Robot-based tilt control method and control system

Abstract

The present invention discloses a robot-based tilt control method and control system, wherein the robot-based tilt control method comprises: obtaining a collision signal of a driving wheel of the robot, and monitoring the collision direction of the collision signal; regulating the moving direction of a moving module of the robot based on the collision direction; adjusting the moving position of the moving module relative to an annular area according to the offset angle of the driving wheel in the collision signal; when the moving module is positioned relative to the annular area, a sensor at the bottom of the robot detects the suspension distance between the center of the robot and the ground; outputting the suspension distance to a preset suspension learning model, regulating a first driving speed of a driving wheel in contact with the ground in the robot, and forming a speed stabilization system based on the first driving speed and the driving speeds of other driving wheels; forming an auxiliary force for the robot to fall forward and downward according to the speed stabilization system, and assisting the robot to land smoothly based on the auxiliary force.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot-based tilt control method and control system. Background Art

[0002] With the development of science and technology, the robot moves relative to the ground, and the driving wheels roll relative to the ground. The robot adjusts the speed by controlling the speed of the driving wheels. In the prior art, the robot slows down the speed of the driving wheels when colliding with an obstacle, so as to reduce the degree of suspension of the robot after the collision. However, the robot does not take relevant suspension measures in the suspension stage after the collision, resulting in the existing robot being unable to land smoothly after the collision. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a robot-based tilt control method and control system. The mobile module adjusts the suspension of the robot after the collision based on different positions of the annular area, reduces the suspension height of the robot after the collision, and controls the first driving speed in combination with the suspension distance and a preset suspension learning model. The first driving speed and other driving speeds are based on a speed stabilization system to form an auxiliary force for the robot to fall forward and downward, and based on the auxiliary force, help the robot to land smoothly, thereby further ensuring the stability of the robot's landing after the collision, so as to facilitate different stabilization adjustments based on multiple stages.

[0004] In order to solve the above technical problems, an embodiment of the present invention provides a robot-based tilt control method, including: obtaining a collision signal of a driving wheel of the robot, and monitoring the collision direction of the collision signal; regulating the moving direction of a moving module of the robot based on the collision direction; adjusting the moving position of the moving module relative to an annular area according to the offset angle of the driving wheel in the collision signal; when the moving module is positioned relative to the annular area, a sensor at the bottom of the robot detects the suspension distance between the center of the robot and the ground; outputting the suspension distance to a preset suspension learning model, and regulating a first driving speed of a driving wheel in contact with the ground in the robot, and forming a speed stabilization system based on the first driving speed and the driving speeds of other driving wheels; forming an auxiliary force for the robot to fall forward and downward according to the speed stabilization system, and assisting the robot to land smoothly based on the auxiliary force.

[0005] In addition, an embodiment of the present invention further provides a robot-based tilt control system, which includes: an acquisition module: used to acquire a collision signal of a driving wheel of the robot and monitor the collision direction of the collision signal; a control module: used to control the moving direction of the moving module of the robot based on the collision direction; an adjustment module: used to adjust the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal; a detection module: used to detect the suspension distance between the center of the robot and the ground by a sensor at the bottom of the robot when the moving module is positioned relative to the annular area; a stabilization module: used to output the suspension distance to a preset suspension learning model, and regulate the first driving speed of the driving wheel in contact with the ground in the robot, and form a speed stabilization system based on the first driving speed and the driving speeds of other driving wheels; an auxiliary force module: used to form an auxiliary force for the robot to fall forward and downward according to the speed stabilization system, and help the robot land smoothly based on the auxiliary force.

