A two-wheeled robot

Abstract

The application discloses a two-wheel robot, comprising: an angle sensor for acquiring an upright angle of the two-wheel robot; a processing module for determining a corresponding control strategy based on the upright angle; a control module for controlling the two-wheel robot to keep upright; an acceleration control module for controlling the two-wheel robot to accelerate; and a braking module for generating inertia by braking the two-wheel robot. The two-wheel robot provided by the application can adjust the robot from a state deviating from the upright state to the upright motion state by adopting multiple motion control strategies according to the robot state, thereby increasing the adaptability of the robot to harsh working conditions, and the robot can be adjusted from the initial state or the toppling state to the upright motion state without external intervention.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of two-wheeled robots, and in particular to a two-wheeled robot. BACKGROUND

[0002] A two-wheeled balancing robot is a kind of robot that can realize various motion states such as forward movement, backward movement and rotation by relying on only two wheels, and is widely used in products such as balance cars. For example, patent CN107422733A proposes a motion control method based on a two-wheeled differential robot. However, this method only controls the planar motion trajectory of the robot, and introduces a vector field on the basis of PID control to increase the accuracy of trajectory control. However, when the robot encounters sudden road conditions and tips over, the control method cannot make the robot stand up again, let alone complete the control of the motion trajectory.

[0003] The current patent mainly measures the deflection angle through a gyroscope and an acceleration sensor, and then drives the motor to move through a PID control method to realize the balance standing of the two-wheeled robot. However, this method needs human intervention to adjust the robot to an upright state during the initial running process of the robot. Similarly, when the robot encounters sudden road conditions and deviates from the upright state, it is difficult to stand up again using this method.

[0004] CONTENT OF THE APPLICATION

[0005] In view of the above technical problems, the present application proposes a two-wheeled robot that adopts various motion control strategies by judging the state of the robot, so as to adjust the robot from a deviated upright state to an upright motion state, thereby increasing the adaptability of the robot to harsh working conditions and enabling the robot to adjust from an initial state or a tipped-over state to an upright motion state without external intervention.

[0006] The embodiment of the present application provides a two-wheeled robot, which comprises:

[0007] an angle sensor configured to acquire an upright angle of the two-wheeled robot;

[0008] a processing module configured to determine a corresponding control strategy based on the upright angle;

[0009] a control module configured to control the two-wheeled robot to maintain an upright state;

[0010] an acceleration control module configured to control the two-wheeled robot to accelerate;

[0011] a braking module configured to brake the two-wheeled robot to generate inertia.

[0012] In an implementable embodiment, the two-wheeled robot comprises:

[0013] The processing module compares the upright angle with a preset angle threshold;

[0014] If the upright angle is less than or equal to the preset angle threshold, a first control strategy is determined as the corresponding control strategy; or,

[0015] If the upright angle is greater than the preset angle threshold, a second control strategy is determined as the corresponding control strategy.

[0016] In an implementable embodiment, the two-wheeled robot comprises:

[0017] When the processing module determines the first control strategy as the corresponding control strategy,

[0018] The control module controls the angle and / or angular velocity of the two-wheeled robot by proportional-integral-derivative control, so as to keep the two-wheeled robot upright.

[0019] In an implementable embodiment, the two-wheeled robot comprises:

[0020] When the processing module determines the second control strategy as the corresponding control strategy,

[0021] The acceleration control module accelerates the two-wheeled robot.

[0022] When the two-wheeled robot reaches a preset speed, the braking module brakes the two-wheeled robot, and the two-wheeled robot is kept upright by inertia.

[0023] In an implementable embodiment, the step of accelerating the two-wheeled robot by the acceleration control module further comprises:

[0024] The processing module obtains a moving direction of the two-wheeled robot based on the upright angle;

[0025] The acceleration control module controls the two-wheeled robot to accelerate based on the moving direction.

[0026] In an implementable embodiment, when the two-wheeled robot is kept upright by inertia, the method further comprises:

[0027] When the processing module determines that the upright angle obtained by the angle sensor is less than or equal to the preset angle threshold, the control module controls the angle and / or angular velocity of the two-wheeled robot by proportional-integral-derivative control, so as to keep the two-wheeled robot upright.

[0028] In an implementable embodiment, the two-wheeled robot comprises:

[0029] a load detection module configured to acquire current load of the two-wheeled robot;

[0030] The processing module adjusts threshold information of the two-wheeled robot based on the load information.

