Robot and Its Control Method

Abstract

The present invention discloses a robot and its control method. The disclosed robot includes a housing, two walking wheels, a driving mechanism, and a detection device. The two walking wheels are installed on opposite sides of the housing. The hub surface of the walking wheel is a convex curved surface. The driving mechanism is connected to the walking wheel and is used to drive the walking wheel to rotate. The detection device is used to detect whether the robot is in a tipping state. The disclosed control method includes: detecting whether the robot is in a tipping state through the detection device; in the case where the robot is in a tipping state, determining the walking wheel on the tipping landing side among the two walking wheels; and controlling the driving force output by the driving mechanism to the walking wheel on the tipping landing side to increase. The above solution can solve the problems in the related art that the structure for realizing tipping recovery of the robot is not conducive to the miniaturization design of the robot and has poor appearance integrity.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to a robot and a control method thereof. Background Art

[0002] During the movement of a robot, it is prone to being disturbed by the outside world and tipping over. In order to improve the self-recovery ability of the robot after tipping over, the main body structure of the robot adopts a low center of gravity design. In the related art, when the robot is in a tipped-over state, the position of a counterweight inside the robot is adjusted, or the robot is pulled back to the state where two wheels are on the ground (i.e., the non-tipped-over state described in this article) by an external robotic arm. Adjusting the position of the counterweight to adjust the position of the center of gravity of the robot needs to be realized through a center of gravity adjustment mechanism. Adding a center of gravity adjustment mechanism will undoubtedly increase the occupation of the internal space of the robot, which is not conducive to the miniaturization design of the robot; in the method using an external robotic arm, the robotic arm will result in poor appearance performance of the robot. Summary of the Invention

[0003] The present invention discloses a robot and a control method thereof to solve the problems that the structure for realizing the righting after tipping over adopted by the robot in the related art is not conducive to the miniaturization design of the robot and has poor appearance integrity.

[0004] To solve the above technical problems, the present invention is implemented as follows:

[0005] In a first aspect, the present application discloses a control method of a robot. The robot includes a housing, two walking wheels, a driving mechanism, and a detection device. The two walking wheels are installed on opposite sides of the housing. The hub surface of the walking wheel is a convex curved surface. The driving mechanism is connected to the walking wheel and is used to drive the walking wheel to rotate. The detection device is used to detect whether the robot is in a tipped-over state;

[0006] The control method includes:

[0007] Detecting whether the robot is in a tipped-over state through the detection device;

[0008] When the robot is in a tipped-over state, determining the walking wheel on the tipped-over landing side among the two walking wheels;

[0009] Controlling the driving force output by the driving mechanism to the walking wheel on the tipped-over landing side to increase.

[0010] In a second aspect, the present application also discloses a robot, which includes a housing, two walking wheels, a driving mechanism, and a detection device. The two walking wheels are installed on both sides of the housing. The hub surface of the walking wheel is a convex curved surface. The driving mechanism is connected to the walking wheel and is used to drive the walking wheel to rotate. The detection device is used to detect whether the robot is in a tipping state. The robot further includes a control device, which is used to execute the control method as described in the first aspect. Both the detection device and the driving mechanism are connected to the control device.

[0011] The technical solution adopted by the present invention can achieve the following technical effects:

[0012] When the control method of the robot disclosed in the embodiment of the present application detects that the robot is in a tipping state, it controls the driving mechanism to increase the driving force output to the walking wheel on the tipping landing side, so that the rest of the robot except the walking wheel on the tipping landing side rotates relative to the rotation axis of the walking wheel on the tipping landing side, and then centrifugal force is generated on the rest of the robot except the walking wheel on the tipping landing side, so as to break the current tipping balance state of the robot, which is beneficial to pulling the robot back to the non-tipping state under the action of the gravity of the robot. Therefore, the robot does not need to be provided with a center-of-gravity adjustment mechanism and a robotic arm to pull the robot back to the non-tipping state, which is beneficial to the miniaturization design and the appearance integrity of the robot. Description of the Drawings

[0013] Figure 1 It is a schematic diagram of the robot disclosed in the embodiment of the present invention from a first perspective. Among them, the arrow G in the figure indicates the direction of the gravity received by the robot, and the solid black dot A indicates the center of gravity of the robot;

[0014] Figure 2 It is a schematic diagram of the robot disclosed in the embodiment of the present invention from a second perspective;

[0015] Figure 3 It is a schematic diagram of the robot disclosed in the embodiment of the present invention in a tipping state;

[0016] Figure 4 It is a flowchart of the control method of the robot disclosed in the embodiment of the present invention.

