CN115562289A - Speed adjusting method, speed adjusting device, robot, storage medium and program product - Google Patents

Abstract

The application relates to a speed adjustment method, a device, a robot, a storage medium and a computer program product, the method comprising: a control unit in the robot acquires pressure data at the current moment according to a pressure sensor arranged on the robot, generates a target rotating speed according to the pressure data, and then controls a chassis hub on the robot to rotate at the target rotating speed so as to drive the power-assisted robot. The method can adjust the running speed of the robot, so that the power-assisted robot runs, the physical strength of a user is saved, and the running efficiency of the robot is improved.

Description

Speed adjustment method, device, robot, storage medium and program product

technical field

The present application relates to the technical field of robots, in particular to a speed adjustment method, device, robot, storage medium and program product.

Background technique

With the development of smart home technology, more and more home robots, such as dishwasher robots, sweeping robots, cleaning robots and other cleaning robots, have emerged to bring people a more relaxed life.

In traditional technologies, cleaning robots (such as vacuum cleaners) need to move under the action of human push and pull to perform cleaning work. However, with the increase of the load and self-weight of the cleaning robot, the user needs to apply more push and pull force to control the movement of the cleaning robot, especially when facing some special roads with uphill, uneven and large resistance, the user will spend more effort to push Cleaning the robot, which not only consumes the energy of the user, but also increases the cleaning time and reduces the cleaning efficiency.

Contents of the invention

Based on this, it is necessary to provide a speed adjustment method, device, robot, storage medium and program product for the above technical problems.

In a first aspect, the present application provides a speed adjustment method, including:

Obtain the pressure data at the current moment according to the pressure sensor installed on the robot;

Generating a target rotational velocity based on pressure data;

Control the chassis hub on the robot to rotate at the target rotation speed to assist the robot to drive.

In one embodiment, the pressure data is a pressure pulse signal, and the pressure pulse signal is generated by the pressure sensor according to the deformation of the internal spring of the pressure sensor; the deformation amount generated by the deformation of the internal spring of the pressure sensor is used to represent the pressure exerted by the user on the pressure sensor size.

In one of the embodiments, generating the target rotation speed according to the pressure data includes:

Obtain the pressure pulse frequency according to the pressure pulse signal;

Determine the target rotation speed according to the pressure pulse frequency and the preset frequency threshold.

In one of the embodiments, the preset frequency threshold includes a low frequency threshold and a high frequency threshold, and the target rotation speed is determined according to the pressure pulse frequency and the preset frequency threshold, including:

If the pressure pulse frequency is less than or equal to the low frequency threshold, determine that the target rotation speed is 0;

If the pressure pulse frequency is greater than the low frequency threshold and less than the high frequency threshold, generate a target rotation speed according to the pressure pulse frequency, the high frequency threshold and the maximum rotation speed;

If the pressure pulse frequency is greater than or equal to the high frequency threshold, determine that the target rotation speed is the maximum rotation speed.

In one of the embodiments, the target rotation speed is generated according to the pressure pulse frequency, the high frequency threshold and the maximum rotation speed, including:

According to the ratio of the pressure pulse frequency to the high frequency threshold and the ratio of the target rotation speed to the maximum rotation speed, the target rotation speed is obtained.

In one of the embodiments, if the pressure data is a pressure value, the target rotation speed is generated according to the pressure data, including:

The target rotation speed is determined according to the pressure value and a preset pressure-speed relationship library; the pressure-speed relationship library includes a plurality of corresponding relationships between pressure values and rotation speeds.

In a second aspect, the present application provides a speed regulating device, including:

The pressure acquisition module is used to obtain the pressure data at the current moment according to the pressure sensor installed on the robot;

a speed determination module, configured to generate a target rotational speed according to the pressure data;

The power assist control module is used to control the chassis wheel hub on the robot to rotate at a target rotation speed, so as to assist the robot to drive.

