以使所述机器人以所述加速度匀变速变化为所述目标速度。In one aspect, the present invention provides a robot motion control method, which includes: acquiring the current theoretical speed, target speed and dynamic parameters of the robot motion; determining the current actual speed of the robot according to the current theoretical speed and the dynamic parameters; The difference between the target speed and the current actual speed and the preset acceleration determine the speed change time required for the speed change, so that the robot changes to the target speed with the acceleration uniform speed change.
可选的，所述动力参数包括电池电量百分比或驱动电压。Optionally, the power parameter includes a battery power percentage or a driving voltage.
可选的，所述根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度包括：如果所述动力参数高于或等于第一阈值，确定所述当前实际速度等于所述当前理论速度；如果所述动力参数低于所述第一阈值且高于所述第二阈值，确定所述当前实际速度等于所述当前理论速度乘以修正系数，其中，所述第二阈值小于所述第一阈值，所述修正系数大于0且小于1。Optionally, the determining the current actual speed of the robot according to the current theoretical speed and the power parameter includes: if the power parameter is higher than or equal to a first threshold, determining that the current actual speed is equal to the current actual speed. Theoretical speed; if the power parameter is lower than the first threshold and higher than the second threshold, determine that the current actual speed is equal to the current theoretical speed multiplied by a correction coefficient, wherein the second threshold is less than the the first threshold, the correction coefficient is greater than 0 and less than 1.
可选的，所述动力参数为电池电量百分比，所述修正系数等于所述电池电量百分比的平方。Optionally, the power parameter is a battery power percentage, and the correction coefficient is equal to the square of the battery power percentage.
可选的，所述动力参数为驱动电压，所述获取机器人运动的当前理论速度、目标速度和动力参数包括：通过读取速度设置值获取所述当前理论速度和所述目标速度，通过读取输入马达的驱动电压获取所述动力参数；所述根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度之前，所述方法还包括：根据映射表或函数关系将所述驱动电压转化成对应的电池电量百分比；所述根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度包括：如果所述电池电量百分比高于或等于第一阈值，确定所述当前实际速度等于所述当前理论速度；如果所述电池电量百分比低于所述第一阈值且高于所述第二阈值，确定所述当前实际速度等于所述当前理论速度乘以修正系数，其中，所述第二阈值小于所述第二阈值，所述修正系数等于所述电池电量百分比的平方。Optionally, the power parameter is a driving voltage, and the obtaining the current theoretical speed, target speed and power parameter of the robot motion includes: obtaining the current theoretical speed and the target speed by reading the speed setting value, and obtaining the current theoretical speed and the target speed by reading the speed setting value. The power parameter is obtained by inputting the driving voltage of the motor; before determining the current actual speed of the robot according to the current theoretical speed and the power parameter, the method further includes: converting the drive according to a mapping table or a functional relationship The voltage is converted into a corresponding battery power percentage; the determining the current actual speed of the robot according to the current theoretical speed and the power parameter includes: if the battery power percentage is higher than or equal to a first threshold, determining the current actual speed of the robot The actual speed is equal to the current theoretical speed; if the battery percentage is lower than the first threshold and higher than the second threshold, it is determined that the current actual speed is equal to the current theoretical speed multiplied by a correction factor, wherein, The second threshold is less than the second threshold, and the correction factor is equal to the square of the battery power percentage.
可选的，所述第一阈值为95％，所述第二阈值为10％。Optionally, the first threshold is 95%, and the second threshold is 10%.
另一方面，本发明还提供一种机器人运动控制装置，包括：获取单元，用于获取机器人运动的当前理论速度、目标速度和动力参数；速度确定单元，用于根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度；时间确定单元，还用于根据所述目标速度与所述当前实际速度之差以及预设的加速度，确定速度变化所需要的变速时间，以使所述机器人以所述加速度匀变速变化为所述目标速度。On the other hand, the present invention also provides a robot motion control device, comprising: an acquisition unit for acquiring the current theoretical speed, target speed and dynamic parameters of the robot motion; a speed determination unit for The power parameter determines the current actual speed of the robot; the time determination unit is further configured to determine the speed change time required for the speed change according to the difference between the target speed and the current actual speed and the preset acceleration, so that the required speed is changed. The robot takes the acceleration to change at a uniform speed as the target speed.
可选的，所述动力参数包括电池电量百分比或驱动电压。Optionally, the power parameter includes a battery power percentage or a driving voltage.
可选的，所述速度确定单元，具体用于：如果所述动力参数高于或等于第一阈值，确定所述当前实际速度等于所述当前理论速度；如果所述动力参数低于所述第一阈值且高于所述第二阈值，确定所述当前实际速度等于所述当前理论速度乘以修正系数，其中，所述第二阈值小于所述第二阈值，所述修正系数大于0且小于1。Optionally, the speed determination unit is specifically configured to: if the power parameter is higher than or equal to a first threshold, determine that the current actual speed is equal to the current theoretical speed; if the power parameter is lower than the first threshold A threshold value and higher than the second threshold value, it is determined that the current actual speed is equal to the current theoretical speed multiplied by a correction factor, wherein the second threshold value is less than the second threshold value, and the correction factor is greater than 0 and less than 1.
可选的，所述动力参数为电池电量百分比，所述修正系数等于所述电池电量百分比的平方。Optionally, the power parameter is a battery power percentage, and the correction coefficient is equal to the square of the battery power percentage.
可选的，所述动力参数为驱动电压，所述获取单元，具体用于通过读取速度设置值获取所述当前理论速度和所述目标速度，通过读取输入马达的驱动电压获取所述动力参数；所述装置还包括转化单元，用于在根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度之前，根据映射表或函数关系将所述驱动电压转化成对应的电池电量百分比；所述速度确定单元，具体用于：如果所述电池电量百分比高于或等于第一阈值，确定所述当前实际速度等于所述当前理论速度；如果所述电池电量百分比低于所述第一阈值且高于所述第二阈值，确定所述当前实际速度等于所述当前理论速度乘以修正系数，其中，所述第二阈值小于所述第二阈值，所述修正系数等于所述电池电量百分比的平方。Optionally, the power parameter is a driving voltage, and the obtaining unit is specifically configured to obtain the current theoretical speed and the target speed by reading the speed setting value, and obtain the power by reading the driving voltage of the input motor. parameters; the device further includes a conversion unit for converting the driving voltage into a corresponding battery according to a mapping table or functional relationship before determining the current actual speed of the robot according to the current theoretical speed and the power parameters percentage of power; the speed determination unit is specifically configured to: if the percentage of battery power is higher than or equal to a first threshold, determine that the current actual speed is equal to the current theoretical speed; if the percentage of battery power is lower than the a first threshold value and higher than the second threshold value, it is determined that the current actual speed is equal to the current theoretical speed multiplied by a correction factor, wherein the second threshold value is less than the second threshold value, and the correction factor is equal to the The square of the percentage of battery charge.
另一方面，本发明还提供一种机器人，包括本发明提供的任一种机器人运动控制装置。On the other hand, the present invention also provides a robot, including any robot motion control device provided by the present invention.
本发明实施例提供的机器人运动控制方法、装置及机器人，能够获取机器人运动的当前理论速度、目标速度和动力参数，并根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度，然后根据所述目标速度与所述当前实际速度之差以及预设的加速度，确定速度变化所需要的变速时间，以便使所述机器人以所述加速度匀变速变化为所述目标速度，从而避免了机器人速度突变带来的损伤，有效提高了机器人性能。The robot motion control method, device and robot provided by the embodiments of the present invention can obtain the current theoretical speed, target speed and dynamic parameters of the robot motion, and determine the current actual speed of the robot according to the current theoretical speed and the dynamic parameters , and then according to the difference between the target speed and the current actual speed and the preset acceleration, determine the speed change time required for the speed change, so that the robot changes to the target speed with the acceleration uniform speed change, so as to avoid The damage caused by the sudden change of the speed of the robot is effectively improved, and the performance of the robot is effectively improved.
附图说明Description of drawings
图1是本发明实施例提供的机器人运动控制方法的一种流程图；Fig. 1 is a kind of flow chart of the robot motion control method provided by the embodiment of the present invention;
图2是本发明实施例提供的机器人运动控制方法的另一种流程图；Fig. 2 is another flow chart of the robot motion control method provided by the embodiment of the present invention;
图3是本发明实施例提供的机器人运动控制装置的一种结构示意图。FIG. 3 is a schematic structural diagram of a robot motion control device provided by an embodiment of the present invention.