[0017] Description of the Reference Numerals:

[0018] 100 - housing, 110 - transparent window,

[0019] 200 - walking wheel, 210 - hub, 201 - hub surface, 220 - hub cap, 230 - tire,

[0020] A - center of gravity. Detailed Description of the Embodiment

[0021] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the scope of protection of the present invention.

[0022] The technical solutions disclosed in each embodiment of the present invention will be described in detail below with reference to the drawings.

[0023] Please refer to Figures 1 to 4 , an embodiment of the present invention discloses a control method for a robot. The disclosed robot includes a housing 100, two traveling wheels 200, a driving mechanism, and a detection device.

[0024] The two traveling wheels 200 are installed on opposite sides of the housing 100. The two traveling wheels 200 may be symmetrically installed on opposite sides of the housing 100. Of course, the two traveling wheels 200 may also be asymmetrically arranged. The hub surface 201 of the traveling wheel 200 is a convex curved surface, and the hub surface 201 protrudes in a direction away from the housing 100. The driving mechanism is disposed in the housing 100 and is connected to the traveling wheel 200. The driving mechanism is used to drive the traveling wheel 200 to rotate, so as to realize the movement of the robot. The detection device is used to detect whether the robot is in a tipping state.

[0025] The disclosed control method for the robot includes:

[0026] S101, detecting whether the robot is in a tipping state through the detection device.

[0027] It should be noted that the method for the detection device to detect whether the robot is in a tipping state will be described in detail later and will not be elaborated here.

[0028] S102, when the robot is in a tipping state, determining the traveling wheel 200 on the tipping landing side among the two traveling wheels 200.

[0029] It should be noted that when the robot is in a tipping state, one traveling wheel 200 of the robot is in a suspended state, and the hub surface 201 of the other traveling wheel 200 is in contact with the ground to support the robot. When the robot is not in a tipping state, both traveling wheels 200 of the robot are in contact with the ground. The method for determining the traveling wheel 200 on the tipping landing side among the two traveling wheels 200 will be specifically described later and will not be elaborated here.

[0030] S103, controlling the driving force output by the driving mechanism to the traveling wheel 200 on the tipping landing side to increase.

[0031] It should be noted that when the robot is in a rollover state, the driving wheels 200 on the rollover landing side are in frictional contact with the ground, so that the driving wheels 200 on the rollover landing side are in a stationary state, or slightly slip on the ground, but still have a large frictional force with the ground. At this time, the robot is in a force balance state, so that the robot remains in the rollover state. Since the driving wheels 200 on the rollover landing side are in frictional contact with the ground, by controlling the driving force output by the driving mechanism to the driving wheels 200 on the rollover landing side to increase, the rest of the robot except the driving wheels 200 on the rollover landing side rotates relative to the rotation axis of the driving wheels 200 on the rollover landing side, so that the rest of the robot except the driving wheels 200 on the rollover landing side generates a centrifugal force to break the current rollover balance state of the robot, which is beneficial to pulling the robot back to the non-rollover state under the action of the gravity of the robot.

[0032] The control method of the robot disclosed in the embodiment of the present application, when it is detected that the robot is in a rollover state, controls the driving force output by the driving mechanism to the driving wheels 200 on the rollover landing side to increase, so that the rest of the robot except the driving wheels 200 on the rollover landing side rotates relative to the rotation axis of the driving wheels 200 on the rollover landing side, and further makes the rest of the robot except the driving wheels 200 on the rollover landing side generate a centrifugal force to break the current rollover balance state of the robot, which is beneficial to pulling the robot back to the non-rollover state under the action of the gravity of the robot. Thus, the robot does not need to be provided with a center of gravity adjustment mechanism and a robotic arm to pull the robot back to the non-rollover state, which is beneficial to the miniaturization design and the appearance integrity of the robot.

[0033] There are many ways to detect the driving wheels 200 on the rollover landing side. For example, the robot may include a camera module, and the robot can analyze the driving wheels on the rollover landing side according to the images captured by the camera module. Of course, the robot may also include a chassis anti-drop sensor. By detecting the distances between the positions of the chassis at the two driving wheels and the ground through the chassis anti-drop sensor, the driving wheels 200 on the rollover landing side can be determined.

