本申请的实施例提供了一种清洁机器人的助力方法、装置、介质。该清洁机器人的助力方法包括:在用户操作清洁机器人的方向盘时,获取方向盘的转动力方向以及第一转动力矩;基于方向盘的转动力方向以及第一转动力矩确定方向盘的人工转动作用力;获取清洁机器人的当前移动速度以及清洁机器人的助力常数;根据清洁机器人的当前移动速度、清洁机器人的助力常数以及方向盘的第一转动力矩确定电机的工作电流,此时,根据电机的工作电流反馈至控制器,以便于根据电机的工作电流确定方向盘的电机转动助力,且对方向盘进行电动助力,从而根据多个参数实现对方向盘的助力,避免了方向盘只有人工助力,实现了电机辅助人力转动方向盘。

    The embodiment of the invention provides a power assisting method and device of a cleaning robot and a medium. The power assisting method of the cleaning robot comprises the steps that when a user operates a steering wheel of the cleaning robot, the rotating force direction and first rotating torque of the steering wheel are obtained; determining manual rotation acting force of the steering wheel based on the rotation force direction of the steering wheel and the first rotation torque; the current moving speed of the cleaning robot and the assistance constant of the cleaning robot are obtained; the working current of the motor is determined according to the current moving speed of the cleaning robot, the assistance constant of the cleaning robot and the first rotating torque of the steering wheel, and at the moment, the working current of the motor is fed back to the controller, so that the motor rotating assistance of the steering wheel is determined according to the working current of the motor, and electric assistance is conducted on the steering wheel. Therefore, assistance of the steering wheel is achieved according to the multiple parameters, manual assistance of the steering wheel is avoided, and the motor assists manual rotation of the steering wheel.


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    Titel :

    清洁机器人的助力方法、装置、介质


    Erscheinungsdatum :

    2024-05-31


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge