Self-balancing robot, speed control device and speed control method thereof

A speed control, self-balancing technology, applied in the field of robotics, can solve problems such as unsuitable self-balancing robot systems

Active Publication Date: 2020-04-03
BEIJING XIAOMI MOBILE SOFTWARE CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since self-balancing robot systems basically use DC brushed low-power motors, the above speed control method is not suitable for non-manned self-balancing robot systems

Method used

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  • Self-balancing robot, speed control device and speed control method thereof
  • Self-balancing robot, speed control device and speed control method thereof
  • Self-balancing robot, speed control device and speed control method thereof

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Embodiment Construction

[0050] The exemplary embodiments will be described in detail here, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. Rather, they are only examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0051] figure 1 It is a flow chart showing a speed control method for a self-balancing robot according to an exemplary embodiment. Such as figure 1 As shown, the method may include step S101 to step S103.

[0052] In step S101, the inclination angle value Aslp and the motor pulse width modulation value Pmve of the self-balancing robot in the accelerated state are acquired.

[0053] ...

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Abstract

The invention discloses a self-balancing robot and a speed control device and method of the self-balancing robot and relates to the field of robots. By the adoption of the self-balancing robot and thespeed control device and method of the self-balancing robot, speed limiting can be achieved precisely and effectively. The method comprises the steps that the inclination angle value and the motor pulse width modulation value of the self-balancing robot in the acceleration state are obtained; when the absolute value of the inclination angle value is larger than the inclination angle limiting value or the absolute value of the motor pulse width modulation value is larger than the motor pulse width modulation limiting value, the operation speed of the self-balancing robot is detected; and the angle of the center of gravity of the self-balancing robot is adjusted by the adoption of the preset operation speed upper limit value and the operation speed till the absolute value of the detected inclination angle value is smaller than or equal to the inclination angle limiting value and the absolute value of the detected motor pulse width modulation limiting value is smaller than or equal to the motor pulse width modulation limiting value.

Description

Technical field [0001] The present disclosure relates to the field of robots, and in particular to a self-balancing robot and its speed control device and speed control method. Background technique [0002] At present, in order to ensure the safety of the driver, the speed control method of the manned self-balancing electric vehicle is as follows: firstly set the maximum speed value Vmax of the self-balancing electric vehicle, where Vmax is less than the speed limit value, that is, the speed of the self-balancing electric vehicle can only be Reach the Vmax value, but never reach the vehicle speed limit value; then, when the vehicle speed reaches the Vmax value, by increasing the motor driving force, the vehicle body has a process of acceleration during driving. Due to inertia, the driver is relatively The car body will lean back to achieve the purpose of deceleration limit. [0003] To achieve the purpose of speed limit by sudden acceleration, the rated power of the motor of the s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16G05D13/62
CPCB25J9/1651G05D13/62
Inventor 张洋张虎
Owner BEIJING XIAOMI MOBILE SOFTWARE CO LTD
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