The invention relates to a control method and device of a self-walking device and the self-walking device.The method comprises the steps that when the self-walking device is in a slope parking state, a steering wheel is controlled to rotate, so that the included angle value between the axis of the steering wheel and a reference line in the slope direction reaches the slope sliding prevention target angle. When the self-walking equipment is parked on the slope, the steering wheel is controlled to rotate to the anti-slope-sliding target angle, it can be ensured that the self-walking equipment is parked on the large slope and does not slide on the slope, and safety is improved. The problem that in the prior art, self-walking equipment is prone to sliding on a slope when walking on the slope, and consequently serious safety accidents are caused can be solved.

    本申请涉及一种自行走设备的控制方法、装置及自行走设备,其中,方法包括:当所述自行走设备处于斜坡驻车状态时,控制所述转向轮转动,使得所述转向轮的轴线与坡度方向的参考线之间的夹角值达到防溜坡目标角度。本申请在自行走设备斜坡驻车时,通过控制转向轮转动至防溜坡目标角度,能确保自行走设备在较大坡度上驻车不溜坡,提高安全性。可以解决现有技术中自行走设备在斜坡上行走容易发生溜坡现象,从而造成严重的安全事故的问题。


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    Title :

    Control method and device of self-walking equipment and self-walking equipment


    Additional title:

    自行走设备的控制方法、装置及自行走设备


    Contributors:
    ZHOU XIAOQING (author) / ZHA XIAHONG (author) / ZHAO FENGLI (author) / CHEN MING (author)

    Publication date :

    2023-01-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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