具体实施方式Detailed ways
以下结合附图对本发明进行详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不限定本发明。The present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate the present invention, but not to limit the present invention.
如图1所示，本发明的实施例提供一种机器人运动控制方法，包括：As shown in FIG. 1 , an embodiment of the present invention provides a method for controlling motion of a robot, including:
S11，获取机器人运动的当前理论速度、目标速度和动力参数；S11, obtain the current theoretical speed, target speed and dynamic parameters of the robot motion;
S12，根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度；S12, determining the current actual speed of the robot according to the current theoretical speed and the power parameter;
S13，根据所述目标速度与所述当前实际速度之差以及预设的加速度，确定速度变化所需要的变速时间，以使所述机器人以所述加速度匀变速变化为所述目标速度。S13, according to the difference between the target speed and the current actual speed and a preset acceleration, determine a speed change time required for speed change, so that the robot changes at a uniform speed with the acceleration to the target speed.
本发明实施例提供的机器人运动控制方法，能够获取机器人运动的当前理论速度、目标速度和动力参数，并根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度，然后根据所述目标速度与所述当前实际速度之差以及预设的加速度，确定速度变化所需要的变速时间，以便使所述机器人以所述加速度匀变速变化为所述目标速度，从而避免了机器人速度突变带来的损伤，有效提高了机器人性能。The robot motion control method provided by the embodiment of the present invention can obtain the current theoretical speed, target speed and dynamic parameters of the robot motion, and determine the current actual speed of the robot according to the current theoretical speed and the dynamic parameters, and then determine the current actual speed of the robot according to the current theoretical speed and the dynamic parameters. The difference between the target speed and the current actual speed and the preset acceleration are used to determine the speed change time required for the speed change, so that the robot changes to the target speed at a uniform speed with the acceleration, thereby avoiding sudden changes in the speed of the robot. The damage caused by the robot effectively improves the performance of the robot.
可以理解的，机器人可以在用户或终端的控制下运动到指定地点完成指定任务，因此一般都是用电池等储能设备提供动力。这样随之而来的一个问题就是，随着储能设备能量的释放，其对外提供动力的能力也会相对下降，因此，对于软件程序上设置的运动速度，机器人未必就能达到。因此，通过读设置参数获得的运动速度有可能并不是机器人当前的真实速度，按照读取设置参数来控制运动速度控制也就不够精准。It can be understood that the robot can move to a designated location to complete a designated task under the control of a user or terminal, so it is generally powered by an energy storage device such as a battery. A problem that comes with this is that as the energy of the energy storage device is released, its ability to provide external power will also decrease relatively. Therefore, the robot may not be able to achieve the movement speed set in the software program. Therefore, the movement speed obtained by reading the setting parameters may not be the current real speed of the robot, and the movement speed control according to the reading setting parameters is not accurate enough.
为了解决上述问题，本发明实施例在步骤S11中，分别获取机器人运动的当前理论速度、目标速度和动力参数，其中动力参数可以为一切表征机器人动力情况的参数，如电池电量百分比或驱动电压等。当前理论速度和目标速度可以通过读取程序或寄存器中的设置参数来获取，动力参数可以通过直接读取动力系统的状态参数，也可以通过马达实际获得的动力估算出相应的动力参数。In order to solve the above problem, in the embodiment of the present invention, in step S11, the current theoretical speed, target speed and power parameters of the robot motion are obtained respectively, wherein the power parameters can be all parameters that characterize the power situation of the robot, such as battery power percentage or driving voltage, etc. . The current theoretical speed and target speed can be obtained by reading the setting parameters in the program or register. The power parameters can be obtained by directly reading the state parameters of the power system, or the corresponding power parameters can be estimated by the power actually obtained by the motor.