[0034] In another implementable manner, when the robot is in a rollover state, determining the driving wheels 200 on the rollover landing side among the two driving wheels 200 includes:

[0035] Step A1, when the robot is in a rollover state, control the driving mechanism to output a preset driving force to both driving wheels 200.

[0036] It should be noted that when the robot is in a rollover state, outputting a preset driving force to the walking wheels 200 in the suspended state can drive the suspended walking wheels 200 to rotate. When outputting a preset driving force to the walking wheels 200 on the side where the robot has landed after rollover, due to the friction with the ground, the rotation of the walking wheels 200 on the side where the robot has landed after rollover will be stuck.

[0037] Step A2: Detect the electrical signals output to the two walking wheels 200 respectively, and judge the magnitudes of the electrical signals output to the two walking wheels 200.

[0038] It should be noted that the electrical signal can refer to current value, voltage value, power, etc. The embodiments of the present application do not limit the specific types of electrical signals.

[0039] Step A3: Determine the walking wheel 200 with the larger electrical signal as the walking wheel on the side where the robot has landed after rollover.

[0040] In the control method disclosed in the embodiments of the present application, by outputting a preset driving force to both walking wheels 200, due to the frictional contact between the walking wheels 200 on the side where the robot has landed after rollover and the ground, the rotation of the walking wheels 200 on the side where the robot has landed after rollover is stuck, which will cause the electrical signal (such as current, voltage, power, etc.) output to the walking wheels 200 on the side where the robot has landed after rollover to be relatively large. Furthermore, the walking wheels 200 on the side where the robot has landed after rollover can be determined according to the magnitude of the electrical signal, making the judgment of the walking wheels on the side where the robot has landed after rollover simpler and without the need to set other structures, which is beneficial to the miniaturized design of the robot.

[0041] In order to detect whether the robot is in a rollover state, it can be detected by the camera module and the chassis anti-drop sensor disclosed in the above embodiments. Of course, in another implementable manner, the detection device may include a gyroscope, and the gyroscope can be used to detect the tilt angle of the robot.

[0042] In the disclosed control method, detecting whether the robot is in a rollover state by a detection device includes:

[0043] Step B1: Detect the tilt angle of the robot by a gyroscope.

[0044] Step B2: When the tilt angle is greater than or equal to a preset angle threshold, determine that the robot is in a rollover state.

[0045] It should be noted that the preset angle threshold can be the angle value at which the robot can just roll over when tilted, and the preset angle threshold can be obtained through experiments or calculations. As Figure 1 shown, the tilt angle is the angle between the first symmetry axis C2 and the vertical line.

[0046] Step B3: When the tilt angle is less than the preset angle threshold, it is determined that the robot is in a non-overturned state.

[0047] The control method disclosed in the embodiments of the present application determines whether the robot is in an overturned state by judging the tilt angle of the robot, making the judgment method simpler.

[0048] In some cases, when the robot is picked up by the user, it will cause the robot to tilt, making the robot mistakenly think it is in an overturned state and perform corresponding operations. To avoid the robot mistakenly thinking it is in an overturned state and performing corresponding operations when the user picks up the robot, optionally, when the tilt angle is greater than or equal to the preset angle threshold, determining that the robot is in an overturned state includes:

[0049] Step C1: When the tilt angle is greater than or equal to the preset angle threshold, detect the moving acceleration or rotational angular velocity of the robot through the gyroscope, or detect the moving acceleration and rotational angular velocity simultaneously.

[0050] Step C2: When both the moving acceleration and the rotational angular velocity are 0, determine that the robot is in an overturned state.

[0051] The control method disclosed in the embodiments of the present application detects the moving acceleration and rotational angular velocity of the robot, so that when both the moving acceleration and the rotational angular velocity are 0, it is determined that the robot is in an overturned state, thus avoiding the robot being tilted when picked up by the user and mistakenly thinking that the robot is in an overturned state, and further improving the accuracy of detecting whether the robot is in an overturned state.

[0052] To prevent the side - overturning program from being started when the user holds the robot, causing the walking wheel 200 to rotate and harming the user, optionally, the control method further includes:

[0053] Step D1: When the moving acceleration or the rotational angular velocity is not 0, prohibit the execution of the step of increasing the driving force output by the control driving mechanism to the walking wheel 200 on the side of the overturned landing.

[0054] The control method disclosed in the embodiments of the present application prohibits the execution of the step of increasing the driving force output by the control driving mechanism to the walking wheel 200 on the side of the overturned landing when it detects that the moving acceleration or the rotational angular velocity is not 0, thus avoiding starting the side - overturning program and causing harm to the user.