[0031] In an implementable embodiment, the processing module adjusts threshold information of the two-wheeled robot based on the load information, including:

[0032] The processing module compares and analyzes the load information with preset load information.

[0033] The processing module adjusts preset angle threshold and / or preset speed based on the comparison and analysis result.

[0034] In an implementable embodiment, the two-wheeled robot includes:

[0035] When the comparison and analysis result of the processing module is that the load information is greater than the preset load information, the preset angle threshold is reduced and / or the preset speed is increased; and / or,

[0036] When the comparison and analysis result of the processing module is that the load information is less than or equal to the preset load information, the preset angle threshold and / or the preset speed is maintained.

[0037] In an implementable embodiment, when the comparison and analysis result of the processing module is that the load information is greater than the preset load information, further including:

[0038] The processing module determines a corresponding adjustment gear based on a difference between the load information and the preset load information.

[0039] The processing module adjusts the preset angle threshold to an angle threshold corresponding to the adjustment gear; and / or,

[0040] The processing module adjusts the preset speed to a preset speed corresponding to the adjustment gear.

[0041] Advantages of the present application: by using the two-wheeled robot scheme provided in the present application, a variety of motion control strategies are adopted by judging the robot state, which can make the robot adjust from a deviated upright state to an upright motion state, and increase the adaptability of the robot to harsh working conditions, without the need for external intervention to adjust from an initial state or a dumping state to an upright motion state. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings, which are incorporated herein and constitute part of this specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application. In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0043] Figure 1 A structural schematic diagram of a two-wheeled robot provided by an embodiment of the present application;

[0044] Figure 2 A schematic diagram for obtaining an upright angle provided by an embodiment of the present application;

[0045] Figure 3 A structural schematic diagram of proportional-integral-derivative control provided by an embodiment of the present application;

[0046] Figure 4 A flowchart of a control method for a two-wheeled robot to maintain an upright state provided by an embodiment of the present application;

[0047] Figure 5 A flowchart of determining a control strategy based on an upright angle provided by an embodiment of the present application;

[0048] Figure 6 A method flowchart of adjusting a control strategy threshold based on load information provided by an embodiment of the present application;

[0049] Figure 7 A process schematic diagram of restoring an upright state of a two-wheeled robot by inertia provided by an embodiment of the present application. DETAILED DESCRIPTION

[0050] The exemplary embodiments will be described in detail herein with reference to the attached drawings. When the description below refers to accompanying drawings, unless otherwise noted, the same numbers in different drawings refer to the same or similar elements. The implementations described in the following exemplary embodiments are not meant to represent all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the appended claims.

[0051] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0052] It should be understood that although the terms first, second, third, etc., may be used herein to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word “if” as used herein may be interpreted as “when…” or “in response to determination”. Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or,” “and / or,” “including at least one of the following,” etc., as used in this application may be interpreted as inclusive, or mean any one or any combination thereof. For example, "including at least one of the following: A, B, C" means "any one of the following: A; B; C; A and B; A and C; B and C; A and B and C." Similarly, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A and B and C." Exceptions to this definition only occur when the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0053] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0054] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0055] It should be noted that step designations such as S1 and S2 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S4 first and then S3, etc., but these should all be within the protection scope of this application.

[0056] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0057] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0058] To address these current technical problems, this application proposes a two-wheeled robot that can adjust from a deviated upright state to an upright motion state by judging the robot's state and adopting multiple motion control strategies. This increases the robot's adaptability to harsh working conditions and allows it to adjust from an initial or tipped state to an upright motion state without external intervention.

[0059] like Figure 1 The diagram shown is a structural schematic of a two-wheeled robot according to an embodiment of this application. The two-wheeled robot includes:

[0060] Angle sensor used to acquire the upright angle of the two-wheeled robot;

[0061] a processing module for comparative analysis of the upright angle;

[0062] a control module for controlling the two-wheeled robot to keep upright;

[0063] an acceleration control module for controlling the two-wheeled robot to accelerate;

[0064] a braking module for braking the two-wheeled robot to generate inertia.