[0006] In an embodiment of the present invention, through the method in the embodiment of the present invention, the mobile module adjusts the moving direction of the mobile module relative to the annular area according to the collision direction of the collision signal, and adjusts the moving position of the mobile module relative to the annular area according to the offset angle of the driving wheel, so that the mobile module can quickly make measures to adjust the center of gravity when the driving wheel collides, so that the mobile module can adjust the suspension of the robot after the collision based on different positions of the annular area, reduce the suspension height of the robot after the collision, and speed-control the first driving speed in combination with the suspension distance and the preset suspension learning model. The first driving speed and other driving speeds are based on the auxiliary force formed by the speed stabilization system for the robot to fall forward and downward, and based on the auxiliary force, help the robot to land steadily, thereby further ensuring the landing stability of the robot after the collision, so as to facilitate different stabilization adjustments based on multiple stages. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0008] Figure 1 is a schematic flow chart of a robot-based tilt control method in an embodiment of the present invention;

[0009] Figure 2 is a flow chart of a collision signal of a robot-based tilt control method in an embodiment of the present invention;

[0010] Figure 3 is a flow chart of the moving direction of the robot-based tilt control method in an embodiment of the present invention;

[0011] Figure 4 is a schematic flow chart of a moving position of a robot-based tilt control method in an embodiment of the present invention;

[0012] Figure 5 Schematic diagram of the structure of a robot-based tilt control system in an embodiment of the present invention;

[0013] Figure 6 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0015] Example

[0016] See also Figures 1 to 4 , a robot-based tilt control method, the method comprising:

[0017] S11: Acquire a collision signal of a driving wheel of the robot, and monitor a collision direction of the collision signal;

[0018] In the specific implementation process of the present invention, the specific steps may be:

[0019] S111: The driving wheel of the robot is universally connected with respect to the base of the robot. When the driving wheel of the robot hits an obstacle, the driving wheel flips outward relative to the base, and the driving direction of the driving wheel is changed from the first driving direction to the second driving direction;

[0020] S112: triggering the collision signal based on the second driving direction, recording the second driving direction and the collision force, and decomposing the collision force according to the second driving direction to output the flipping force of the robot;

[0021] S113: predicting a flipping trajectory of the robot according to the flipping force, and recording the flipping trajectory and the collision direction.

[0022] The driving wheel is universally connected relative to the base of the robot, so that the deflection direction of the driving wheel can sense the collision between the driving wheel and the obstacle. At this time, when the driving wheel of the robot hits an obstacle, the driving wheel flips outward relative to the base, and the driving direction of the driving wheel is converted from the first driving direction to the second driving direction, so that the collision between the robot and the obstacle can be better detected. In addition, the collision force is decomposed according to the second driving direction to output the flipping force of the robot, and the flipping trajectory of the robot is predicted according to the flipping force, and the flipping trajectory and the collision direction are recorded, so as to facilitate the inference of the robot's suspension situation, so that the robot can take suspension measures in time.

[0023] S12: regulating the moving direction of the moving module of the robot based on the collision direction;

[0024] In the specific implementation process of the present invention, the specific steps may be:

[0025] S121: marking the collision position of the driving wheel, and taking the collision position of the driving wheel as the suspension starting point of the robot;

[0026] S122: monitoring the change of the collision direction along the suspension starting point, and creating a suspension model of the robot in combination with the flipping trajectory of the robot;

[0027] S123: inputting the collision direction into the suspension model, and outputting the suspension tendency direction of the robot with reference to the wind direction of the environment where the robot is located;

[0028] S124: Determine the movement trend of the robot based on the hanging trend direction, and trigger the moving module according to the movement trend of the robot, the moving module moves in the reverse direction of the hanging trend direction, and moves to the highest point in the annular area in the reverse direction relative to the hanging trend direction.

[0029] Among them, based on the collision direction input into the suspension model, and the flipping trajectory of the robot is output in the suspension model, at this time, the flipping trajectory of the robot, as a theoretical trajectory, can introduce the wind direction of the environment in which the robot is located, and speculate the actual trend under sufficient external conditions, so as to improve the accuracy of the robot's suspension speculation, and output the suspension trend direction of the robot with reference to the wind direction of the environment in which the robot is located.

