Two-wheeled robot lifting detection method and device

Abstract

The invention discloses a two-wheeled robot lifting detection method and device. The method comprises the steps that whether the linear acceleration in the vertical direction is larger than a preset linear acceleration value or not is judged; if yes, it is judged whether the rotation speeds of two motors are both larger than a preset motor rotation speed value or not; if yes, the two motors are controlled to be stopped rotating. According to the two-wheeled robot lifting detection method and device, when the linear acceleration in the vertical direction is larger than the preset linear acceleration value, and the rotation speeds of the two motors are both larger than a preset motor rotation speed value, it is judged that a robot is lifted, and the two motors are controlled to be stopped rotating, that is the two wheels are stopped rotating, so that the situation that when suspended, the wheels rotate at the high speed and accordingly electric energy is wasted is avoided, the problem that the robot is difficultly put back to the ground due to the high-speed rotation of the wheels is further solved, and the adaptability and robustness of the two-wheeled robot are improved. Because the wheels are stopped rotating, the robot is conveniently put back to the ground, convenience is brought to a user to use, the use experience of the user is improved, and the market competitiveness of the robot is improved.

Description

technical field [0001] The invention relates to the technical field of two-wheel robots, in particular to a lifting detection method and device for a two-wheel robot. Background technique [0002] With the continuous development of robotics technology, two-wheeled robots have gained attention in the field of robotics at home and abroad by virtue of their advantages such as simple structure and flexible activities. As a special inverted pendulum wheeled robot, the two-wheel self-balancing robot has the characteristics of nonholonomic, nonlinear, underactuated and unstable. [0003] Small entertainment-type two-wheeled robots are often lifted and put down. The principle of balancing the two-wheeled balance car is to keep the entire body in a state of dynamic balance by rotating the two wheels back and forth. When the two-wheeled balance car is lifted, it will When the two wheels are suspended in the air, this dynamic balance is broken. When the robot is suspended in the air, ...

AI Technical Summary

Problems solved by technology

[0003] Small entertainment-type two-wheeled robots are often lifted and put down. The principle of balancing a two-wheeled balance car is to keep the entire body in a state of dynamic balance by rotating the two wheels back and forth. When the two-wheeled balance car is lifted, it will When the two wheels are suspended in the air, this dynamic balance is broken. When the robot is suspended in the air, it will mistakenly think that it needs to continue to maintain balance, so the two wheels will rotate rapidly. When you want to put the robot on the ground again, it is difficult to put down due to the rapid rotation of the wheels. Inconvenient to use, affecting user experience

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