CN110371170B - Intelligent power assisting device, system and method for controlling intelligent power assisting device to provide power assistance - Google Patents

Abstract

The present invention provides an intelligent booster device, a system and a method for controlling it to provide booster power. The smart booster device includes: a booster controller, a manipulation component and a state sampling mechanism, wherein the state sampling mechanism is connected to the manipulation component, the state sampling mechanism is configured to sense the state change of the manipulation component and generate a corresponding electric signal according to the state change of the manipulation component; the booster controller is configured to receive the state sampling mechanism The electric signal is generated, and in response to the electric signal, the intelligent power assist device is controlled to provide assist. The invention greatly reduces the cost and complexity of the power assist control of the intelligent power booster through the operating components and the state sampling mechanism, and effectively improves the reliability and stability of the power boost control.

Description

Intelligent assist device, system and method for controlling it to provide assist

technical field

The present invention relates to the technical field of intelligent power-assisted equipment, and more specifically, the present invention relates to an intelligent power-assisted device, an intelligent power-assisted system and a corresponding method for controlling it to provide power.

Background technique

Existing intelligent assisting mechanisms are widely used in robotic exoskeletons, sports rehabilitation, etc., but some of them have relatively complicated operating procedures and wearing processes, and have poor adaptability and high cost for basic robot assisting applications.

Therefore, there is an urgent need for an intelligent booster that can solve the above problems.

Contents of the invention

The invention provides an intelligent assisting device, system and method for controlling it to provide assisting, which can adapt to the application environment of various robots, and solve the problems of poor adaptability and high cost for basic robot assisting applications in the prior art.

The first aspect of the present invention provides an intelligent booster device, which includes: a booster controller, a manipulation component and a state sampling mechanism, wherein,

The state sampling mechanism is connected to the manipulation component, and the state sampling mechanism is configured to sense a state change of the manipulation component and generate a corresponding electrical signal according to the state change of the manipulation component;

The assist controller is configured to receive the electrical signal generated by the state sampling mechanism, and control the intelligent assist device to provide assist in response to the electrical signal.

According to a first aspect of the present invention, a first possible implementation manner of the first aspect is provided, wherein the manipulation component includes a component in the form of a pull rod, a rocker or a button.

According to the first aspect of the present invention or the first possible implementation of the first aspect, a second possible implementation of the first aspect is provided, wherein the state sampling mechanism includes a sliding rheostat, and the sliding rheostat includes a resistance A wire and a sliding end, the sliding end is directly or indirectly connected to the manipulating part, and the sliding end moves on the resistance wire following the position change of the manipulating part, so as to generate corresponding voltage sampling values.

According to the second possible implementation manner of the first aspect of the present invention, a third possible implementation manner of the first aspect is provided, wherein the state sampling mechanism further includes There is a link mechanism between them, the link mechanism includes at least one link, and the link mechanism can transmit the state change of the manipulation component to the sliding end of the sliding rheostat.

According to any one of the first aspect to the third possible implementation manner of the first aspect of the present invention, a fourth possible implementation manner of the first aspect is provided, wherein the smart power assist device further includes an inertial measurement unit, The inertial measurement unit is configured to measure the motion state of the intelligent power assist device.

According to the fourth possible implementation manner of the first aspect of the present invention, a fifth possible implementation manner of the first aspect is provided, wherein the inertial measurement unit is specifically configured to measure the acceleration in one direction and angular velocity or angular acceleration in at least one direction.

According to any one of the first aspect to the fifth possible implementation manner of the first aspect of the present invention, a sixth possible implementation manner of the first aspect is provided, wherein the intelligent booster further includes driving the intelligent A drive device for moving the power assist device, the drive device comprising at least one motor configured to provide at least one of forward assist and steering assist to the intelligent assist device under the control of the assist controller kind.

According to the fifth possible implementation manner or the sixth possible implementation manner of the first aspect of the present invention, a seventh possible implementation manner of the first aspect is provided, wherein the booster controller is specifically configured to:

Obtaining the motion state of the intelligent power assist device measured by the inertial measurement unit, and determining that the intelligent power assist device is currently in one of a horizontal forward state, a climbing state, a turning state or other states according to the motion state, and Thus, the type of boosting applied to the smart boosting device is determined.

According to the seventh possible implementation manner of the first aspect of the present invention, an eighth possible implementation manner of the first aspect is provided, wherein the booster controller is specifically configured to:

When the motion state of the smart booster device measured by the inertial measurement unit determines that the smart booster device has no angular velocity and is in a horizontal forward state or a climbing state, provide forward assist to the smart booster device;

Wherein the magnitude of the forward assist is positively correlated with the inclination angle of the manipulation component in the form of a pull rod or rocker, or the magnitude of the forward assist is positively correlated with the forward speed of the intelligent power assist device.

According to the seventh possible implementation manner of the first aspect of the present invention, a ninth possible implementation manner of the first aspect is provided, wherein the boost controller is specifically configured to:

When it is determined by the motion state of the intelligent power assist device measured by the inertial measurement unit that the angular acceleration or angular velocity of the intelligent power assist device continues to exist, provide steering assist to the intelligent power assist device, or provide Power steering and forward assist;

Wherein the magnitude of the steering assist is positively correlated with the angular velocity measured by the inertial measurement unit, the magnitude of the forward assist is positively correlated with the inclination angle of the control member in the form of a pull rod or rocker, or the magnitude of the forward assist is directly related to the intelligent assist The forward speed of the device is positively correlated.