In a third aspect, the present application also provides a robot, including a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

Obtain the pressure data at the current moment according to the pressure sensor installed on the robot;

Generating a target rotational velocity based on pressure data;

Control the chassis hub on the robot to rotate at the target rotation speed to assist the robot to drive.

In a fourth aspect, the present application also provides a computer-readable storage medium. The computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by a processor, the following steps are implemented:

Obtain the pressure data at the current moment according to the pressure sensor installed on the robot;

Generating a target rotational velocity based on pressure data;

Control the chassis hub on the robot to rotate at the target rotation speed to assist the robot to drive.

In a fifth aspect, the present application also provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

Obtain the pressure data at the current moment according to the pressure sensor installed on the robot;

Generating a target rotational velocity based on pressure data;

Control the chassis hub on the robot to rotate at the target rotation speed to assist the robot to drive.

In the above-mentioned speed adjustment method, device, robot, storage medium and computer program product, the control unit in the robot obtains the pressure data at the current moment according to the pressure sensor installed on the robot, generates the target rotation speed according to the pressure data, and then controls the rotation speed on the robot. The chassis hub rotates at a target rotational speed to assist the robot in driving. In this way, the adjustment of the driving speed of the robot is realized to assist the driving of the robot, save the physical strength of the user, and improve the driving efficiency of the robot.

Description of drawings

Fig. 1 is an application environment diagram of the speed regulation method in an embodiment;

Fig. 2 is a schematic flow chart of the speed regulation method in one embodiment;

Fig. 3 is a schematic flow chart of determining a target rotation speed in an embodiment;

Fig. 4 is a schematic flow chart of determining the target rotation speed in another embodiment;

Fig. 5 is a structural block diagram of a speed regulating device in an embodiment;

Fig. 6 is a diagram of the internal structure of the robot in one embodiment.

detailed description

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

The speed adjustment method provided in the embodiment of the present application can be applied to a control unit of a robot. The speed adjustment method provided in this embodiment is used to adjust the rotational speed of the hub of the chassis of the robot based on the pressure data obtained by the pressure sensor, so as to realize the adjustment of the driving speed of the robot. Therefore, the present application does not impose specific limitations on the structure of the applied robot, including the pressure sensor and the chassis hub involved in the above speed adjustment process.

Exemplarily, the above speed adjustment method is applied to the cleaning robot as shown in FIG. 1 as an example for description. As shown in Figure 2, the above speed adjustment method includes:

S210. Obtain pressure data at the current moment according to the pressure sensor installed on the robot.

Wherein, the pressure sensor is used to acquire pressure data, and the pressure data is generated by the pressure sensor in response to a pressure application operation performed by the user. Optionally, the pressure data is used to characterize the magnitude of pressure exerted by the user, which may be directly a pressure value, or other forms of parameters, such as deformation.

Different types of pressure sensors correspond to different pressure-applying operations, and also correspond to different forms of pressure data. Optionally, the pressing operation corresponding to the spring-type pressure sensor is to press the pressure sensor, and the corresponding pressure data can be the deformation (such as the compression distance) of the spring (or other elastic deformation elements such as compression springs), or it can be The pressure value obtained based on the deformation amount; the corresponding pressing operation of the rotary pressure sensor is to twist the rotating part of the pressure sensor, and the corresponding pressure data can be the deformation amount (such as the degree of contraction) of the torsion spring connected to the rotating part ), it can also be the pressure value obtained based on the deformation.

Optionally, the above-mentioned pressure sensor can be located at any position on the robot, which is convenient for the user to trigger.

Optionally, the pressure sensor installed on the robot generates pressure data in response to the user's pressing operation, and sends the pressure data to the control unit of the robot, and the control unit can obtain the pressure data at the current moment.

S220. Generate a target rotation speed according to the pressure data.

Wherein, the target rotation speed is the rotation speed to be achieved by controlling the chassis hub of the robot. The chassis hub of the robot is used to drive the whole robot to move.

Optionally, the control unit may determine the rotation speed corresponding to the currently obtained pressure data based on the preset correspondence between the pressure data and the rotation speed, and use it as the above-mentioned target rotation speed. Wherein, the greater the pressure represented by the pressure data, the greater the corresponding rotation speed.