[0030] In addition, the movement trend of the robot is determined based on the hanging trend direction, and the mobile module is triggered according to the movement trend of the robot, the mobile module moves in the opposite direction of the hanging trend direction, and moves to the highest point in the annular area in the opposite direction relative to the hanging trend direction. At this time, the mobile module occupies the highest point in the annular area in the opposite direction relative to the hanging trend direction, and can be adjusted based on various positions of the annular area so as to be able to move in multiple directions, ensuring that the adjustment of the mobile module can overcome various hanging situations in the robot.

[0031] S13: adjusting the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal;

[0032] In the specific implementation process of the present invention, the specific steps may be:

[0033] S131: Calculating an offset angle of the driving wheel based on the second driving direction and the first driving direction;

[0034] S132: Dynamically monitor the orientation of the driving wheel during the suspension of the robot, and further adjust the offset angle of the driving wheel based on the orientation to output an actual offset angle;

[0035] S133: performing trigonometric operations on the actual offset angle, and decomposing the actual offset angle in the horizontal direction and the vertical direction to measure the horizontal distance of the robot and the vertical distance of the robot;

[0036] S134: adjusting the moving position of the mobile module relative to the annular area according to the horizontal distance and the vertical distance. At this time, the mobile module can move at multiple angles in the annular area, and determine a positioning point along a preset horizontal distance-vertical distance curve, and map the positioning point to the annular area;

[0037] S135: As the robot is suspended in the air, the mapping of the positioning point relative to the annular area is not at the same position.

[0038] Among them, the offset angle of the driving wheel is further adjusted based on the orientation, and calibration is performed based on the offset angle to output the actual offset angle. At this time, the robot can perform trigonometric operations based on the actual offset angle to calculate the actual distance of the robot relative to the ground. At this time, the actual offset angle is decomposed in the horizontal and vertical directions to measure the horizontal distance of the robot in the horizontal direction and the vertical distance in the vertical direction.

[0039] In addition, the moving position of the mobile module relative to the annular area is adjusted according to the horizontal distance and the vertical distance. At this time, the mobile module can move at multiple angles in the annular area, and determine the positioning point along the preset horizontal distance-vertical distance curve, and map the positioning point to the annular area. The mobile module performs directionally movement based on the positioning point and stays at the positioning point, so that the mobile module continues to press down the robot at the positioning point. In addition, as the robot is suspended in the air, the mapping of the positioning point relative to the annular area is not in the same position, so that the moving position of the mobile module can be adjusted according to different suspension states, and the robot can be effectively acted on in real time.

[0040] S14: When the mobile module is positioned relative to the annular area, the sensor at the bottom of the robot detects the suspension distance between the center of the robot and the ground;

[0041] In the specific implementation process of the present invention, the specific steps may be: the mobile module moves to the positioning point in the annular area and stays relative to the positioning point; the mobile module continuously presses down the robot based on the positioning point and adjusts the tilt state of the robot; the sensor at the bottom of the robot is triggered based on the stay time of the mobile module, and at this time, the sensor is adjusted from the standby state to the detection state; the sensor in the detection state detects the suspension distance between the center of the robot and the ground; the inclination angle of the robot relative to the ground is obtained, and the suspension distance is adjusted based on the inclination angle to output the actual suspension distance; if the change in the suspension distance is greater than the preset change threshold, the center of the robot is recalculated in the tilted state.

[0042] Among them, the mobile module continuously presses down on the robot based on the positioning point and adjusts the tilt state of the robot. At this time, the robot continues to slow down the tilt degree under the positioning position and downward pressure of the mobile module, and triggers the sensor at the bottom of the robot based on the residence time of the mobile module, so that the sensor can detect under preset conditions and detect the suspension distance between the center of the robot and the ground, and adjust the suspension distance based on the tilt angle to output the actual suspension distance.

[0043] In addition, if the change in the suspension distance is greater than a preset change threshold, the center of the robot is recalculated in the tilted state to facilitate recalculation of the center, thereby facilitating recalculation of the tilt degree of the robot.