具体而言，在步骤S12中，根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度包括：Specifically, in step S12, determining the current actual speed of the robot according to the current theoretical speed and the power parameter includes:
如果所述动力参数高于或等于第一阈值，确定所述当前实际速度等于所述当前理论速度；If the power parameter is higher than or equal to a first threshold, determining that the current actual speed is equal to the current theoretical speed;
如果所述动力参数低于所述第一阈值且高于所述第二阈值，确定所述当前实际速度等于所述当前理论速度乘以修正系数，其中，所述第二阈值小于所述第一阈值，所述修正系数大于0且小于1。If the power parameter is below the first threshold and above the second threshold, the current actual speed is determined to be equal to the current theoretical speed multiplied by a correction factor, wherein the second threshold is less than the first threshold Threshold, the correction coefficient is greater than 0 and less than 1.
也就是说，如果动力参数较高，说明可以给机器人提供较为充足的动力，则当前实际速度可以与当前理论速度相等。反之，如果动力参数较低，说明给机器人提供的动力有所不足，当前实际速度应该小于当前理论速度，因此需要对当前理论值进行修正。可选的，修正系数可以与动力参数相关。例如，在本发明的一个实施例中，动力参数为电池电量百分比，则所述修正系数等于所述电池电量百分比的平方。当然，在本发明的其他实施例中，修正系数与动力参数还可以具有其他函数关系，本发明的实施例对此不限。That is to say, if the power parameter is high, it means that the robot can provide sufficient power, and the current actual speed can be equal to the current theoretical speed. On the contrary, if the power parameter is low, it means that the power provided to the robot is insufficient, and the current actual speed should be less than the current theoretical speed, so the current theoretical value needs to be corrected. Optionally, the correction factor may be related to the dynamic parameter. For example, in an embodiment of the present invention, the power parameter is the percentage of battery power, and the correction coefficient is equal to the square of the percentage of battery power. Of course, in other embodiments of the present invention, the correction coefficient and the dynamic parameter may also have other functional relationships, which are not limited in the embodiments of the present invention.
可选的，在本发明的另一个实施例中，动力参数为驱动电压，则步骤S11中获取机器人运动的当前理论速度、目标速度和动力参数具体可包括：通过读取速度设置值获取所述当前理论速度和目标速度，通过读取输入马达的驱动电压获取所述动力参数。在步骤S12所述的根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度之前，本实施例提供的机器人运动控制方法还包括：根据映射表或函数关系将所述驱动电压转化成对应的电池电量百分比；相应的，所述根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度具体可包括：Optionally, in another embodiment of the present invention, the power parameter is the driving voltage, and obtaining the current theoretical speed, target speed and power parameters of the robot motion in step S11 may specifically include: obtaining the speed setting value by reading the speed setting value. The current theoretical speed and target speed are obtained by reading the driving voltage of the input motor. Before determining the current actual speed of the robot according to the current theoretical speed and the dynamic parameters in step S12, the robot motion control method provided in this embodiment further includes: converting the driving voltage according to a mapping table or a functional relationship Converted into the corresponding battery power percentage; correspondingly, the determining the current actual speed of the robot according to the current theoretical speed and the power parameter may specifically include:
如果所述电池电量百分比高于或等于第一阈值，确定所述当前实际速度等于所述当前理论速度；If the battery charge percentage is higher than or equal to a first threshold, determining that the current actual speed is equal to the current theoretical speed;
如果所述电池电量百分比低于所述第一阈值且高于所述第二阈值，确定所述当前实际速度等于所述当前理论速度乘以修正系数，其中，所述第二阈值小于所述第二阈值，所述修正系数等于所述电池电量百分比的平方。If the battery percentage is below the first threshold and above the second threshold, determining that the current actual speed is equal to the current theoretical speed multiplied by a correction factor, wherein the second threshold is less than the first threshold Two thresholds, the correction factor is equal to the square of the battery percentage.
可选的，上述实施例中，第一阈值和第二阈值的具体数值可以根据机器人动力系统的特征来定义和选取，例如，第一阈值可以为95％，第二阈值可以为10％。Optionally, in the above embodiment, the specific values of the first threshold and the second threshold may be defined and selected according to the characteristics of the robot power system. For example, the first threshold may be 95% and the second threshold may be 10%.