S230. Control the chassis hub on the robot to rotate at a target rotation speed, so as to assist the robot to drive.

Specifically, after determining the target rotation speed, the control unit controls the chassis hub on the robot to rotate at the target rotation speed, so as to assist the robot to drive.

Taking the cleaning robot in Figure 1 as an example, the specific process of realizing the above speed adjustment method is as follows:

After the cleaning robot is started, it performs a power-on self-test. The user applies pressure to the pressure sensor installed on the cleaning robot. The pressure sensor generates pressure data and reports the pressure data to the control unit. The control unit determines the target rotation speed corresponding to the received pressure data according to the preset correspondence between the pressure data and the rotation speed, and then controls the chassis hub to rotate at the target rotation speed to assist the cleaning robot to drive. For the smooth driving area, the user can apply a small pressure to the pressure sensor to make the chassis hub rotate at a small target rotation speed to drive the cleaning robot to drive. The user continues to apply pressure to push the cleaning robot to continue driving; for some special driving Areas, such as uphill or pothole areas, in the process of driving the cleaning robot, the user increases the pressure on the pressure sensor to make the chassis hub rotate at a larger target rotation speed, assisting the cleaning robot to drive, so that the user can Without consuming a lot of physical strength, it helps the cleaning robot to pass through the above-mentioned special driving areas smoothly.

In this embodiment, the control unit in the robot obtains the pressure data at the current moment according to the pressure sensor installed on the robot, generates the target rotation speed according to the pressure data, and then controls the chassis hub on the robot to rotate at the target rotation speed to assist the robot to drive . In this way, the adjustment of the driving speed of the robot is realized to assist the driving of the robot, save the physical strength of the user, and improve the driving efficiency of the robot.

In practical applications, the pressure data can be transmitted to the control unit in the form of electrical signals. Based on this, the above pressure data may be a pressure pulse signal.

Optionally, for the spring-type pressure sensor, the user applies pressure to the spring-type pressure sensor, and the internal spring deforms under the force, and the spring-type pressure sensor converts the potential energy generated by the deformation of the internal spring into electrical energy to form the pressure data corresponding to pressure pulse signal.

Wherein, the deformation amount generated by the deformation of the internal spring of the pressure sensor is used to represent the pressure exerted by the user on the pressure sensor. Within the allowable range, the greater the pressure exerted by the user on the pressure sensor, the greater the deformation of the internal spring of the pressure sensor will be. The pressure pulse frequency of the pressure pulse signal obtained by the spring deformation conversion is positively correlated with the deformation, that is, the pressure pulse frequency is positively correlated with the pressure applied by the user, and increases with the increase of the pressure applied by the user. decreases with the reduction of the applied pressure.

In the case where the pressure data is a pressure pulse signal, in an optional embodiment, as shown in FIG. 3 , the above S220, generating the target rotation speed according to the pressure data, then includes:

S310. Obtain a pressure pulse frequency according to the pressure pulse signal.

Optionally, the control unit inside the robot includes an MCU (Microcontroller Unit, micro control unit) and a host computer. Wherein, the MCU is used for state acquisition, obtains pressure data from the pressure sensor, converts the pressure data into a pressure pulse signal, and obtains the pulse frequency of the pressure pulse signal, that is, obtains the above pressure pulse frequency.

S320. Determine the target rotation speed according to the pressure pulse frequency and the preset frequency threshold.

Optionally, the MCU periodically reports the obtained pressure pulse frequency to the host computer, for example, once every 100 ms, and the host computer acts as a decision-making center to generate a control strategy according to the pressure pulse frequency to control the chassis and hub of the robot.