[0044] S15: outputting the suspension distance to a preset suspension learning model, regulating a first driving speed of a driving wheel in contact with the ground in the robot, and forming a speed stabilization system based on the first driving speed and driving speeds of other driving wheels;

[0045] In the specific implementation process of the present invention, the specific steps include: based on the previous suspension distance and the previous first driving speed as a data packet, and the suspension distance and the first driving speed in the data packet correspond one to one; training is performed based on multiple data packets, and the preset suspension learning model is output; the suspension distance is output to the preset suspension learning model, and the first driving speed is calculated based on the preset suspension learning model; the speed of the driving wheel in contact with the ground in the robot is regulated based on the first driving speed, and the first driving speed is used as the actual speed of the driving wheel; with the first driving speed as the center, the driving speed of other driving wheels is regulated, and the relationship between the first driving speed and other driving speeds is maintained in the speed stabilization system; the center of the robot is used as reference data, and the speed stabilization system is regulated to achieve self-learning of the speed stabilization system.

[0046] S16: Generating an auxiliary force for the robot to fall forward and downward according to the speed stabilization system, and assisting the robot to land smoothly based on the auxiliary force.

[0047] In the specific implementation process of the present invention, the specific steps include: regulating the driving speed of other driving wheels according to the speed stabilization system; taking the speed difference between the driving speed of other driving wheels and the first driving speed as the speed change; taking the speed change as the acceleration of the auxiliary force, and adjusting the direction of the auxiliary force based on the change direction of the speed change; forming an auxiliary force for falling forward and downward based on the acceleration of the auxiliary force and the direction of the auxiliary force, and helping the robot to land smoothly based on the auxiliary force.

[0048] The robot-based tilt control method also includes: detecting the falling speed of the robot; using the falling speed as a balance parameter, and embedding the auxiliary force based on the balance parameter to optimize the auxiliary force; using the optimized auxiliary force as the actual falling force of the robot, and the direction of the auxiliary force is perpendicular to the ground; when the driving wheel of the robot contacts the ground, adjusting the moving position of the mobile module; adjusting the falling force of the robot based on the position change of the mobile module.

[0049] In an embodiment of the present invention, through the method in the embodiment of the present invention, the mobile module adjusts the suspension of the robot after the collision based on different positions of the annular area, reduces the suspension height of the robot after the collision, and controls the first driving speed in combination with the suspension distance and the preset suspension learning model. The first driving speed and other driving speeds are based on the speed stabilization system to form an auxiliary force for the robot to fall forward and downward, and based on the auxiliary force, help the robot to land smoothly, thereby further ensuring the stability of the robot's landing after the collision, so as to facilitate different stabilization adjustments based on multiple stages.

[0050] Example

[0051] See also Figure 5 , Figure 5 It is a schematic diagram of the structural composition of a robot-based tilt control system in an embodiment of the present invention.

[0052] like Figure 5 As shown, a robot-based tilt control system, the robot-based tilt control system comprises:

[0053] Acquisition module 21: used to acquire the collision signal of the driving wheel of the robot and monitor the collision direction of the collision signal;

[0054] A regulating module 22: used for regulating the moving direction of the moving module of the robot based on the collision direction;

[0055] An adjustment module 23 is used to adjust the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal;

[0056] Detection module 24: used to detect the suspension distance between the center of the robot and the ground by a sensor at the bottom of the robot when the mobile module is positioned relative to the annular area;

[0057] The stabilization module 25 is used to output the suspension distance to a preset suspension learning model, and adjust the first driving speed of the driving wheel in contact with the ground in the robot, and form a speed stabilization system based on the first driving speed and the driving speeds of other driving wheels;

[0058] Auxiliary force module 26: used for generating an auxiliary force for the robot to fall forward and downward according to the speed stabilization system, and helping the robot to land smoothly based on the auxiliary force.