According to any one of the first aspect to the ninth possible implementation of the first aspect of the present invention, a tenth possible implementation of the first aspect is provided, wherein the manipulation component is a pull rod or a rocker, so The state sampling mechanism is arranged at the end of the pull rod or rocker, and the state sampling mechanism can generate corresponding electrical signals as the pull rod or rocker tilts.

According to any one of the first aspect to the tenth possible implementation manner of the first aspect of the present invention, an eleventh possible implementation manner of the first aspect is provided, wherein the boost controller is configured to communicate with the The manipulation component is made integrally, or the booster controller is arranged inside the manipulation component.

According to any one of the sixth possible implementation manner to the eleventh possible implementation manner of the first aspect of the present invention, a twelfth possible implementation manner of the first aspect is provided, wherein the smart power assist device Further comprising a PID controller (proportional-integral-derivative controller, proportional-integral-derivative controller), the PID controller is configured for:

determining a target speed value of the smart booster device according to at least one of the electrical signal obtained by the booster controller and the motion state measured by the inertial measurement unit, and then sending the target speed value to the at least one motor, and After the at least one motor performs speed adjustment according to the target speed value, acquire the speed return value of the at least one motor to perform feedback control.

The second aspect of the present invention provides an intelligent assisting system, which includes the intelligent assisting device described in any one of the above, wherein the intelligent assisting system is an intelligent mobile robot, and the intelligent assisting device is set in on the main body of the intelligent mobile robot.

According to a second aspect of the present invention, a first possible implementation manner according to the second aspect is provided, wherein the intelligent mobile robot includes a suitcase or a logistics transport vehicle.

A third aspect of the present invention provides a method for controlling an intelligent booster to provide boosting, wherein the smart booster includes: a booster controller, a manipulation component, and a state sampling mechanism, and the method includes:

The state sampling mechanism obtains the state of the manipulation component, and generates a corresponding electrical signal according to the state change of the manipulation component;

The assist controller controls the intelligent assist device to provide assist in response to the electrical signal.

According to a third aspect of the present invention, a first possible implementation of the third aspect is provided, wherein the state sampling mechanism includes a sliding rheostat, and the sliding rheostat includes a resistance wire and a sliding end, and the sliding end directly or indirectly Connected to the manipulation component, the state sampling mechanism obtains the state of the manipulation component, and generating a corresponding electrical signal according to the state change of the manipulation component includes:

The sliding end moves on the resistance wire following the position change of the manipulating component, so as to generate corresponding voltage sampling values.

According to the third aspect or the first possible implementation manner of the third aspect of the present invention, a second possible implementation manner of the third aspect is provided, wherein the smart power assist device further includes an inertial measurement unit, and the method further includes The inertial measurement unit is included to measure the motion state of the intelligent power assist device.

According to the second possible implementation manner of the third aspect of the present invention, a third possible implementation manner of the third aspect is provided, wherein measuring the motion state of the smart power assist device by the inertial measurement unit includes: the inertia The measuring unit measures the acceleration in at least one direction and the angular velocity or angular acceleration in at least one direction of the smart power assist device.

According to any one of the third aspect to the third possible implementation manner of the third aspect of the present invention, a fourth possible implementation manner of the third aspect is provided, wherein the intelligent booster further includes driving the intelligent The driving device for moving the power boosting device, the driving device includes at least one motor, and the power boosting controller controls the intelligent power boosting device to provide power boosting in response to the electrical signal, including:

At least one of the motors provides at least one of forward assist and steering assist to the intelligent assist device under the control of the assist controller.

According to the third possible implementation manner of the third aspect or the fourth possible implementation manner of the third aspect of the present invention, a fifth possible implementation manner of the third aspect is provided, wherein the boost controller responds to The electrical signal controlling the intelligent booster device to provide boosting includes:

Obtaining the motion state of the intelligent power assist device measured by the inertial measurement unit, and determining that the intelligent power assist device is currently in one of a horizontal forward state, a climbing state, a turning state or other states according to the motion state, and Thus, the type of boosting applied to the smart boosting device is determined.

According to the fifth possible implementation manner of the third aspect of the present invention, a sixth possible implementation manner of the third aspect is provided, wherein the assist controller controls the intelligent assist device to provide assist in response to the electrical signal include:

When the motion state of the smart booster device measured by the inertial measurement unit determines that the smart booster device has no angular velocity and is in a horizontal forward state or a climbing state, provide forward assist to the smart booster device;

Wherein the magnitude of the forward assist is positively correlated with the inclination angle of the manipulation component in the form of a pull rod or rocker, or the magnitude of the forward assist is positively correlated with the forward speed of the intelligent power assist device.