在步骤S13中，可以根据当前实际速度与目标速度之差以及预设的加速度，确定速度变化所需要的变速时间，以使所述机器人以所述加速度匀变速变化为所述目标速度。例如，在本发明的一个实施例中，机器人的当前实际速度为60转/秒，目标速度为10转/秒，为了不对机器人造成损害，可以使机器人在2～4秒内将速度从60转/秒降到10转/秒。In step S13, the speed change time required for the speed change may be determined according to the difference between the current actual speed and the target speed and the preset acceleration, so that the robot changes to the target speed with a uniform speed change at the acceleration. For example, in one embodiment of the present invention, the current actual speed of the robot is 60 revolutions per second, and the target speed is 10 revolutions per second. In order not to cause damage to the robot, the robot can be made to change the speed from 60 revolutions to 60 revolutions in 2 to 4 seconds. /sec down to 10 rev/sec.
下面通过具体实施例对本发明提供的机器人运动控制方法进行详细说明。如图2所示，本实施例中，机器人运动控制方法可包括如下步骤：The robot motion control method provided by the present invention will be described in detail below through specific embodiments. As shown in FIG. 2, in this embodiment, the robot motion control method may include the following steps:
201、获取机器人的当前理论速度v1、目标速度v3和驱动电压u，并根据电压-电量映射表将驱动电压u转化成对应的电池电量百分比b；201. Acquire the current theoretical speed v1, target speed v3 and driving voltage u of the robot, and convert the driving voltage u into the corresponding battery power percentage b according to the voltage-power mapping table;
可选的，机器人当前理论速度可以为0-100转/秒。Optionally, the current theoretical speed of the robot may be 0-100 revolutions per second.
202、根据当前理论速度v1和电池电量百分比b获取机器人实际速度v2；202. Obtain the actual speed v2 of the robot according to the current theoretical speed v1 and the battery power percentage b;
当95％<＝b<＝100％时，v2＝v1。When 95%<=b<=100%, v2=v1.
当10％<b<95％时，v2＝n*b*b。When 10%<b<95%, v2=n*b*b.
当b<＝10％时，机器人停止工作，提示需要充电。When b <= 10%, the robot stops working, indicating that it needs to be charged.
电量在95％以上时，电量是充足的，用户设定的转速就代表机器人实际转速。在电量不是很充足，但是又不会影响机器人运行的情况下，经过实际多次验证，机器人此时实际转速为n*b*b转/秒。当电量低于10％时，电量明显偏低，直接停止，不会造成“急刹车”现象，同时机器人电量不足以维持整个机器人运行，为了防止电量偏低对机器人的伤害，此时机器人不仅停止运行，而且停止工作。When the power is above 95%, the power is sufficient, and the speed set by the user represents the actual speed of the robot. In the case that the power is not very sufficient, but will not affect the operation of the robot, after many actual verifications, the actual speed of the robot at this time is n*b*b revolutions/second. When the battery power is lower than 10%, the battery power is obviously low, and the robot stops directly without causing the "sudden braking" phenomenon. At the same time, the power of the robot is not enough to maintain the operation of the entire robot. In order to prevent the damage to the robot due to the low battery power, the robot not only stops run and stop working.
203、匀减速到目标速度v3；203. Decelerate uniformly to the target speed v3;
获取了实际转速v，根据设置的目标速度v3和预设的加速度，就可以恰当合理的得到减速的时间段，逐步降低运行速度，从而达到机器人匀减速的目的。例如，可以设定机器人的加速度小于25转/秒2，以避免对机器人造成伤害。The actual speed v is obtained, and according to the set target speed v3 and the preset acceleration, the deceleration time period can be appropriately and reasonably obtained, and the running speed can be gradually reduced, so as to achieve the purpose of uniform deceleration of the robot. For example, the acceleration of the robot can be set to be less than 25 rpm2 to avoid damage to the robot.
相应的，如图3所示，本发明的实施例还提供一种机器人运动控制装置，包括：Correspondingly, as shown in FIG. 3 , an embodiment of the present invention further provides a robot motion control device, including:
获取单元31，用于获取机器人运动的当前理论速度、目标速度和动力参数；an
速度确定单元32，用于根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度；a
时间确定单元33，还用于根据所述目标速度与所述当前实际速度之差以及预设的加速度，确定速度变化所需要的变速时间，以使所述机器人以所述加速度匀变速变化为所述目标速度。The
本发明实施例提供的机器人运动控制装置，获取单元31能够获取机器人运动的当前理论速度、目标速度和动力参数，速度确定单元32能够根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度，时间确定单元33能够根据所述目标速度与所述当前实际速度之差，确定速度变化所需要的变速时间，以便使所述机器人以所述加速度匀变速变化为所述目标速度，从而避免了机器人速度突变带来的损伤，有效提高了机器人性能。In the robot motion control device provided by the embodiment of the present invention, the obtaining
可选的，所述动力参数可以包括电池电量百分比或驱动电压。Optionally, the power parameter may include battery power percentage or driving voltage.