[0059] The present invention provides a robot-based tilt control method and control system, wherein a mobile module adjusts the suspension of the robot after a collision based on different positions of an annular area, reduces the suspension height of the robot after the collision, and performs speed regulation on a first driving speed in combination with a suspension distance and a preset suspension learning model, wherein the first driving speed and other driving speeds are based on a speed stabilization system to form an auxiliary force for the robot to fall forward and downward, and based on the auxiliary force, the robot is assisted to land steadily, thereby further ensuring the landing stability of the robot after the collision, so as to facilitate different stabilization adjustments based on multiple stages.

[0060] Example

[0061] See also Figure 6 , refer to the following Figure 6 The electronic device 40 according to this embodiment of the present invention will be described. Figure 6 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0062] like Figure 6 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0063] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0064] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0065] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0066] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0067] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 45. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 46. Figure 6 As shown, the network adapter 46 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Figure 6 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0068] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0069] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0070] In addition, the robot-based tilt control method and control system provided in the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A robot-based tilt control method, characterized in that: include: Acquire a collision signal of a driving wheel of the robot, and monitor a collision direction of the collision signal; regulating a moving direction of a moving module of the robot based on the collision direction; adjusting the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal; When the mobile module is positioned relative to the annular area, the sensor at the bottom of the robot detects the suspension distance between the center of the robot and the ground; Outputting the suspension distance to a preset suspension learning model, and regulating a first driving speed of a driving wheel in contact with the ground in the robot, and forming a speed stabilization system based on the first driving speed and driving speeds of other driving wheels; The speed stabilization system generates an auxiliary force for the robot to fall forward and downward, and the auxiliary force helps the robot to land smoothly.

2. The robot-based tilt control method according to claim 1, characterized in that: The obtaining of the collision signal of the driving wheel of the robot and monitoring the collision direction of the collision signal includes: The driving wheel of the robot is universally connected with respect to the base of the robot. When the driving wheel of the robot hits an obstacle, the driving wheel flips outward relative to the base, and the driving direction of the driving wheel is converted from the first driving direction to the second driving direction; triggering the collision signal based on the second driving direction, recording the second driving direction and the collision force, and decomposing the collision force according to the second driving direction to output the flipping force of the robot; The flipping trajectory of the robot is predicted according to the flipping force, and the flipping trajectory and the collision direction are recorded.

3. The robot-based tilt control method according to claim 2, characterized in that: The regulating the moving direction of the moving module of the robot based on the collision direction includes: Marking the collision position of the driving wheel, and taking the collision position of the driving wheel as the suspension starting point of the robot; Monitoring the change of the collision direction along the suspension starting point, and creating a suspension model of the robot in combination with the flipping trajectory of the robot; Input the collision direction into the suspension model, and output the suspension tendency direction of the robot with reference to the wind direction of the environment where the robot is located; The movement trend of the robot is determined based on the hanging trend direction, and the moving module is triggered according to the movement trend of the robot. The moving module moves in the reverse direction of the hanging trend direction and moves to the highest point in the annular area in the reverse direction relative to the hanging trend direction.

4. The robot-based tilt control method according to claim 3, characterized in that: The step of adjusting the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal comprises: Calculating an offset angle of the driving wheel based on the second driving direction and the first driving direction; Dynamically monitor the orientation of the driving wheel during the suspension of the robot, and further adjust the offset angle of the driving wheel based on the orientation to output an actual offset angle; Performing trigonometric operations on the actual offset angle, and decomposing the actual offset angle in the horizontal direction and the vertical direction to measure the horizontal distance of the robot and the vertical distance of the robot; The moving position of the mobile module relative to the annular area is adjusted according to the horizontal distance and the vertical distance. At this time, the mobile module can move at multiple angles in the annular area, and a positioning point is determined along a preset horizontal distance-vertical distance curve, and the positioning point is mapped to the annular area; As the robot is suspended in the air, the mapping of the positioning point relative to the annular area is not in the same position.