[0065] In an embodiment of the present application, the upright angle refers to the vertical angle between the line connecting the center of gravity of the two-wheeled robot and the standing fulcrum and the vertical line when the two-wheeled robot is in a standing posture. When the two-wheeled robot is upright and does not tilt, the vertical angle between the line connecting the center of gravity of the two-wheeled robot and the standing fulcrum and the vertical line is 0, that is, the upright angle is 0. When the two-wheeled robot tilts, the vertical angle between the line connecting the center of gravity of the two-wheeled robot and the standing fulcrum and the vertical line is greater than 0, and thus the upright angle of the two-wheeled robot is greater than 0. In the embodiment of the present application, an angle sensor is arranged on the two-wheeled robot, and the vertical angle of the two-wheeled robot is monitored and obtained. For example, when the vertical angle is greater than 0, it is determined that the two-wheeled robot is in a tilted state. Figure 2 As shown in the schematic diagram for obtaining the upright angle provided by the embodiment of the present application, the vertical angle is θ. The vertical angle θ between the line connecting the center of gravity of the two-wheeled robot and the standing fulcrum and the vertical line is detected and obtained by a gravity sensor or a gyroscope or the like. When the processing module determines that the vertical angle θ is greater than 0, it is considered that the two-wheeled robot is in a tilted state. The vertical angle θ is further compared and analyzed with a preset angle threshold value to determine the control strategy corresponding to the angle of the vertical angle θ, so as to make the two-wheeled robot return to an upright state by controlling the acceleration control module, the braking module, the angle sensor, and the like, that is, the vertical angle θ between the line connecting the center of gravity of the two-wheeled robot and the standing fulcrum and the vertical line is 0.

[0066] In another embodiment of the present application, the upright angle can also refer to the horizontal angle between the plane where the level meter arranged on the two-wheeled robot is located and the horizontal line when the two-wheeled robot is in a standing posture. When the two-wheeled robot is upright and does not tilt, the horizontal angle between the plane where the level meter arranged on the two-wheeled robot is located and the horizontal line is 0, that is, the upright angle is 0. When the two-wheeled robot tilts, the horizontal angle between the plane where the level meter arranged on the two-wheeled robot is located and the horizontal line is greater than 0, and thus the upright angle of the two-wheeled robot is greater than 0. In the embodiment of the present application, the horizontal angle of the two-wheeled robot in the horizontal direction is detected and obtained by the level meter or the like arranged on the two-wheeled robot. When the processing module determines that the detected horizontal angle is greater than 0, it is considered that the two-wheeled robot is in a tilted state. It is continued to refer to Figure 2, wherein the horizontal included angle is a. Further, the horizontal included angle a is compared and analyzed with a preset angle threshold value to determine a control strategy corresponding to the angle of the horizontal included angle a, so as to make the two-wheeled robot restore to the upright state through control of an acceleration control module, a brake module, an angular velocity sensor, etc.

[0067] In an embodiment of the present application, when the comparison and analysis result of the processing module is that the angle of the vertical included angle or the horizontal included angle is less than or equal to a preset angle threshold value; for example, the preset angle threshold value is 45 degrees, then the control module controls the angle adjustment module or the angular velocity module of the two-wheeled robot through proportional integral differential control, so as to make the two-wheeled robot maintain the upright state, as shown in Figure 3 , which is a structural schematic diagram provided by the proportional integral differential control of the embodiment of the present application. The upright angle closed loop control is negative feedback, which functions to realize the standing of the robot; the angular velocity control is positive feedback, which functions to reduce the swing in the standing control process, and plays a damping role. In another embodiment of the present application, when the comparison and analysis result of the processing module is that the angle of the vertical included angle or the horizontal included angle is greater than a preset angle threshold value, for example, the preset angle threshold value is 45 degrees; then the control module controls the acceleration control module and the brake module, that is, through the strategy of accelerating the two-wheeled robot to a preset speed and then braking, inertia is obtained, and the two-wheeled robot is restored to the upright state through the inertia; and when the angle of the vertical included angle or the horizontal included angle is too large, for example, greater than 60 degrees, while the control module controls the acceleration control module and the brake module to obtain inertia and make the two-wheeled robot restore to the upright state, the angle information of the vertical included angle or the horizontal included angle of the two-wheeled robot is detected, and when the angle of the vertical included angle or the horizontal included angle is less than a preset included angle threshold value, then the control module further controls the angle adjustment module or the angular velocity module of the two-wheeled robot through proportional integral differential control, so as to make the two-wheeled robot maintain the upright state.