Optionally, the host computer can determine the target rotation speed according to the pressure pulse frequency and the preset frequency threshold. For example, the target rotation speed is determined according to the relationship between the pressure pulse frequency f and the preset frequency threshold f ₀ . Among them, if the pressure pulse frequency f is less than the preset frequency threshold f ₀ , the upper computer controls the chassis hub to be disabled, that is, it is not enabled, and the corresponding target rotation speed is V _goal = 0, that is, no power-assisted rotation speed is generated, and the robot only operates under the thrust of the user. If the pressure pulse frequency f is greater than or equal to the preset frequency threshold f ₀ , the upper computer controls the chassis hub to enable, and the corresponding target rotation speed V _goal = V ₀ (V ₀ ≠ 0) will generate an assist speed, and the robot can Driving under the action of the thrust and power-assisted speed.

In this embodiment, when the pressure data is a pressure pulse signal, the control unit obtains the pressure pulse frequency according to the pressure pulse signal, and then determines the target rotation speed according to the pressure pulse frequency and a preset frequency threshold. Through the above method, the rotation speed of the chassis hub can be adjusted based on the pressure of the user acting on the pressure sensor, thereby realizing flexible and rapid adjustment of the robot's driving speed, improving the adjustment efficiency and improving the driving efficiency of the robot.

In order to realize the multi-level control of the robot's driving speed, the preset frequency threshold f ₀ may include several to form different frequency ranges, and different frequency ranges correspond to different target rotation speeds, thereby realizing multi-level control. In an optional embodiment, the preset frequency threshold _f0 includes a low frequency threshold f _Low and a _high frequency threshold fHigh, as shown in FIG. The target rotation speed includes:

S410. If the pressure pulse frequency is less than or equal to the low frequency threshold, determine that the target rotation speed is 0.

Specifically, the control unit compares the obtained pressure pulse frequency f with a preset low frequency threshold f _Low , and determines the target rotation speed V _goal according to the comparison result. Wherein, if f≤f _Low , V _goal =0; if f>f _Low , the target rotation speed V _goal is determined according to the pressure pulse frequency f and the high frequency threshold F _High .

Taking the cleaning robot as an example, the above process is applicable to the gentle driving area, the user gently pushes the cleaning robot, the pressure acting on the pressure sensor is small, the converted pressure pulse frequency f is less than the low frequency threshold f _Low , and the target rotation speed V _goal is 0, that is, the assist speed is not triggered, and the chassis hub of the cleaning robot rotates under the thrust of the user to drive the cleaning robot to drive.

S420. If the pressure pulse frequency is greater than the low frequency threshold and smaller than the high frequency threshold, generate a target rotation speed according to the pressure pulse frequency, the high frequency threshold, and the maximum rotation speed.

Among them, the maximum rotation speed V _max is the maximum speed that the robot can reach safely.

Optionally, when the control unit determines that the pressure pulse frequency f is greater than the low frequency threshold f _Low , the control unit further compares the pressure pulse frequency f with the high frequency threshold f _High to determine the target rotational speed V _goal . Wherein, if f _Low <f<f _High , the control unit comprehensively determines the target rotation speed V _goal. according to the pressure pulse frequency f, the high frequency threshold f _High and the maximum rotation speed V _max .

In an optional embodiment, the control unit can obtain the V _max target rotation speed V _goal according to the ratio of the pressure pulse frequency f to the high frequency threshold f _High and the ratio of the target rotation speed V _goal to the maximum rotation speed V _max . . That is, f/f _High= V _goal /V _max is used as the setting principle, and when f _High and V _max are determined, corresponding V _goal is set for different f. Wherein, the larger f is, the larger V _goal is.

Also taking the cleaning robot as an example, the above process is applicable to the user entering a special driving area (such as an uphill or pothole area) to increase the thrust and increase the pressure on the pressure sensor, so that the converted pressure pulse frequency f is greater than the low The frequency threshold f _Low , the control unit determines the corresponding target rotation speed V _goal based on the current pressure pulse frequency f according to the above setting principles, so as to trigger the assist speed _. Rotate with the assistance of the robot to drive the cleaning robot to drive the scene.

S430. If the pressure pulse frequency is greater than or equal to the high frequency threshold, determine the target rotation speed as the maximum rotation speed.