[0055] Since the control method disclosed in the embodiments of the present application breaks the balance state of the current rollover of the robot by increasing the driving force output by the driving mechanism to the driving wheel 200 on the side where the robot rolls over and lands, and then pulls the robot back to the non-rollover state under the action of the gravity of the robot. However, after increasing the driving force output by the driving mechanism to the driving wheel 200 on the side where the robot rolls over and lands, it is not certain that the robot can be pulled back to the non-rollover state, and it is necessary to increase the driving force output to the driving wheel 200 on the side where the robot rolls over and lands multiple times to pull the robot back to the non-rollover state. Therefore, in an alternative embodiment, after increasing the driving force output by the driving mechanism to the driving wheel 200 on the side where the robot rolls over and lands, the step of detecting whether the robot is in a rollover state by a detection device is performed until it is detected that the robot is in a non-rollover state.

[0056] The control method disclosed in the embodiments of the present application performs the step of detecting whether the robot is in a rollover state by a detection device after increasing the driving force output by the driving mechanism to the driving wheel 200 on the side where the robot rolls over and lands, until it is detected that the robot is in a non-rollover state, so that the driving wheel 200 on the side where the robot rolls over and lands can be driven to rotate multiple times, thereby increasing the probability of the robot recovering to the non-rollover state.

[0057] When the robot is stuck by a foreign object or in other situations, driving the driving wheel 200 on the side where the robot rolls over and lands cannot pull the robot back to the non-rollover state. To avoid damage to the robot caused by driving the driving wheel 200 on the side where the robot rolls over and lands without limit when the robot is stuck by a foreign object or in other situations, optionally, in the disclosed control method, increasing the driving force output by the driving mechanism to the driving wheel 200 on the side where the robot rolls over and lands includes:

[0058] Step E1, at every first preset time, increase the driving force output by the driving mechanism to the driving wheel 200 on the side where the robot rolls over and lands, and after the driving force increase is completed, restore the driving force to the preset initial value.

[0059] After performing the step of detecting whether the robot is in a rollover state by a detection device and before detecting that the robot is in a non-rollover state, the control method further includes:

[0060] Step E2, detecting the actual number of times of increasing the driving force output by the driving mechanism to the driving wheel 200 on the side where the robot rolls over and lands.

[0061] Step E3, when the actual number of times is greater than the preset number of times, control the driving mechanism to stop outputting the driving force to the driving wheel 200 on the side where the robot rolls over and lands, and throw out a rollover prompt message.

[0062] Among them, the preset number of times can be specifically set according to the actual situation. The prompt information can be voice information, text or image information, vibration, etc., and the embodiments of the present application do not limit the specific types of the prompt information.

[0063] After the control method disclosed in the embodiments of the present application attempts to increase the driving force of the walking wheel 200 on the side where the robot lands during rollover multiple times and the robot still cannot return to the non-rolled-over state, it can control the drive mechanism to stop outputting the driving force to the walking wheel 200 on the side where the robot lands during rollover, and throw out a rollover prompt information, so as to avoid damage to the robot caused by continuing to execute the step of controlling the drive mechanism to output an increased driving force to the walking wheel 200 on the side where the robot lands during rollover in the case where the robot may be stuck or in other situations, and at the same time can prompt personnel to intervene in a timely manner.

[0064] Optionally, to improve the operability of the user, the robot may further include an information receiving module, and the information receiving module is used to receive a reset instruction from the user.

[0065] Before detecting whether the robot is in a rollover state through the detection device, the disclosed control method further includes:

[0066] Step F1, detecting whether the information receiving module has received a reset instruction.

[0067] Step F1, in the case where the information receiving module has received a reset instruction, execute the step of detecting whether the robot is in a rollover state through the detection device.

[0068] Before detecting whether the robot is in a rollover state through the detection device, the control method disclosed in the embodiments of the present application detects whether the information receiving module has received a reset instruction, and in the case where the information receiving module has received a reset instruction, executes the step of detecting whether the robot is in a rollover state through the detection device, thereby improving the operability of the user.

[0069] An optional embodiment, the control method further includes:

[0070] Step G1, in the case where the information receiving module has not received a reset instruction within the second preset time, execute the step of detecting whether the robot is in a rollover state through the detection device.

