The invention provides a control method and device of an autonomous moving device.The autonomous moving device comprises a jacking mechanism, the jacking mechanism comprises a jacking plate, a driving part and a first position sensor, the driving part is used for driving the jacking plate to move, and the driving part is used for driving the jacking plate to move; the first position sensor is used for sending out a first detection signal when the jacking plate exceeds the original position in the process that the jacking plate descends to the original position, and the control method of the autonomous moving device comprises the steps that the first detection signal is obtained; the output torque of the driving part is obtained; and under the condition that the first detection signal is received and the output torque is not in the preset torque range, the driving part is controlled to operate, so that the jacking plate moves to the original position. According to the control method of the autonomous moving device provided by the invention, inaccurate position detection of the jacking plate caused by loose displacement of the first position sensor can be avoided, namely, the accuracy of position detection of the jacking plate is improved.
本发明提出了一种自主移动装置的控制方法、控制装置和自主移动装置,其中,自主移动装置包括顶升机构,顶升机构包括顶升板、驱动件和第一位置传感器,驱动件用于驱动顶升板移动,第一位置传感器用于在顶升板下降至原始位置的过程中,在顶升板超过原始位置的情况下,发出第一检测信号,自主移动装置的控制方法包括:获取第一检测信号;获取驱动件的输出扭矩;在接收到第一检测信号,且输出扭矩未处于预设扭矩范围的情况下,控制驱动件运行,以使顶升板移动至原始位置。本发明提供的自主移动装置的控制方法,可以避免由于第一位置传感器发生松动位移而导致的顶升板的位置检测不准确,也即提升了顶升板的位置的检测的准确性。
Control method and control device for autonomous mobile device, and autonomous mobile device
自主移动装置的控制方法、控制装置和自主移动装置
2024-12-13
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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