YTS-based stability augmentation device control method and system and electronic equipment

Abstract

The invention provides a stability augmentation device control method and system based on YTS and electronic equipment, relates to the technical field of control, and solves the technical problem that the stability of a robot is low. The method comprises the steps that posture data of a robot are recognized through a YTS system based on a real-time image of the robot, the current stability of the robot is detected according to the posture data, and whether an entity object influencing the stability of the robot exists in the surrounding environment or not is recognized through the YTS system based on the real-time image; determining that the robot is about to deviate from a specified stable state in response to the fact that the current stability is smaller than the specified stability and / or that an entity object exists in the surrounding environment; the specified stability is the stability corresponding to the range boundary threshold value of the specified stable state; and when the robot is about to deviate from the specified stable state, the gyroscope device is controlled to operate in advance before the robot deviates from the specified stable state, and self-stabilization adjustment is conducted on the robot in the operation process that the gyroscope device keeps angular momentum conservation.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to a control method, system and electronic device for a YTS-based stabilization device. Background Technology

[0002] Currently, existing stabilization or control-based stabilization systems are designed to increase the stability of statically unstable or insufficiently stable civil aircraft. Stabilization systems are mainly divided into two control configurations: longitudinal stabilization systems and lateral stabilization systems. The main purpose of longitudinal stabilization control law design is to improve the short-cycle motion characteristics of machine objects, while the main purpose of lateral stabilization control law design is to improve the rolling motion characteristics of robots and other machine objects. Due to the complexity of lateral motion caused by the interconnected coupling effects of the lateral motion of robots and other machine objects, the design of lateral stabilization systems is more difficult than that of longitudinal stabilization systems. Existing technologies result in robots that are not sufficiently stable, leading to low robot stability. Summary of the Invention

[0003] The purpose of this invention is to provide a YTS-based stabilization device control method, system, and electronic device to solve the technical problem of low robot stability caused by insufficient robot smoothness.

[0004] In a first aspect, the present invention provides a stabilization device control method based on YTS, wherein an image acquisition device facing the robot and its surrounding environment is correspondingly disposed on the outside of the robot, and the robot is provided with multiple gyroscope devices; the method includes: The system acquires real-time images of the robot and its surrounding environment captured by the image acquisition device. Based on these real-time images, it identifies the robot's posture data using a YTS system and detects the robot's current stability based on the posture data. It also identifies, based on the real-time images, whether there are any physical objects in the surrounding environment that could affect the robot's stability. These physical objects include at least one of the following: collideable objects, operating wind generators, and ground with an actual flatness level less than a specified flatness level. In response to the current stability being less than a specified stability, and / or the presence of the entity object in the surrounding environment being detected, it is determined that the robot is about to deviate from the specified stability state; the specified stability is the stability corresponding to the range boundary threshold of the specified stability state; When the robot is about to deviate from the designated stable state, the gyroscope is controlled to start operating in advance before the robot deviates from the designated stable state. The gyroscope maintains the conservation of angular momentum during its operation to perform self-stabilizing adjustments on the robot, so as to avoid the robot deviating from the designated stable state. The angular momentum corresponding to the operation of the gyroscope is greater than the designated momentum. In response to the current stability being greater than or equal to the specified stability and the detection that the entity object does not exist in the surrounding environment, the robot is determined to be in the specified stable state and is not about to deviate from the safe range, and the gyroscope device is controlled to stop operating.

[0005] In an optional implementation, the self-stabilizing adjustment of the robot by maintaining the conservation of angular momentum through the gyroscope device includes: In response to the detection of an imbalance in the robot, the imbalance is compensated for by maintaining the conservation of angular momentum through the gyroscope device, and the robot is self-stabilized until both the gyroscope device and the robot reach the specified stable state.

[0006] In an optional implementation, controlling the gyroscope device to operate in advance before the robot deviates from the designated stable state includes: Based on the real-time image, the YTS system analyzes the robot's first impending deviation angle and the first deviation impact degree corresponding to the current stability being less than the specified stability, and / or the second deviation impact degree of the entity object on the robot and the second impending deviation angle of the entity object on the robot; Based on the first impending deviation angle and the degree of influence of the first deviation, and / or the second impending deviation angle and the degree of influence of the second deviation, calculate the target rotation speed of the gyroscope device to be operated; The gyroscope is controlled to operate at the target rotational speed before the robot deviates from the specified stable state.