According to the fifth possible implementation manner of the third aspect of the present invention, a seventh possible implementation manner of the third aspect is provided, wherein the booster controller controls the smart booster device to Mobility assistance without automatic movement includes:

When the inertial measurement unit detects that the intelligent power assist device continues to have angular acceleration or angular velocity, provide steering assist to the intelligent assist device, or provide steering assist and forward assist to the intelligent assist device;

Wherein the magnitude of the steering assist is positively correlated with the angular velocity measured by the inertial measurement unit, the magnitude of the forward assist is positively correlated with the inclination angle of the control member in the form of a pull rod or rocker, or the magnitude of the forward assist is directly related to the intelligent assist The forward speed of the device is positively correlated.

According to any one of the fourth possible implementation manner of the third aspect to the seventh possible implementation manner of the third aspect of the present invention, an eighth possible implementation manner of the third aspect is provided, wherein the intelligence The booster device further includes a PID controller, and the method includes:

The PID controller determines the target speed value of the intelligent booster device according to at least one of the electrical signal obtained by the booster controller and the motion state measured by the inertial measurement unit;

then sending the target speed value to the at least one motor; and

After the at least one motor performs speed adjustment according to the target speed value, the PID controller obtains a speed return value of the at least one motor for feedback control.

A fourth aspect of the present invention provides an intelligent power assist device, wherein the intelligent power assist device includes a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor executes the computer program The program can realize the function of the booster controller in any one of the methods described above.

According to a fifth aspect of the present invention, a computer storage medium is provided, wherein the computer storage medium stores a computer program, and when the computer program is executed, it can realize the power boost controller in any one of the methods described above. Function.

The intelligent power assist device, the intelligent power assist system and the method for controlling the intelligent power assist device to provide power assistance provided by the embodiments of the present invention can be adapted to various robots by adopting the manipulating parts arranged on the main body and the state sampling mechanism connected with the manipulating parts The application environment greatly reduces the cost and complexity of the assist control of the intelligent assist device, and effectively improves the reliability and stability of the assist control. In order to make the above objects, features and advantages of the present invention more clear, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

Description of drawings

The invention will now be described by way of non-limiting example only with reference to the accompanying drawings, in which:

Fig. 1 shows a schematic diagram of an intelligent booster device and an intelligent booster system according to an embodiment of the present invention;

Fig. 2 shows a schematic diagram of an intelligent booster device and an intelligent booster system according to another embodiment of the present invention;

Figure 3 shows a schematic diagram of a state sampling mechanism and manipulation components according to an embodiment of the present invention;

Fig. 4 shows a schematic diagram of forward assist and steering assist for an intelligent assist device and an intelligent assist system according to an embodiment of the present invention;

Fig. 5 shows a flow chart of closed-loop control of speed for an intelligent booster device and an intelligent booster system according to an embodiment of the present invention;

Fig. 6 shows a schematic diagram of a combination of a manipulation component and a booster controller according to yet another embodiment of the present invention;

Fig. 7 shows a method for controlling an intelligent power assist device to provide power assist according to an embodiment of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Fig. 1 shows a schematic diagram of an intelligent power assist device and an intelligent power assist system according to an embodiment of the present invention.

As shown in FIG. 1 , the intelligent booster device includes: a booster controller 120 , a manipulation component 130 and a state sampling mechanism 140 . The smart power assist system 100 includes the smart power boost device and a main body 110 (the main body may be, for example, the casing of the device main body or the system main body). The intelligent assistance system can be any mobile device that needs to provide assistance, for example, it can be an intelligent mobile robot, including various equipment that can provide assistance such as suitcases, logistics transport vehicles, or vehicle assistance platforms.

The manipulation part 130 may be disposed on the body 110 . The state sampling mechanism 140 is connected to the manipulation component 130, and the state sampling mechanism is configured to sense a state change of the manipulation component and generate a corresponding electric signal according to the state change of the manipulation component. The assist controller 120 is configured to receive the electrical signal generated by the state sampling mechanism 140, and control the intelligent assist device to provide assist in response to the electrical signal.

The manipulation component is a component in the form of a pull rod, a rocker or a button. Alternatively, the manipulating component may also adopt other components that are easily conceived by those skilled in the art to control the movement of the intelligent power assist device. In the embodiment shown in FIG. 1 , the manipulation member 130 is a pull rod arranged at the front of the main body.

In the embodiment of the intelligent booster system shown in Fig. 1, the smart booster system is a logistics transport vehicle. In the power assist mode, the intelligent power assist system may not perform automatic movement or automatic follow-up operation, but when the state sampling mechanism senses that the state of the manipulation component changes (for example, the manipulation component is tilted at a certain angle, Rotate at a certain angular velocity or be touched and pressed) to generate an electrical signal, thereby enabling the power assist controller to control the intelligent power assist device to provide power assistance, so that a person or machine can pull the intelligent power assist device to move with a small force. Moreover, by adopting the manipulating component and the state sampling mechanism connected therewith, it can adapt to the application environment of various robots, greatly reduces the control cost and complexity of the intelligent power-assisted device, and effectively improves the reliability and stability of the power-assisted control.

Fig. 2 shows a schematic diagram of an intelligent assist device and an intelligent assist system according to another embodiment of the present invention.