Specifically, in the case of the user's pressure pulse frequency f≥f _High , the control unit determines V _goal =V _max .

Optionally, the above-mentioned low frequency threshold f _Low =47 kHz, high frequency threshold f _High =48 kHz, and V _max =0.5 m/s.

Also taking the cleaning robot as an example, the above process is applicable to the gradual increase of the pressure applied by the user on the pressure sensor, so that the converted pressure pulse frequency f reaches the high frequency threshold f _High , and the control unit directly determines the maximum rotation speed V _max as The target rotation speed V _goal , the chassis hub of the cleaning robot rotates under the thrust of the user and the assistance of the maximum rotation speed V _max to drive the cleaning robot to drive.

In this embodiment, when the preset frequency threshold includes a low frequency threshold and a high frequency threshold, the control unit determines the corresponding target rotation speed according to the obtained relationship between the pressure pulse frequency and the low frequency threshold and the high frequency threshold, specifically in the pressure When the pulse frequency is less than or equal to the low frequency threshold, determine that the target rotation speed is 0; when the pressure pulse frequency is greater than the low frequency threshold and less than the high frequency threshold, the target rotation speed is obtained according to the pressure pulse frequency, high frequency threshold and maximum rotation speed ; When the pressure pulse frequency is greater than or equal to the high frequency threshold, determine the target rotation speed as the maximum rotation speed. In this way, the multi-level regulation of the robot's driving speed can be realized to meet the different needs of users.

As mentioned above, the pressure data obtained by the pressure sensor is a parameter in various forms. In an optional embodiment, when the pressure data is a pressure value, the above S220, generating the target rotation speed according to the pressure data, then include:

Determine the target rotation speed according to the pressure value and the preset pressure-speed relationship library.

Wherein, the pressure-velocity relationship library includes a plurality of correspondences between pressure values and rotational speeds.

Optionally, the preset pressure-velocity relationship library includes a first correspondence relationship, a second correspondence relationship and a third correspondence relationship. Wherein, the first corresponding relationship includes that the pressure value F smaller than the first pressure threshold F1 corresponds to the first rotation speed V1; the second corresponding relationship includes that the pressure value F greater than or equal to the first pressure threshold F1 and smaller than the second pressure threshold F2 corresponds to the second The rotation speed V2; the third corresponding relationship includes that the pressure value F greater than the second pressure threshold F2 corresponds to the third rotation speed V3. Wherein, F2>F1, V1<V2<V3.

Alternatively, the first rotational speed V1 , the second rotational speed V2 and the third rotational speed V3 may be constant speeds. For example, V1=0, V2= _{0˜V max} , V3=V _max . It can also be a velocity variable and increases with a different acceleration a as the pressure value F increases. For example, in the first correspondence, V1=a1*t; in the second correspondence, V2=V1+a2*t; in the third correspondence, V3=V2+a3*t; wherein, V1≥0 , V3≤V _max , a1=a3<a2 (wherein, t represents time).

Optionally, the first correspondence in this embodiment includes: when F<F1, V1=0; the second correspondence includes: when F1≤F<F2, V2=a*t; when F>F2, V3=V _max .

In this embodiment, when the pressure data is a pressure value, the control unit can determine the target rotation speed according to the pressure value and the preset pressure-speed relationship library, and the pressure-speed relationship library includes multiple pressure values and rotation speeds. The corresponding relationship between them, to cover a variety of control methods, improve the diversity of control to meet the different control needs of users.

It should be understood that although the steps in the flow charts involved in the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flow charts involved in the above-mentioned embodiments may include multiple steps or stages, and these steps or stages are not necessarily executed at the same time, but may be performed at different times For execution, the execution order of these steps or stages is not necessarily performed sequentially, but may be executed in turn or alternately with other steps or at least a part of steps or stages in other steps.

Based on the same inventive concept, an embodiment of the present application further provides a speed adjustment device for implementing the above-mentioned speed adjustment method. The solution to the problem provided by the device is similar to the implementation described in the above method, so the specific limitations in one or more embodiments of the speed adjustment device provided below can be referred to above for the limitation of the speed adjustment method, I won't repeat them here.