[0071] The control method disclosed in the embodiments of the present application executes the step of detecting whether the robot is in a rollover state through the detection device in the case where the information receiving module has not received a reset instruction within the second preset time, thereby giving priority to the reset instruction and performing automatic reset in the case where the reset instruction has not been received within the second preset time.

[0072] The present application also discloses a robot, which includes a housing 100, two walking wheels 200, a driving mechanism, and a detection device. The two walking wheels 200 are installed on both sides of the housing 100. The two walking wheels 200 can be symmetrically installed on the opposite sides of the housing 100. Of course, the two walking wheels 200 can also be asymmetrically arranged. The hub surface 201 of the walking wheel 200 is a convex curved surface, and the hub surface 201 protrudes in a direction away from the housing 100. The driving mechanism is arranged in the housing 100 and is connected to the walking wheel 200 for driving the walking wheel 200 to rotate, so as to realize the movement of the robot. The detection device is used to detect whether the robot is in a rollover state. The robot further includes a control device, which is used to execute the control method disclosed in the above embodiment. Both the detection device and the driving mechanism are connected to the control device.

[0073] It should be noted that the functions realized by the various components of the robot disclosed in the embodiments of the present application have the same or similar parts as the steps in the control method disclosed in the above embodiments, and they can be referred to each other, which will not be elaborated here.

[0074] When the robot disclosed in the embodiments of the present application detects that the robot is in a rollover state, it controls the driving force output by the driving mechanism to the walking wheel 200 on the rollover landing side to increase, so that the rest of the robot except the walking wheel 200 on the rollover landing side rotates relative to the rotation axis of the walking wheel 200 on the rollover landing side. Furthermore, a centrifugal force is generated on the rest of the robot except the walking wheel 200 on the rollover landing side, so as to break the current rollover balance state of the robot, which is beneficial to pulling the robot back to the non-rollover state under the action of the gravity of the robot. Therefore, the robot does not need to be provided with a center of gravity adjustment mechanism and a robotic arm to pull the robot back to the non-rollover state, which is beneficial to the miniaturization design and the appearance integrity of the robot.

[0075] When the robot is in a rollover state, in order to increase the friction between the hub surface 201 of the walking wheel 200 and the ground, so that the rest of the robot except the walking wheel 200 on the rollover landing side can better generate a centrifugal force. Optionally, the convex hub surface 201 is provided with anti-slip lines, so as to increase the friction with the ground.

[0076] Optionally, the center of gravity of the robot can be located below the rotation axes of the two walking wheels 200. By setting the center of gravity of the robot disclosed in the embodiments of the present application below the rotation axes of the two walking wheels 200, the center of gravity of the robot is lower, which is beneficial to pulling the robot back to the non-rollover state by the gravity of the robot.

[0077] Specifically, such as Figure 1As shown, the center of gravity A of the robot can be located below the first axis C1, and the first axis C1 can be the rotation axis of the two driving wheels 200. As Figure 1 and Figure 2 shown, the robot has a first symmetry axis C2 on the front side, and the two driving wheels can be symmetrically arranged on both sides of the first symmetry axis C2. The robot has a second symmetry axis C3 on the side, and the center of gravity A of the robot can be located at the intersection of the first symmetry axis C2 and the second symmetry axis C3.

[0078] Optionally, the robot can be a quasi-spherical robot. Specifically, the bottom of the housing 100 can be a planar structure, and the other parts of the housing 100 and the two driving wheels 200 can enclose a partial spherical surface, so that the robot is a quasi-spherical robot. By setting the robot as a quasi-spherical robot, the influence of the convex shape of the robot on the self-balancing of the low center of gravity of the robot can be reduced.

[0079] Optionally, the robot can further include a video acquisition device, such as a camera module. The housing 100 can be provided with a transparent window 110. The video acquisition device can be arranged inside the housing 100 and opposite to the transparent window 110, so that the video acquisition device can acquire image information through the transparent window 110.

[0080] Optionally, the driving wheel 200 can further include a hub cap 220 and a tire 230. The hub cap 220 can be arranged on the side of the hub 210 away from the housing 100, and the tire 230 can be mounted on the hub 210.

[0081] In the above embodiments of the present invention, the differences between the various embodiments are mainly described. As long as the different distinguishing features between the various embodiments are not contradictory, they can be combined to form more specific embodiments. Considering the simplicity of the text, they will not be elaborated here.

[0082] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the present invention and the claims, and all of them belong to the protection scope of the present invention.