Preferably, in the embodiment of the smart power assist system shown in Fig. 2, the smart power boost system 100' is a suitcase. The manipulating member 130' is a pull rod of the suitcase, which can be held by an operator (for example, an operator or an operator) to pull the suitcase to move. The pull rod can also be replaced by a rocker, a button or other operating components that those skilled in the art can think of. The state sampling mechanism 140 is arranged at the end of the pull rod or the rocker, and the state sample mechanism 140 can generate corresponding electrical signals as the pull rod or the rocker is tilted.

Fig. 3 shows a schematic diagram of a state sampling mechanism and manipulation components according to one embodiment of the present invention.

Preferably, as shown in FIG. 3 , the state sampling mechanism 140 includes a sliding rheostat, the sliding rheostat includes a resistance wire 141 and a sliding end 142, the sliding end is directly or indirectly connected to the manipulation member 130, and the The sliding end 142 moves on the resistance wire 141 following the state change of the manipulation component 130 to generate a corresponding voltage sample value. A sampling terminal 143 is connected to the sliding terminal, and the sampling terminal 143 can sample the generated corresponding voltage sampling value. One end of the sliding rheostat 141 is connected to a power supply (VCC), and the other end is grounded (GND). As can be imagined by those skilled in the art, the fixed end of the sliding rheostat can also be connected to the operating component, and the above effect can also be achieved by driving the sliding end to slide through the fixed end. These two solutions are equivalent replacements.

Preferably, the state sampling mechanism further includes a link mechanism 144 arranged between the sliding rheostat and the operating component. A linkage 144 can manipulate the sliding end 142 of the sliding rheostat. The link mechanism 144 may include at least one link. Although in the embodiment shown in FIG. 3 , the link mechanism 144 is only illustrated as including one link, those skilled in the art can imagine that the link mechanism 144 can include two, three or more link. The linkage mechanism is configured to transmit a state change (eg tilting or turning motion) of the manipulation member to the sliding end of the sliding rheostat.

Preferably, a shaft coupling or other non-flexible connecting parts known in the art can be used to connect between the manipulation member 130 and the linkage mechanism 144; similarly, between the linkage mechanism 144 and the linkage mechanism 144 The sliding ends 142 may also be connected by couplings or other non-flexible connecting parts known in the art, so that, for example, when the operating part is tilted, the sliding rheostat can be adjusted according to the inclination of the operating part. The sliding end of the sliding end slides to different positions on the resistance wire, thereby generating corresponding voltage sampling values. Therefore, according to the voltage sampling value of the sliding end 142 of the sliding rheostat, the state change (for example, the inclination amplitude) of the manipulation component can be known.

Fig. 4 shows a schematic diagram of forward assist and steering assist for the intelligent assist device and the intelligent assist system according to an embodiment of the present invention.

Preferably, the smart booster device may further include an inertial measurement unit 150 configured to measure the motion state of the smart booster device. The inertial measurement unit 150 is specifically configured to measure the acceleration of the smart power assist device in at least one direction and the angular velocity or angular acceleration in at least one direction. For example, the inertial measurement unit can be used to measure the acceleration in the three directions of xyz and the angular velocity in the three directions. When the acceleration measurement of the z-axis (eg, the horizontal upward axis) is g, the subject is horizontal. If the subject is in a turning state, the triaxial angular velocity meter can directly measure the angular velocity of the current rotation. As can be imagined by those skilled in the art, the inertial measurement unit may be a motion sensor for detecting angular acceleration, such as MPU9250 or MPU6050. Of course other types of motion sensors or inertial measurement units could be used as well.

Preferably, the booster controller is specifically configured to: obtain the motion state of the smart booster device measured by the inertial measurement unit, and determine according to the motion state that the smart booster device is currently in a horizontal forward state, One of the climbing state, turning state or other states, and thus determine the type of power assist applied to the intelligent power assist device.

The boost controller can receive the data collected by the state sampling mechanism and the inertial measurement unit, form an instruction for controlling the intelligent boost device to provide boost, and send it to the power system of the intelligent boost device. The powertrain may for example comprise drive means which may comprise at least one electric motor 160 driving the wheels of the body, which may be for example a hub motor or other motors known in the art. The at least one electric motor is configured to provide at least one of forward assist and steering assist to the intelligent assist device under the control of the assist controller. In one embodiment, the boost controller may include, for example, a receiving port, a processor, and a memory.

Preferably, the power assist controller is specifically configured to: when it is determined through the motion state of the intelligent power assist device measured by the inertial measurement unit that the intelligent power assist device has no angular velocity and is in a horizontal forward state or a climbing state , to provide forward boosting to the intelligent booster; wherein the size of the forward boosting is related to the inclination angle of the manipulation component in the form of a pull rod or rocker, such as the tilt angle of the manipulation component relative to the vertical axis (the angle shown in Figure 6 β) is positively correlated, or the magnitude of the forward assist is positively correlated with the forward speed of the intelligent booster device.

Preferably, the booster controller is specifically configured to: when it is determined that the smart booster device continues to have angular acceleration or angular velocity through the motion state of the smart booster device measured by the inertial measurement unit, The power assist device provides steering assist, or provides steering assist and forward assist to the intelligent power assist device; wherein the magnitude of the steering assist is positively related to the angular velocity measured by the inertial measurement unit, and the magnitude of the forward assist is related to the form of the pull rod or rocker The inclination angle of the operating component is positively correlated, or the magnitude of the forward assist is positively correlated with the forward speed of the intelligent booster device.

In one embodiment, when the intelligent power assist system is, for example, a logistics transport vehicle or a suitcase, the intelligent power assist device may be controlled to provide power assist in the manner described below. When the state of the manipulating part changes, the state sampling mechanism collects the state change of the manipulating part (for example, the change of tilt angle), determines the tilt angle, generates a corresponding electric signal and then transmits it to the booster controller. The boost controller determines the target value or target speed of the boost according to at least one of the electric signal and the motion state measured by the inertial measurement unit, and sends a driving instruction (such as a specific current value) to the smart boost The power system of the device (such as a motor), or according to at least one of the electrical signal and the motion state measured by the inertial measurement unit, determines a specific current value and sends a driving command to the power system of the intelligent power assist device. The power system drives the smart booster device and the smart booster system to move according to the driving instruction, thereby realizing boosting.

For example, the working mode of the intelligent booster device can be as follows: the operator controls the smart booster device by manipulating the control part (such as a pull rod) at the front of the main body, and the booster controller determines whether to enter the booster mode or non-assist mode through the state sampling mechanism. model. For example, when the manipulation part in the form of a pull rod is pulled by the operator so that the angle of the manipulation part relative to the axis in the horizontal direction is less than a set angle a (as shown in Figure 6), the main body enters the assist mode, and when the manipulation part recovers When the angle is greater than a, the main body enters the non-assist mode. Preferably, a may be any value between 70 degrees and 10 degrees, for example, 70 degrees, 60 degrees, 50 degrees, 40 degrees, 30 degrees, 20 degrees, 10 degrees and so on. When the manipulation component is a button, when the button is pressed, the intelligent booster device can enter a booster mode to provide fixed booster for the main body.

In one embodiment, in the forward and turning assisting modes of the intelligent assisting device, two assisting modes can be provided, one part is forward assisting and the other part is steering assisting. The steering assist may be positively correlated with angular velocity, and the forward assist may be positively correlated with the sampled value of the state sampling mechanism or with the forward speed of the intelligent power assist device.

In one embodiment, the intelligent power assist device may be required to provide power assist during both forward and turning processes, and the intelligent power assist device will provide power assist by imitating the motion state of the operator. In the forward assist mode, the assist controller will sample the current operating state of the intelligent assist device through the inertial measurement unit. The state sampling mechanism obtains the state changes of the manipulation components, such as the inclination of the pull rod or rocker, and provides power assistance to the main body. The magnitude of the power assistance may be positively related to the inclination.

In one embodiment, the inertial measurement unit can measure the acceleration in three directions in the space Cartesian coordinate system. When the main body is on the horizontal ground, the z-axis acceleration should be a vector with a downward direction of g, and when the main body and the horizontal plane are clamped When the angle is a, the remaining amount of the z-axis acceleration component is gcos(a), and whether the main body is horizontal can be effectively determined according to whether the magnitude of the z-axis acceleration is equal to g. When the main body is in the state of climbing, the forward assist is output, that is, the assist for climbing.

In addition, the power assist controller will sample the current running state of the main body through the inertial measurement unit. When the main body is moving forward in a straight line or climbing a slope in a straight line, and there is continuous angular acceleration (integrated to obtain angular velocity) or angular velocity (for example, the continuous existence of angular velocity for more than 2s), Enter the turning state judgment. If it is determined to be in a turning state, the assist controller may provide steering assist according to the current steering angular velocity, and the steering assist is positively correlated with the angular velocity of the main body. The greater the angular velocity of the main body, it means that the operator wants the main body to rotate at a faster angular velocity, so the greater the steering assistance that needs to be provided. Steering assist is the assist in the direction of rotation of the main body, which is generated by the differential speed of the two wheels and superimposed with the forward speed.

Fig. 5 shows a flow chart of speed closed-loop control for the smart booster device and the smart booster system according to an embodiment of the present invention.

In one embodiment, in order to make the actual assist value of the main body consistent with the target value measured by the sampling mechanism, a speed closed-loop process as shown in FIG. 5 can be adopted. As shown in FIG. 5 , the smart booster further includes a PID controller 170 . The PID controller 170 is configured to: determine the target speed value of the intelligent power boosting device according to at least one of the electric signal obtained by the power boost controller and the motion state measured by the inertial measurement unit, and then set the target The speed value is sent to the at least one motor, and after the at least one motor is adjusted according to the target speed value, the speed return value of the at least one motor is obtained for feedback control.

Specifically, for example, the state sampling mechanism can collect the inclination angle of the manipulation component in the form of a pull rod or a rocker, and generate a corresponding electrical signal, which is transmitted to the booster controller, and the booster controller at least according to the state At least one of the electrical signal of the sampling mechanism and the motion state measured by the inertial measurement unit determines the target value of the power assist that needs to be provided, and transmits the signal to the motor through the PID controller. After the motor accelerates, the speed return value is fed back to the PID The front end of the controller 170 performs calibration to realize that the actual assist value of the main body is consistent with the determined target assist value.