In one embodiment, as shown in FIG. 5 , a speed adjustment device is provided, including: a pressure acquisition module 501, a speed determination module 502 and an assist control module 503, wherein:

The pressure acquisition module 501 is used to acquire the pressure data at the current moment according to the pressure sensor installed on the robot;

The speed determination module 502 is used to generate a target rotational speed according to the pressure data;

The power assist control module 503 is used to control the chassis hub on the robot to rotate at a target rotation speed, so as to assist the robot to drive.

In one embodiment, the pressure data is a pressure pulse signal, and the pressure pulse signal is generated by the pressure sensor according to the deformation of the internal spring of the pressure sensor; the deformation amount generated by the deformation of the internal spring of the pressure sensor is used to represent the pressure exerted by the user on the pressure sensor size.

In one of the embodiments, the speed determination module 502 is specifically used for:

Obtain the pressure pulse frequency according to the pressure pulse signal; determine the target rotation speed according to the pressure pulse frequency and a preset frequency threshold.

In one of the embodiments, the preset frequency threshold includes a low frequency threshold and a high frequency threshold, and the speed determination module 502 is specifically used for:

If the pressure pulse frequency is less than or equal to the low frequency threshold, determine that the target rotation speed is 0; if the pressure pulse frequency is greater than the low frequency threshold and less than the high frequency threshold, generate the target rotation speed according to the pressure pulse frequency, the high frequency threshold and the maximum rotation speed; if If the pressure pulse frequency is greater than or equal to the high frequency threshold, it is determined that the target rotation speed is the maximum rotation speed.

In one of the embodiments, the speed determination module 502 is specifically used for:

According to the ratio of the pressure pulse frequency to the high frequency threshold and the ratio of the target rotation speed to the maximum rotation speed, the target rotation speed is obtained.

In one of the embodiments, if the pressure data is a pressure value, the speed determination module 502 is specifically used to:

The target rotation speed is determined according to the pressure value and a preset pressure-speed relationship library; the pressure-speed relationship library includes a plurality of corresponding relationships between pressure values and rotation speeds.

Each module in the above-mentioned speed regulating device can be fully or partially realized by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, and can also be stored in the memory of the computer device in the form of software, so that the processor can invoke and execute the corresponding operations of the above-mentioned modules.

In one embodiment, a robot is provided. The robot may be a computer device, and its internal structure may be as shown in FIG. 6 . The robot includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the robot's processor is used to provide computing and control capabilities. The memory of the robot includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface of the robot is used for wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, mobile cellular network, NFC (Near Field Communication) or other technologies. The computer program implements a speed regulation method when executed by a processor. The display screen of the robot can be a liquid crystal display screen or an electronic ink display screen, and the input device of the robot can be a touch layer covered on the display screen, or a button, a trackball or a touch pad provided on the robot shell, or It is an external keyboard, trackpad or mouse.

Those skilled in the art can understand that the structure shown in Figure 6 is only a block diagram of a part of the structure related to the solution of this application, and does not constitute a limitation to the robot on which the solution of this application is applied. More or fewer components are shown in the figures, or certain components are combined, or have different component arrangements.

In one embodiment, a robot is provided, including a memory and a processor, a computer program is stored in the memory, and the processor implements the following steps when executing the computer program:

According to the pressure sensor installed on the robot, the pressure data at the current moment is obtained; the target rotation speed is generated according to the pressure data; the chassis hub on the robot is controlled to rotate at the target rotation speed to assist the robot to drive.

In one embodiment, the pressure data is a pressure pulse signal, and the pressure pulse signal is generated by the pressure sensor according to the deformation of the internal spring of the pressure sensor; the deformation amount generated by the deformation of the internal spring of the pressure sensor is used to represent the pressure exerted by the user on the pressure sensor size.

In one of the embodiments, when the processor executes the computer program, the following steps are also implemented:

Obtain the pressure pulse frequency according to the pressure pulse signal; determine the target rotation speed according to the pressure pulse frequency and a preset frequency threshold.