Claims

1. A control method for a robot, characterized in that, the robot includes a housing (100), two walking wheels (200), a driving mechanism and a detection device. The two walking wheels (200) are installed on opposite sides of the housing (100). The hub surface (201) of the walking wheel (200) is a convex curved surface. The driving mechanism is connected to the walking wheel (200) and is used to drive the walking wheel (200) to rotate. The detection device is used to detect whether the robot is in a rollover state; the control method includes: detecting whether the robot is in a rollover state through the detection device; when the robot is in a rollover state, controlling the driving mechanism to output a preset driving force to both of the two walking wheels (200); respectively detecting the electrical signals output to the two walking wheels (200) and judging the magnitudes of the electrical signals output to the two walking wheels (200); determining the walking wheel (200) with the larger electrical signal as the walking wheel on the rollover landing side; controlling the driving mechanism to increase the driving force output to the walking wheel (200) on the rollover landing side.

2. The control method according to claim 1, characterized in that, the detection device includes a gyroscope, and the gyroscope is used to detect the tilt angle of the robot; the detecting whether the robot is in a rollover state through the detection device includes: detecting the tilt angle of the robot through the gyroscope; when the tilt angle is greater than or equal to a preset angle threshold, determining that the robot is in a rollover state; when the tilt angle is less than the preset angle threshold, determining that the robot is not in a rollover state.

3. The control method according to claim 2, characterized in that, the determining that the robot is in the rollover state when the tilt angle is greater than or equal to the preset angle threshold includes: when the tilt angle is greater than or equal to the preset angle threshold, detecting the moving acceleration and / or rotational angular velocity of the robot through the gyroscope; when both the moving acceleration and the rotational angular velocity are 0, determining that the robot is in a rollover state.

4. The control method according to claim 3, characterized in that, further includes: when the moving acceleration or the rotational angular velocity is not 0, prohibiting the execution of the step of controlling the driving mechanism to increase the driving force output to the walking wheel (200) on the rollover landing side.

5. The control method according to claim 1, characterized in that, after controlling the driving mechanism to increase the driving force output to the walking wheel (200) on the rollover landing side, executing the step of detecting whether the robot is in a rollover state through the detection device until it is detected that the robot is not in a rollover state.

6. The control method according to claim 1, characterized in that, the controlling the driving mechanism to increase the driving force output to the walking wheel (200) on the rollover landing side includes: Every first preset time, control the driving mechanism to increase the driving force output to the traveling wheel (200) on the side where the robot lands after tipping over, and after the increase in the driving force is completed, restore the driving force to the preset initial value; After performing the step of detecting whether the robot is in a tipped-over state by the detection device and before detecting that the robot is in a non-tipped-over state, the control method further includes: Detect the actual number of times of controlling the driving mechanism to increase the driving force output to the traveling wheel (200) on the side where the robot lands after tipping over; When the actual number of times is greater than the preset number of times, control the driving mechanism to stop outputting the driving force to the traveling wheel (200) on the side where the robot lands after tipping over, and send out a tipping-over prompt message.

7. The control method according to claim 1, wherein, the robot further includes an information receiving module for receiving a reset instruction from the user; Before performing the step of detecting whether the robot is in the tipped-over state by the detection device, the control method further includes: Detect whether the information receiving module has received the reset instruction; When the information receiving module has received the reset instruction, perform the step of detecting whether the robot is in a tipped-over state by the detection device.

8. The control method according to claim 7, wherein, the control method further includes: When the information receiving module does not receive the reset instruction within the second preset time, perform the step of detecting whether the robot is in a tipped-over state by the detection device.

9. A robot, wherein, it includes a housing (100), two traveling wheels (200), a driving mechanism and a detection device. The two traveling wheels (200) are installed on both sides of the housing (100). The hub surface (201) of the traveling wheel (200) is a convex curved surface. The driving mechanism is arranged in the housing (100) and is connected to the traveling wheel (200) for driving the traveling wheel (200) to rotate. The detection device is used to detect whether the robot is in a tipped-over state. The robot further includes a control device for performing the control method according to any one of claims 1-8. The detection device and the driving mechanism are both connected to the control device.

10. The robot according to claim 9, wherein, the hub surface (201) is provided with anti-slip patterns.

11. The robot according to claim 10, wherein, the center of gravity of the robot is located below the rotation axes of the two traveling wheels (200).

12. The robot according to claim 9, wherein, the robot is a spherical-like robot.

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