Fig. 6 shows a schematic diagram of a combination of a manipulation component and a booster controller according to yet another embodiment of the present invention.

As shown in FIG. 6 , the manipulation component 130 ″ can be a rocker, and the rocker is combined with the booster controller, and a state sampling mechanism can be arranged between the rocker and the booster controller.

Or, preferably, the booster controller may be configured to be integrally formed with the manipulation component, or the booster controller may be set inside the manipulation component.

For example, in the case where the intelligent booster is a suitcase, the pull rod of the suitcase can also be used as a rod-type booster controller to realize sensitive control of the box. Such an intelligent booster can not only provide a It can not only provide the auxiliary power of the body, but also improve the user's sense of manipulation of the lever.

In addition, the daily actions of the operator can be integrated into the control through the operating components and the state sampling mechanism connected to them, which makes learning the operation mode easy. At the same time, the start-up method of this power-assisted control is simple, and it can be switched to the power-assisted state at any time , Effectively improve the operating efficiency of the operator.

Fig. 7 shows a method for controlling an intelligent power assist device to provide power assist according to an embodiment of the present invention.

Another aspect of the present invention provides a method for controlling an intelligent booster to provide boosting, wherein the smart booster includes: a booster controller, a manipulation component, and a state sampling mechanism, and the method includes: the state sampling The mechanism obtains the state of the manipulation component, and generates a corresponding electrical signal according to the state change of the manipulation component (S101); the booster controller controls the smart booster device to provide booster in response to the electrical signal (S102).

Preferably, the state sampling mechanism includes a sliding rheostat, the sliding rheostat includes a resistance wire and a sliding end, the sliding end is directly or indirectly connected to the manipulation component, and the state sampling mechanism obtains the state of the manipulation component, And generating a corresponding electric signal according to the state change of the manipulation component includes: the sliding end moves on the resistance wire following the position change of the manipulation component, so as to generate a corresponding voltage sampling value.

Preferably, the smart booster device further includes an inertial measurement unit, and the method further includes the inertial measurement unit measuring the motion state of the smart booster device.

Preferably, the inertial measurement unit measuring the motion state of the intelligent power assist device includes: the inertial measurement unit measuring the acceleration in at least one direction and the angular velocity or angular acceleration in at least one direction of the intelligent power assist device.

Preferably, the smart booster further includes a driving device for driving the smart booster to move, the driving device includes at least one motor, and the booster controller responds to the electrical signal to control the smart booster to provide boosting including : At least one of the motors provides at least one of forward assist and steering assist to the intelligent assist device under the control of the assist controller.

Preferably, the power assist controller controlling the intelligent power assist device to provide assist in response to the electrical signal includes: obtaining the motion state of the intelligent power assist device measured by the inertial measurement unit, and determining the power assist device according to the motion state The intelligent power assist device is currently in one of the horizontal forward state, the climbing state, the turning state or other states, and thus determines the type of power assist applied to the intelligent power assist device.

Preferably, the assisting controller controlling the intelligent assisting device to provide assisting in response to the electrical signal includes: determining that the intelligent assisting device has no angular velocity when the motion state of the intelligent assisting device is measured by the inertial measurement unit And when it is in a horizontal forward state or a climbing state, forward power is provided to the intelligent booster device; wherein the size of the forward power is positively related to the inclination angle of the control member in the form of a pull rod or a rocker, or the size of the forward power is related to the It is positively correlated with the forward speed of the intelligent booster.

Preferably, the assisting controller responding to the electrical signal to control the intelligent assisting device to provide assisting includes: when the inertial measurement unit detects that there is a continuous angular acceleration or angular velocity in the intelligent assisting device, providing assistance to the intelligent assisting device The device provides steering assist, or provides steering assist and forward assist to the intelligent assist device; wherein the magnitude of the steering assist is positively related to the angular velocity measured by the inertial measurement unit, and the magnitude of the forward assist is related to the The inclination angle of the manipulation component is positively correlated, or the magnitude of the forward assist is positively correlated with the forward speed of the intelligent booster device.

Preferably, the intelligent booster device further includes a PID controller, and the method includes: the PID controller determines at least one of the electrical signals obtained by the booster controller and the motion state measured by the inertial measurement unit. The target speed value of the intelligent booster device; then send the target speed value to the at least one motor; and after the at least one motor performs speed adjustment according to the target speed value, the PID controller obtains the at least A motor speed return value for feedback control.

In yet another aspect of the present invention, an intelligent power assist device is provided, which includes a memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor executes the computer program The program can realize the function of the booster controller in any one of the above-mentioned methods.

In yet another aspect of the present invention, a computer storage medium is also provided, the computer storage medium stores a computer program, and when the computer program is executed, it can realize the operation of the booster controller in any one of the above-mentioned methods. Function.

As those skilled in the art can think of after reading this disclosure, in one embodiment, the booster controller can be implemented by computer program codes that control the motor, so as to at least The current applied to the motor is defined by the tilt angle of the manipulation component, or the target speed of the motor is defined at least according to the tilt angle of the manipulation component sampled by the state sampling mechanism.