In one of the embodiments, the preset frequency threshold includes a low frequency threshold and a high frequency threshold, and the processor also implements the following steps when executing the computer program:

If the pressure pulse frequency is less than or equal to the low frequency threshold, determine that the target rotation speed is 0; if the pressure pulse frequency is greater than the low frequency threshold and less than the high frequency threshold, generate the target rotation speed according to the pressure pulse frequency, the high frequency threshold and the maximum rotation speed; if If the pressure pulse frequency is greater than or equal to the high frequency threshold, it is determined that the target rotation speed is the maximum rotation speed.

In one of the embodiments, when the processor executes the computer program, the following steps are also implemented:

According to the ratio of the pressure pulse frequency to the high frequency threshold and the ratio of the target rotation speed to the maximum rotation speed, the target rotation speed is obtained.

In one of the embodiments, if the pressure data is a pressure value, the processor also implements the following steps when executing the computer program:

The target rotation speed is determined according to the pressure value and a preset pressure-speed relationship library; the pressure-speed relationship library includes a plurality of corresponding relationships between pressure values and rotation speeds.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

According to the pressure sensor installed on the robot, the pressure data at the current moment is obtained; the target rotation speed is generated according to the pressure data; the chassis hub on the robot is controlled to rotate at the target rotation speed to assist the robot to drive.

In one embodiment, the pressure data is a pressure pulse signal, and the pressure pulse signal is generated by the pressure sensor according to the deformation of the internal spring of the pressure sensor; the deformation amount generated by the deformation of the internal spring of the pressure sensor is used to represent the pressure exerted by the user on the pressure sensor size.

In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented:

Obtain the pressure pulse frequency according to the pressure pulse signal; determine the target rotation speed according to the pressure pulse frequency and a preset frequency threshold.

In one of the embodiments, the preset frequency threshold includes a low frequency threshold and a high frequency threshold, and the computer program also implements the following steps when executed by the processor:

If the pressure pulse frequency is less than or equal to the low frequency threshold, determine that the target rotation speed is 0; if the pressure pulse frequency is greater than the low frequency threshold and less than the high frequency threshold, generate the target rotation speed according to the pressure pulse frequency, the high frequency threshold and the maximum rotation speed; if If the pressure pulse frequency is greater than or equal to the high frequency threshold, it is determined that the target rotation speed is the maximum rotation speed.

In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented:

According to the ratio of the pressure pulse frequency to the high frequency threshold and the ratio of the target rotation speed to the maximum rotation speed, the target rotation speed is obtained.

In one of the embodiments, if the pressure data is a pressure value, the computer program also implements the following steps when executed by the processor:

The target rotation speed is determined according to the pressure value and a preset pressure-speed relationship library; the pressure-speed relationship library includes a plurality of corresponding relationships between pressure values and rotation speeds.

In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

According to the pressure sensor installed on the robot, the pressure data at the current moment is obtained; the target rotation speed is generated according to the pressure data; the chassis hub on the robot is controlled to rotate at the target rotation speed to assist the robot to drive.

In one embodiment, the pressure data is a pressure pulse signal, and the pressure pulse signal is generated by the pressure sensor according to the deformation of the internal spring of the pressure sensor; the deformation amount generated by the deformation of the internal spring of the pressure sensor is used to represent the pressure exerted by the user on the pressure sensor size.

In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented:

Obtain the pressure pulse frequency according to the pressure pulse signal; determine the target rotation speed according to the pressure pulse frequency and a preset frequency threshold.

In one of the embodiments, the preset frequency threshold includes a low frequency threshold and a high frequency threshold, and the computer program also implements the following steps when executed by the processor:

If the pressure pulse frequency is less than or equal to the low frequency threshold, determine that the target rotation speed is 0; if the pressure pulse frequency is greater than the low frequency threshold and less than the high frequency threshold, generate the target rotation speed according to the pressure pulse frequency, the high frequency threshold and the maximum rotation speed; if If the pressure pulse frequency is greater than or equal to the high frequency threshold, it is determined that the target rotation speed is the maximum rotation speed.