可选的，速度确定单元32，具体用于：Optionally, the
如果所述动力参数高于或等于第一阈值，确定所述当前实际速度等于所述当前理论速度；If the power parameter is higher than or equal to a first threshold, determining that the current actual speed is equal to the current theoretical speed;
如果所述动力参数低于所述第一阈值且高于所述第二阈值，确定所述当前实际速度等于所述当前理论速度乘以修正系数，其中，所述第二阈值小于所述第二阈值，所述修正系数大于0且小于1。If the power parameter is lower than the first threshold and higher than the second threshold, the current actual speed is determined to be equal to the current theoretical speed multiplied by a correction factor, wherein the second threshold is less than the second threshold Threshold, the correction coefficient is greater than 0 and less than 1.
可选的，所述动力参数为电池电量百分比，所述修正系数等于所述电池电量百分比的平方。Optionally, the power parameter is a battery power percentage, and the correction coefficient is equal to the square of the battery power percentage.
可选的，所述动力参数为驱动电压，所述获取单元，具体用于通过读取速度设置值获取所述当前理论速度和所述目标速度，通过读取输入马达的驱动电压获取所述动力参数；所述装置还包括转化单元，用于在根据所述当前理论速度和所述动力参数确定所述机器人的当前实际速度之前，根据映射表或函数关系将所述驱动电压转化成对应的电池电量百分比；所述速度确定单元，具体用于：如果所述电池电量百分比高于或等于第一阈值，确定所述当前实际速度等于所述当前理论速度；如果所述电池电量百分比低于所述第一阈值且高于所述第二阈值，确定所述当前实际速度等于所述当前理论速度乘以修正系数，其中，所述第二阈值小于所述第二阈值，所述修正系数等于所述电池电量百分比的平方。Optionally, the power parameter is a driving voltage, and the obtaining unit is specifically configured to obtain the current theoretical speed and the target speed by reading the speed setting value, and obtain the power by reading the driving voltage of the input motor. parameters; the device further includes a conversion unit for converting the driving voltage into a corresponding battery according to a mapping table or functional relationship before determining the current actual speed of the robot according to the current theoretical speed and the power parameters percentage of power; the speed determination unit is specifically configured to: if the percentage of battery power is higher than or equal to a first threshold, determine that the current actual speed is equal to the current theoretical speed; if the percentage of battery power is lower than the a first threshold value and higher than the second threshold value, it is determined that the current actual speed is equal to the current theoretical speed multiplied by a correction factor, wherein the second threshold value is less than the second threshold value, and the correction factor is equal to the The square of the percentage of battery charge.
相应的，本发明还提供一种机器人，包括前述实施例提供的任一种机器人运动控制装置，因此也能实现相应的技术效果，前文已经进行了详细说明，此处不再赘述。Correspondingly, the present invention also provides a robot, including any robot motion control device provided in the foregoing embodiments, and thus can also achieve corresponding technical effects, which have been described in detail above, and will not be repeated here.
尽管为示例目的，已经公开了本发明的优选实施例，本领域的技术人员将意识到各种改进、增加和取代也是可能的，因此，本发明的范围应当不限于上述实施例。Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, and therefore, the scope of the present invention should not be limited to the above-described embodiments.
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| CN110872067A (en) * | 2018-09-01 | 2020-03-10 | 广西大学 | The control system of the cleaning machine to accelerate the descent and increase the depth of water entry |
| CN110815233B (en) * | 2019-11-28 | 2020-12-08 | 北京云迹科技有限公司 | Robot driving method, device, storage medium and robot |
| CN115670848A (en) * | 2022-11-22 | 2023-02-03 | 上海荣泰健康科技股份有限公司 | Massage chair control method and device and massage chair |
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