From the embodiments of the present invention described above, it can be seen that the embodiments of the present invention have at least the following beneficial technical effects: a) enable the intelligent power assist device to provide power effectively and in time, saving manpower; b) improve the manipulation of the operator The degree reduces the learning cost of the operator's operation process; c) improves the stability of the intelligent power assist device when assisting, and reduces the complicated mechanism and communication connection process.

It should be noted that the implementation solutions provided in this application are only optional implementation solutions introduced in this application, and those skilled in the art can design more implementation solutions on this basis, so details are not repeated here.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions need to be implemented in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method implementation, and will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device implementation described above is only illustrative, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or integrated to another system, or some features may be ignored, or not implemented. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

A unit described as a discrete component may or may not be physically separated, and a component shown as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple locations. Part or all of the units can be selected according to actual needs to achieve the purpose of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

If the functions are realized in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor execute all or part of the steps of the methods in various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

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

The above only provides the specific implementation of the application, but the scope of protection of the application is not limited thereto. Any skilled person in the technical field can easily think of changes or replacements within the technical scope disclosed in the application. These changes or All replacements should fall within the protection scope of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims (16)

1. An intelligent booster, characterized in that, the intelligent booster includes: a power-assisted controller, an operating part, a state sampling mechanism and an inertial measurement unit, wherein,

the state sampling mechanism is connected to the control component, the state sampling mechanism is configured to sense the state change of the control component and generate corresponding electric signals according to the state change of the control component, the control component is a pull rod or a rocker, the state sampling mechanism is arranged at the tail end of the pull rod or the rocker, the state change of the control component at least comprises that the control component inclines for a certain angle or rotates at a certain angular speed, the state sampling mechanism can generate corresponding electric signals along with the inclination or the rotation of the pull rod or the rocker, and when the state sampling mechanism senses that the angle of the control component relative to the axis of the horizontal direction is smaller than a set angle, the power assisting controller controls the intelligent power assisting device to enter a power assisting mode; or when the state sampling mechanism senses that the angle of the axis of the operating part relative to the horizontal direction is restored to be larger than the set angle, the power assisting controller controls the intelligent power assisting device to enter a non-power assisting mode;

Wherein the state sampling mechanism comprises a slide rheostat comprising a resistive wire and a slide end, the slide end being directly or indirectly connected to the manipulation member and the slide end moving over the resistive wire following a change in position of the manipulation member to generate a corresponding voltage sample value, wherein the state sampling mechanism further comprises a linkage mechanism disposed between the slide rheostat and the manipulation member, the linkage mechanism comprising at least one linkage capable of transmitting a change in state of the manipulation member to the slide end of the slide rheostat;

the inertial measurement unit is configured to measure a state of motion of the intelligent power assist device, wherein the measuring the state of motion of the intelligent power assist device includes measuring an acceleration of the intelligent power assist device in at least one direction and an angular velocity or an angular acceleration in at least one direction; and

the assist controller is configured to receive the electric signal generated by the state sampling mechanism, control the intelligent assist device to provide assist in response to the electric signal, and is further configured to obtain a motion state of the intelligent assist device measured by the inertia measurement unit and determine that the intelligent assist device is currently in one of a horizontal advance state, a climbing state, a turning state, or other state according to the motion state, and thereby determine a type of assist applied to the intelligent assist device to provide assist,

Wherein the assist controller is further configured to provide at least one of a forward assist force and a steering assist force to the intelligent assist device in accordance with the movement state of the intelligent assist device measured by the inertia measurement unit, and wherein the magnitude of the steering assist force is positively correlated with the angular velocity measured by the inertia measurement unit, the magnitude of the forward assist force is positively correlated with the inclination angle of a steering member in the form of a tie rod or a rocker, or the magnitude of the forward assist force is positively correlated with the forward rate of the intelligent assist device.

2. The intelligent power assist device of claim 1 wherein the operating means comprises means in the form of a button, the intelligent power assist device entering a power assist mode when the button is depressed, the power assist controller being configured to provide a fixed power assist.

3. The intelligent power assist device of claim 1 or 2, further comprising a drive device that drives movement of the intelligent power assist device, the drive device comprising at least one motor configured to provide at least one of forward power assist and steering power assist to the intelligent power assist device under control of the power assist controller.

4. The intelligent power assist device of claim 1 or 2, wherein the power assist controller is specifically configured to:

and providing forward assistance to the intelligent assistance device when the intelligent assistance device is determined to have no angular velocity and is in a horizontal forward state or a climbing state by the motion state of the intelligent assistance device measured by the inertia measurement unit.

5. The intelligent power assist device of claim 1 or 2, wherein the power assist controller is specifically configured to:

and when the movement state of the intelligent power assisting device measured by the inertia measuring unit determines that the intelligent power assisting device continuously has angular acceleration or angular speed, providing steering power assistance for the intelligent power assisting device or providing steering power assistance and advancing power assistance for the intelligent power assisting device.

6. The intelligent power assist device according to any one of claims 1 or 2, characterized in that the power assist controller is provided integrally with the steering member or the power assist controller is provided inside the steering member.