[0068] , as shown in Figure 4 , which is a flowchart schematic diagram of a control method for maintaining the upright state of a two-wheeled robot provided by an embodiment of the present application. The control method for the upright state is applicable to a two-wheeled robot, and the method comprises:

[0069] S1, obtaining the upright angle of the two-wheeled robot;

[0070] In an embodiment of the present application, when it is detected that the two-wheeled robot is in a starting state or a working state, the upright angle of the two-wheeled robot is acquired, and the acquired angle information of the upright angle is sent to the processing module of the two-wheeled robot, so as to determine the control strategy corresponding to the current upright angle by the processing module. In an embodiment of the present application, the upright angle can be acquired by the angle sensor such as a gravity sensor or a gyroscope arranged on the two-wheeled robot, to acquire the vertical included angle θ of the two-wheeled robot in the vertical direction; the horizontal included angle a of the two-wheeled robot in the horizontal direction can also be acquired by the angle sensor such as a level gauge arranged on the two-wheeled robot. In a preferred embodiment, in order to improve the safety of the two-wheeled robot, the vertical included angle θ and the horizontal included angle a can be acquired at the same time, and the angle information of the vertical included angle θ and the horizontal included angle a is sent to the processing module for processing and analysis. When the vertical included angle θ is greater than the horizontal included angle a, the processing module determines the corresponding control strategy based on the angle of the vertical included angle θ, and when the vertical included angle θ is less than the horizontal included angle a, the processing module determines the corresponding control strategy based on the angle of the horizontal included angle a; when the vertical included angle θ is equal to the horizontal included angle a, the processing module can determine the corresponding control strategy according to the default setting, such as the vertical included angle θ, or can randomly select one to determine the corresponding control strategy. The above is only an exemplary description of the present application, and cannot be used as the final protection range of the present application. Any other way for judging the upright state of the two-wheeled robot based on the above concept belongs to the protection range of the present application, and will not be described here.

[0071] S2, determining a corresponding control strategy based on the upright angle;

[0072] In an embodiment of the present application, when the angle information of the upright angle of the two-wheeled robot is zero, it is judged that the two-wheeled robot needs to be controlled to keep the upright state, and the acquired upright angle is compared with a first preset angle threshold, for example, the first preset angle threshold is 45 degrees. When the upright angle is less than the preset angle threshold 45 degrees, the proportional integral differential control strategy is determined as the corresponding control strategy; and when the upright angle is greater than the preset angle threshold 45 degrees, the inertial control strategy is used as the corresponding control strategy, for example, the two-wheeled robot is accelerated to a certain speed and then braked, so that the robot is restored to the upright state by inertia. When it is judged that the upright angle is greater than a second preset angle threshold, for example, the second preset angle threshold is 60 degrees, the control strategy combining the inertial control strategy and the proportional integral differential control strategy is used, that is, the upright angle of the two-wheeled robot is restored to the strategy range meeting the first preset angle threshold by the inertial control strategy, and then controlled by the proportional integral differential control strategy. The above is only an exemplary description, and any way of detecting other included angles and determining the control strategy corresponding to the included angle based on the concept of the present application belongs to the protection range of the present application, and will not be described here.

[0073] S3, controlling the two-wheeled robot to keep an upright state based on the control strategy.

[0074] In an embodiment of the present application, after determining the control strategy corresponding to the upright angle of the two-wheeled robot based on the above-mentioned manner, the two-wheeled robot is controlled to execute the determined control strategy to keep the two-wheeled robot in an upright state.

[0075] As shown in FIG. 1, a flowchart of determining a control strategy based on an upright angle is provided in an embodiment of the present application. Determining a control strategy based on an upright angle comprises: Figure 5 comparing and analyzing the upright angle with a preset angle threshold value;

[0076] if the upright angle is less than or equal to the preset angle threshold value, determining a first control strategy as the corresponding control strategy; or,

[0077] if the upright angle is greater than the preset angle threshold value, determining a second control strategy as the corresponding control strategy.