In one of the embodiments, when the computer program is executed by the processor, the following steps are also implemented:

According to the ratio of the pressure pulse frequency to the high frequency threshold and the ratio of the target rotation speed to the maximum rotation speed, the target rotation speed is obtained.

In one of the embodiments, if the pressure data is a pressure value, the computer program also implements the following steps when executed by the processor:

The target rotation speed is determined according to the pressure value and a preset pressure-speed relationship library; the pressure-speed relationship library includes a plurality of corresponding relationships between pressure values and rotation speeds.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware, and the computer programs can be stored in a non-volatile computer-readable memory In the medium, when the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods. Wherein, any reference to storage, database or other media used in the various embodiments provided in the present application may include at least one of non-volatile and volatile storage. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive variable memory (ReRAM), magnetic variable memory (Magnetoresistive Random Access Memory, MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (Phase Change Memory, PCM), graphene memory, etc. The volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory. As an illustration and not a limitation, the RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM). The databases involved in the various embodiments provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a blockchain-based distributed database, etc., but is not limited thereto. The processors involved in the various embodiments provided by this application can be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, data processing logic devices based on quantum computing, etc., and are not limited to this.

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be determined by the appended claims.

Claims (10)

1. A speed regulation method, characterized in that the method comprises: Obtain the pressure data at the current moment according to the pressure sensor installed on the robot; generating a target rotational speed based on the pressure data; The chassis hub on the robot is controlled to rotate at the target rotation speed to assist the robot to travel. 2. The method according to claim 1, wherein the pressure data is a pressure pulse signal, and the pressure pulse signal is generated by the pressure sensor according to the deformation of the internal spring of the pressure sensor; The deformation amount generated by the deformation of the spring is used to represent the pressure applied by the user to the pressure sensor. 3. The method according to claim 2, wherein said generating a target rotational speed according to said pressure data comprises: Obtaining a pressure pulse frequency according to the pressure pulse signal; The target rotation speed is determined according to the pressure pulse frequency and a preset frequency threshold. 4. The method according to claim 3, wherein the preset frequency threshold includes a low frequency threshold and a high frequency threshold, and the target rotational speed is determined according to the pressure pulse frequency and the preset frequency threshold ,include: If the pressure pulse frequency is less than or equal to the low frequency threshold, determine that the target rotation speed is 0; If the pressure pulse frequency is greater than the low frequency threshold and less than the high frequency threshold, generating the target rotational speed according to the pressure pulse frequency, the high frequency threshold and a maximum rotational speed; If the pressure pulse frequency is greater than or equal to the high frequency threshold, determine that the target rotation speed is the maximum rotation speed. 5. The method according to claim 4, wherein the generating the target rotational speed according to the pressure pulse frequency, the high frequency threshold and the maximum rotational speed comprises: The target rotation speed is obtained according to the ratio of the pressure pulse frequency to the high frequency threshold and the ratio of the target rotation speed to the maximum rotation speed. 6. The method according to claim 1, wherein if the pressure data is a pressure value, generating the target rotation speed according to the pressure data comprises: The target rotation speed is determined according to the pressure value and a preset pressure-speed relationship library; the pressure-speed relationship library includes a plurality of correspondences between pressure values and rotation speeds. 7. A speed regulating device, characterized in that the device comprises: The pressure acquisition module is used to obtain the pressure data at the current moment according to the pressure sensor installed on the robot; a speed determination module, configured to generate a target rotation speed according to the pressure data; The power assist control module is used to control the chassis hub on the robot to rotate at the target rotation speed, so as to assist the robot to travel. 8. A robot comprising a memory and a processor, the memory stores a computer program, wherein the processor implements the steps of the method according to any one of claims 1 to 6 when executing the computer program . 9. A computer-readable storage medium, on which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are realized. 10. A computer program product, comprising a computer program, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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