7. The intelligent power assist device of claim 1 or 2, further comprising a PID controller configured to:

And determining a target speed value of the intelligent power assisting device according to at least one of the electric signals obtained by the power assisting controller and the motion state measured by the inertia measuring unit, then sending the target speed value to the at least one motor, and obtaining a speed return value of the at least one motor for feedback control after the at least one motor performs speed adjustment according to the target speed value.

8. An intelligent power assist system comprising the intelligent power assist device of any one of claims 1 to 7, wherein the intelligent power assist system is an intelligent mobile robot, and the intelligent power assist device is provided on a main body of the intelligent mobile robot.

9. The intelligent power assist system of claim 8 wherein the intelligent mobile robot comprises a trunk or a logistics transport vehicle.

10. A method for controlling an intelligent power assist device to provide power assist, the intelligent power assist device comprising: a booster controller, a steering component, a state sampling mechanism and an inertial measurement unit, wherein the method comprises:

the state sampling mechanism obtains the state of the control component and generates corresponding electric signals according to the state change of the control component, the control component is a pull rod or a rocker, the state sampling mechanism is arranged at the tail end of the pull rod or the rocker, the state change of the control component at least comprises that the control component inclines for a certain angle or rotates at a certain angular speed, the state sampling mechanism can generate corresponding electric signals along with the inclination or the rotation of the pull rod or the rocker, and when the state sampling mechanism senses that the angle of the control component relative to the axis of the horizontal direction is smaller than a set angle, the power assisting controller controls the intelligent power assisting device to enter a power assisting mode; or when the state sampling mechanism senses that the angle of the axis of the operating part relative to the horizontal direction is restored to be larger than the set angle, the power assisting controller controls the intelligent power assisting device to enter a non-power assisting mode;

Wherein the state sampling mechanism comprises a slide rheostat comprising a resistance wire and a slide end, the slide end being directly or indirectly connected to the manipulation member, the state sampling mechanism obtaining a state of the manipulation member, and generating a corresponding electrical signal according to a change in state of the manipulation member comprises:

the sliding end moves on the resistance wire along with the position change of the operating component so as to generate corresponding voltage sampling values,

wherein the state sampling mechanism further comprises a link mechanism arranged between the slide rheostat and the operating component, the link mechanism comprising at least one link, the link mechanism being capable of transmitting a state change of the operating component to a sliding end of the slide rheostat;

the inertial measurement unit measures a state of motion of the intelligent power assist device, wherein the measuring the state of motion of the intelligent power assist device includes measuring an acceleration of the intelligent power assist device in at least one direction and an angular velocity or an angular acceleration in at least one direction; and

the assist controller receives the electric signal generated by the state sampling mechanism, controls the intelligent power assist device to provide assist in response to the electric signal, and obtains a motion state of the intelligent power assist device measured by the inertia measurement unit and determines that the intelligent power assist device is currently in one of a horizontal advance state, a climbing state, a turning state, or other states according to the motion state, and thereby determines a type of assist applied to the intelligent power assist device to provide assist,

Wherein the assist controller is further configured to provide at least one of a forward assist force and a steering assist force to the intelligent assist device in accordance with the movement state of the intelligent assist device measured by the inertia measurement unit, and wherein the magnitude of the steering assist force is positively correlated with the angular velocity measured by the inertia measurement unit, the magnitude of the forward assist force is positively correlated with the inclination angle of a steering member in the form of a tie rod or a rocker, or the magnitude of the forward assist force is positively correlated with the forward rate of the intelligent assist device.

11. The method of claim 10, wherein the intelligent booster further comprises a drive device that drives movement of the intelligent booster, the drive device comprising at least one motor, the booster controller controlling the intelligent booster to provide boost in response to the electrical signal comprising:

at least one of the motors provides at least one of forward assist and steering assist to the intelligent power assist device under control of the power assist controller.

12. The method of claim 10, wherein the power assist controller controlling the intelligent power assist device to provide power in response to the electrical signal comprises:

And providing forward assistance to the intelligent assistance device when the intelligent assistance device is determined to have no angular velocity and is in a horizontal forward state or a climbing state by the motion state of the intelligent assistance device measured by the inertia measurement unit.

13. The method of claim 10, wherein the power assist controller controlling the intelligent power assist device to provide power in response to the electrical signal comprises:

and when the inertial measurement unit measures that the intelligent power assisting device continuously has angular acceleration or angular speed, providing steering power assistance for the intelligent power assisting device or providing steering power assistance and advancing power assistance for the intelligent power assisting device.

14. The method of claim 11, wherein the intelligent booster further comprises a PID controller, the method comprising:

the PID controller determines a target speed value of the intelligent power assisting device according to at least one of the electric signals obtained by the power assisting controller and the motion state measured by the inertia measuring unit;

then transmitting the target speed value to the at least one motor; and

after the at least one motor performs speed adjustment according to the target speed value, the PID controller obtains a speed return value of the at least one motor to perform feedback control.

15. A smart booster comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor being capable of implementing the functions of the booster controller in the method according to any one of claims 10-14 when the computer program is executed.

16. A computer storage medium, characterized in that it stores a computer program which, when executed, is capable of implementing the function of the booster controller in the method according to any one of claims 10-14.