[0078]

[0079] ​In an embodiment of the present application, due to the different upright angles of the two-wheeled robot, the corresponding two-wheeled robot gravity center offset is also different, so when the upright angle is greater than zero, the corresponding control strategy needs to be determined according to the angle range corresponding to the upright angle. For example, taking 45° as the preset angle threshold, when the obtained upright angle is less than or equal to 45°, the proportional integral differential control is used to control the angle of the two-wheeled robot, so that the two-wheeled robot returns to and maintains the upright state, and the proportional integral differential control is used to control the angular velocity of the two-wheeled robot, so that the two-wheeled robot returns to and maintains the upright state; when the obtained upright angle is greater than 45°, the moving direction of the two-wheeled robot is first obtained based on the upright angle; the acceleration of the two-wheeled robot in the moving direction is controlled; when the moving speed of the two-wheeled robot reaches the preset speed, the two-wheeled robot is controlled to brake, and the inertia of the two-wheeled robot at the preset speed can make the two-wheeled robot return to the upright state. In another embodiment, when the upright angle of the two-wheeled robot is relatively large and the two-wheeled robot cannot return to the upright state by inertia, the upright angle can be first reduced to a preset value by the inertia of the two-wheeled robot, and then the proportional integral differential control is used to control the angle or angular velocity of the two-wheeled robot to return to the upright state; for example, when the obtained upright angle is greater than 60°, the acceleration of the two-wheeled robot in the moving direction is controlled; when the moving speed of the two-wheeled robot reaches the preset speed, the two-wheeled robot is controlled to brake, and in the process of returning to the upright state by the inertia of the two-wheeled robot at the preset speed, the upright angle of the two-wheeled robot is detected in real time, and when the detected upright angle is less than the preset angle threshold, the proportional integral differential control is used to control the angle of the two-wheeled robot, so that the two-wheeled robot returns to and maintains the upright state, and the proportional integral differential control is used to control the angular velocity of the two-wheeled robot, so that the two-wheeled robot returns to and maintains the upright state. In addition to the above single preset angle threshold, multiple preset angle thresholds can also be set, for example, the preset angle thresholds are set to 30°, 45°, 60°, etc., and different control strategies are set for different angle thresholds; in another embodiment of the present application, multiple angle ranges can also be set, and a corresponding control strategy is set for each angle range, the control strategy corresponding to the upright angle is determined by judging the angle range corresponding to the obtained upright angle, and the two-wheeled robot is controlled to return to and maintain the upright state. The above determination of the corresponding control strategy by the upright angle is only an example and cannot be used as the only explanation of the implementation scheme, and other determination of the control strategy of the two-wheeled robot by the upright angle based on the concept of the present application also belongs to the protection scope of the present application, which will not be repeated here.

[0080] As shown in Figure 6 , a method flow diagram for adjusting the control strategy threshold based on the load information provided by the embodiment of the present application. The method for adjusting the control strategy threshold based on the load information comprises:

[0081] obtain current load information of the two-wheeled robot;

[0082] adjust threshold information corresponding to the control strategy based on the load information.

[0083] In an embodiment of the present application, since the two-wheeled robot needs to provide more angle control, angular velocity control, and inertia control, etc. when the robot is tilted, i.e. the upright angle is greater than zero degrees, and the two-wheeled robot wants to restore and maintain the upright state, for this problem, in a preferred embodiment of the present application, when it is detected that the two-wheeled robot is tilted, i.e. the upright angle is greater than zero degrees and less than a first preset angle threshold, the current load information of the two-wheeled robot is obtained, and the threshold of the control strategy determined according to the upright angle is adjusted according to the load information. For example, when the determined control strategy is to control the angle or angular velocity of the two-wheeled robot by proportional integral derivative control to make the two-wheeled robot restore and maintain the upright state, then the angle and angular velocity of the two-wheeled robot are adjusted based on the obtained load information, on the one hand to provide damping force to reduce the speed of the two-wheeled robot tilting, and on the other hand to provide a larger torque to adjust the angle to make the two-wheeled robot restore to the upright state; for example, when the upright angle is greater than the first preset angle threshold, i.e. the second control strategy is determined as the control strategy, then based on the obtained load information, the preset speed of the two-wheeled robot in the moving direction is adjusted, for example, the preset speed is increased, such as from 10 kilometers / hour to 20 kilometers / hour, by increasing the preset speed to obtain greater inertia, so that the two-wheeled robot under the current load information restores to the upright state, and when the tilt angle is greater than the second preset angle threshold, further, the angle and angular velocity of the two-wheeled robot are adjusted based on the obtained load information, in the process of making the two-wheeled robot restore to the upright state by greater inertia, when the upright angle is less than the first preset angle threshold, the two-wheeled robot is controlled to restore to the upright state by the adjusted angle and angular velocity. In an embodiment of the present application, when it is detected that the current load of the two-wheeled robot exceeds the preset weight, the preset angle threshold is adjusted, for example, the preset angle threshold is reduced, such as from 45° to 30°, to facilitate the two-wheeled robot to determine the control strategy in a timely manner according to the change of the upright angle, and control the two-wheeled robot to restore and maintain the upright state. The above is an example of adjusting the threshold of the corresponding control strategy based on the load information, which cannot be used as the only explanation of the implementation scheme, and the scheme of adjusting the threshold of the corresponding control strategy based on other information based on the concept of the present application also belongs to the protection scope of the present application, which will not be repeated here.