5. The robot-based tilt control method according to claim 4, characterized in that: When the mobile module is positioned relative to the annular area, the sensor at the bottom of the robot detects the suspension distance between the center of the robot and the ground, including: The mobile module moves to the positioning point in the annular area and stays relative to the positioning point; The moving module continuously presses down the robot based on the positioning point and adjusts the tilt state of the robot; The sensor at the bottom of the robot is triggered based on the residence time of the mobile module, and at this time, the sensor is adjusted from the standby state to the detection state; The sensor in the detection state detects the suspension distance between the center of the robot and the ground; Acquiring an inclination angle of the robot relative to the ground, and adjusting the suspension distance based on the inclination angle to output an actual suspension distance; If the change in the suspension distance is greater than a preset change threshold, the center of the robot is recalculated in a tilted state.

6. The robot-based tilt control method according to claim 5, characterized in that: Outputting the suspension distance to a preset suspension learning model, regulating a first driving speed of a driving wheel in contact with the ground in the robot, and forming a speed stabilization system based on the first driving speed and driving speeds of other driving wheels, includes: Based on the previous suspension distance and the previous first driving speed as a data packet, wherein the suspension distance and the first driving speed in the data packet correspond one to one; Performing training based on the plurality of data packets and outputting the preset suspension learning model; Outputting the suspension distance to a preset suspension learning model, and calculating a first driving speed based on the preset suspension learning model; regulating the speed of a driving wheel in contact with the ground in the robot based on the first driving speed, and using the first driving speed as the actual speed of the driving wheel; Taking the first driving speed as the center, regulating the driving speeds of other driving wheels, and maintaining the relationship between the first driving speed and other driving speeds in the speed stabilization system; The center of the robot is used as reference data, and the speed stabilization system is regulated to achieve self-learning of the speed stabilization system.

7. The robot-based tilt control method according to claim 6, characterized in that: The method of generating an auxiliary force for the robot to fall forward and downward according to the speed stabilization system, and assisting the robot to land smoothly based on the auxiliary force, comprises: The driving speed of other driving wheels is regulated according to the speed stabilization system; A speed difference between the driving speed of the other driving wheels and the first driving speed is used as a speed change amount; taking the speed change as the acceleration of the auxiliary force, and adjusting the direction of the auxiliary force based on the change direction of the speed change; Based on the acceleration of the auxiliary force and the direction of action of the auxiliary force, an auxiliary force for falling forward and downward is formed, and based on the auxiliary force, the robot is helped to land smoothly.

8. The robot-based tilt control method according to claim 7, characterized in that: The robot-based tilt control method further includes: detecting a falling speed of the robot; using the falling speed as a balance parameter and embedding the auxiliary force based on the balance parameter to optimize the auxiliary force; The optimized auxiliary force is used as the actual falling force of the robot, and the direction of the auxiliary force is perpendicular to the ground; If the driving wheels of the robot touch the ground, adjusting the moving position of the moving module; The falling force of the robot is adjusted based on the position change of the moving module.

9. A robot-based tilt control system, characterized in that: The robot-based tilt control system includes: Acquisition module: used to acquire the collision signal of the driving wheel of the robot and monitor the collision direction of the collision signal; A control module: used for controlling the moving direction of the moving module of the robot based on the collision direction; An adjustment module: used for adjusting the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal; A detection module: used for detecting the suspension distance between the center of the robot and the ground by a sensor at the bottom of the robot when the mobile module is positioned relative to the annular area; A stabilization module: used for outputting the suspension distance to a preset suspension learning model, and regulating a first driving speed of a driving wheel in contact with the ground in the robot, and forming a speed stabilization system based on the first driving speed and the driving speeds of other driving wheels; Auxiliary force module: used to generate an auxiliary force for the robot to fall forward and downward according to the speed stabilization system, and help the robot to land smoothly based on the auxiliary force.

Images