[0084] As Figure 7As shown, the process diagram provided by the embodiment of the application for restoring the two-wheel robot to an upright position by inertia. In the embodiment of the application, the current inclination angle of the trolley is first determined, and the movement direction of the trolley is determined according to the inclination angle. Then, the trolley is accelerated in the direction, and when the maximum speed is reached, the wheels are changed to brake. Due to the effect of inertia, the body of the two-wheel robot will continue to swing forward, at this time, the upright angle θ of the robot will decrease with the forward swing of the body, and when the angle decreases to the adjustable range, the proportional-integral-derivative control method is continued to be used to realize the standing of the robot. The calculation process is as follows:

[0085] When the wheels change the steering direction,

[0086] F=ma sinθ

[0087] F0=mg cosθ

[0088] wherein,

[0089] F is the component of the inertial force generated by the wheel braking in the swing direction;

[0090] F0 is the component of the body gravity in the swing direction;

[0091] a is the acceleration of the wheel braking process;

[0092] g is the acceleration of gravity;

[0093] θ is the current upright angle of the robot, which is influenced by the mechanical structure and its range is (-90°-90°);

[0094] When F>F0, the robot can swing upward due to inertia when the wheels suddenly brake, and as the body of the robot swings upward, when the upright angle θ reaches the adjustable range, the control method can be changed, the proportional-integral-derivative control is converted, and the standing of the robot is realized.

[0095] In an implementable embodiment provided by the application, the two-wheel robot further comprises:

[0096] a load detection module for acquiring the current load of the two-wheel robot;

[0097] adjust the threshold information of the two-wheel robot based on the load information.

[0098] In the embodiments of the present application, since the two-wheeled robot is in different load states, when the robot is tilted, that is, the upright angle is greater than zero degrees, the two-wheeled robot wants to restore and maintain the upright state, it is necessary to provide more angle control, angular velocity control, and inertia control, etc. For this problem, in a preferred embodiment of the present application, when it is detected that the two-wheeled robot is tilted, that is, the upright angle is greater than zero degrees and less than a first preset angle threshold, the current load information of the two-wheeled robot is obtained, and the threshold of the control strategy determined according to the upright angle is adjusted according to the load information. For example, when the determined control strategy is to control the angle or angular velocity of the two-wheeled robot through proportional integral differential control to make the two-wheeled robot restore and maintain the upright state, the angle and angular velocity of the two-wheeled robot are adjusted based on the obtained load information, on the one hand, to provide damping force to reduce the speed of the two-wheeled robot tilting, and on the other hand, to provide a larger torque to adjust the angle to make the two-wheeled robot restore to the upright state. For example, when the upright angle is greater than the first preset angle threshold, that is, the second control strategy is determined as the control strategy, the preset speed of the two-wheeled robot in the moving direction is adjusted based on the obtained load information, for example, the preset speed is increased, such as from 10 kilometers / hour to 20 kilometers / hour, a greater inertia is obtained by increasing the preset speed to make the two-wheeled robot under the current load information restore to the upright state, and when the tilt angle is greater than the second preset angle threshold, the angle and angular velocity of the two-wheeled robot are further adjusted based on the obtained load information. In the process of making the two-wheeled robot restore to the upright state through a larger inertia, when the upright angle is less than the first preset angle threshold, the two-wheeled robot is controlled to restore to the upright state through the adjusted angle and angular velocity. In the embodiments of the present application, when it is detected that the current load of the two-wheeled robot exceeds the preset weight, the preset angle threshold is adjusted, for example, the preset angle threshold is reduced, such as from 45° to 30°, to facilitate the two-wheeled robot to determine the control strategy in a timely manner according to the change of the upright angle, and control the two-wheeled robot to restore and maintain the upright state. In another embodiment, when it is detected that the current load information of the two-wheeled robot exceeds the preset load information, the difference between the current load information and the preset load information is calculated, and the preset information of the two-wheeled robot is adjusted based on the load difference, for example, 15 kilograms is taken as a gear, when it is detected that the load difference is 30 kilograms, it is determined that two gears need to be adjusted, the preset angle threshold is reduced based on the gear, for example, from 45° to 30°, and at the same time, the preset speed of the two-wheeled robot is increased from 10 kilometers / hour to 20 kilometers / hour.

[0099] The above is only an example of adjusting the threshold of the corresponding control strategy by the load information, and cannot be used as an explanation of the only implementation. The adjustment of the threshold of the corresponding control strategy based on other information based on the concept of the present application is also within the protection scope of the present application, and will not be described here.

[0100] The present application also provides a computer storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the control method of the upright state.

[0101] The present application also provides a computer storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the control method of the upright state.

[0102] The present application also provides a computer program product, which includes computer program code, and when the computer program code is run on a computer, the computer executes the method in various possible embodiments.

[0103] The present application also provides a chip, which includes a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the device installed with the chip executes the method in various possible embodiments.

[0104] The above is only a specific implementation of the present application, and the above scenarios are only examples and do not constitute a limitation on the application scenarios of the technical solutions provided by the embodiments of the present application. The technical solutions of the present application can also be applied to other scenarios. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0105] In the present application, for the same or similar term concept, technical solution and / or application scenario description, generally only the first occurrence is described in detail, and for the sake of brevity, the repeated description is generally not repeated. When understanding the technical solutions of the present application, the same or similar term concept, technical solution and / or application scenario description which is not described in detail can be referred to the previous related detailed description.

Claims

1. A two-wheeled robot, characterized in that, The two-wheeled robot includes: Angle sensor used to acquire the upright angle of the two-wheeled robot; The processing module that determines the corresponding control strategy based on the upright angle; A control module for controlling the two-wheeled robot to remain upright; An acceleration control module is used to control the acceleration of the two-wheeled robot; A braking module used to brake the two-wheeled robot and generate inertia; The processing module compares and analyzes the upright angle with a preset angle threshold. If the upright angle is less than or equal to a first preset angle threshold, the control module controls the angle and / or angular velocity of the two-wheeled robot through proportional-integral-derivative (PID) control to keep the two-wheeled robot upright. If the upright angle is greater than the first preset angle threshold, the two-wheeled robot is accelerated by the acceleration control module. When the two-wheeled robot reaches the preset speed, the braking module brakes the two-wheeled robot and keeps it upright by the inertia of the two-wheeled robot. If the upright angle is greater than the second preset angle threshold, the upright angle of the two-wheeled robot is first restored to within the range that satisfies the first preset angle threshold through an inertial control strategy, and then controlled through a proportional-integral-derivative control strategy.

2. The two-wheeled robot according to claim 1, characterized in that, The step of accelerating the two-wheeled robot via the acceleration control module also includes: The processing module obtains the movement direction of the two-wheeled robot based on the upright angle; The acceleration control module controls the two-wheeled robot to accelerate based on the direction of movement.

3. The two-wheeled robot according to any one of claims 1 to 2, characterized in that, The two-wheeled robot also includes: A load detection module for obtaining the current load of the two-wheeled robot; The processing module adjusts the threshold information of the two-wheeled robot based on the load information.

4. The two-wheeled robot according to claim 3, characterized in that, The processing module adjusts the threshold information of the two-wheeled robot based on the load information, including: The processing module compares and analyzes the load information with the preset load information; The processing module adjusts the preset angle threshold and / or preset speed based on the comparative analysis results.

5. The two-wheeled robot according to claim 4, characterized in that, The two-wheeled robot includes: When the comparison analysis result of the processing module indicates that the load information is greater than the preset load information, then the preset angle threshold is decreased and / or the preset speed is increased; and / or, When the comparison analysis result of the processing module is that the load information is less than or equal to the preset load information, the preset angle threshold and / or the preset speed are maintained.

6. The two-wheeled robot according to claim 5, characterized in that, When the comparison analysis result of the processing module indicates that the load information is greater than the preset load information, the method further includes: The processing module determines the corresponding adjustment level based on the difference between the load information and the preset load information. The processing module adjusts the preset angle threshold to the angle threshold corresponding to the adjustment level; and / or, The processing module adjusts the preset speed to the preset speed of the corresponding adjustment gear.

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