[0007] In an optional implementation, calculating the target rotational speed of the gyroscope device to be operated based on the first impending deviation angle and the degree of influence of the first deviation, and / or the second impending deviation angle and the degree of influence of the second deviation, includes: Based on the robot's weight, the first impending deviation angle, and the degree of influence of the first deviation, and / or the robot's weight, the second impending deviation angle, and the degree of influence of the second deviation, the target rotation speed of the gyroscope device is calculated using the following formula, so as to perform self-stabilizing adjustment of the robot through the gyroscope device's operation process of maintaining the conservation of angular momentum: ; in, This indicates the weight of the robot; This represents the equivalent lever arm length from the robot's center of gravity to the fulcrum; This indicates the target rotational speed at which the gyroscope device is to be operated; Indicates that the angle is about to deviate; Indicates the degree of deviation from the intended impact; The weighting coefficients representing the influence of angle and external force; This represents the safety margin coefficient to prevent critical oscillations. This represents the moment of inertia of the gyroscope rotor of the gyroscope device.

[0008] In an optional implementation, controlling the gyroscope device to operate at the target rotational speed before the robot deviates from the specified stable state includes: The gyroscope is controlled to operate at the target rotation speed before the robot deviates from the specified stable state, and the target rotation speed of the gyroscope is dynamically adjusted during its rotation using the following formula: ; in, This indicates the target rotational speed of the adjusted gyroscope device. This indicates the initial target rotational speed; This represents the difference between the current stability and the specified stability. This indicates the strength of the response to the accumulation of historical deviations; This indicates the strength of the response to the rate of change of the deviation; This indicates the strength of the response to the current deviation; Indicates the current moment.

[0009] In an optional implementation, the physical object affecting the stability of the robot is a running wind generator; The step of calculating the target rotational speed of the gyroscope device to be operated based on the first impending deviation angle and the degree of influence of the first deviation, and / or the second impending deviation angle and the degree of influence of the second deviation, includes: Based on the wind force and angle data generated by the wind generator during operation and the weight of the robot, the target rotation speed of the gyroscope is calculated using the following formula, so as to perform self-stabilization adjustment of the robot by maintaining the conservation of angular momentum during the operation of the gyroscope: ;in, ; in, This indicates the target rotational speed at which the gyroscope device is to be operated; This indicates the weight of the robot; The lever arm represents the distance from the point of application of the wind force from the wind generator to the center of gravity of the robot. Indicates that the angle is about to deviate; Indicates air density; This represents the drag coefficient of the robot; This represents the robot's frontal area; This indicates the wind speed of the wind generator; This indicates the angle between the wind direction of the wind generator and the tilt axis of the robot; Indicates the damping coefficient; This represents the moment of inertia of the gyroscope rotor of the gyroscope device.

[0010] In an optional implementation, after the gyroscope device is operated in advance before the robot deviates from the designated stable state, and the robot is self-stabilized by maintaining the conservation of angular momentum through the operation of the gyroscope device, the method further includes: In response to the robot's stepping motion, it is determined that the stepping motion is affected by the force caused by the self-stabilizing adjustment process, and the gyroscope device is controlled to stop operating; In response to the completion of the stepping action and the current stability still being less than the specified stability, and / or the completion of the stepping action and the detection that the entity object still exists in the surrounding environment, it is determined that the robot is about to deviate from the specified stability state, and when the robot is about to deviate from the specified stability state, the gyroscope device is controlled to operate in advance before the robot deviates from the specified stability state, so as to avoid the robot deviating from the specified stability state.

[0011] In an optional implementation, a wind sensor is positioned within a designated area around the robot; the method further includes: The current wind speed around the robot is detected by the wind sensor. In response to the current wind force being greater than a specified wind force, the robot is determined to be about to deviate from the specified stable state based on its weight.

[0012] Secondly, the present invention provides a YTS-based stabilization device control system, wherein an image acquisition device facing the robot and its surrounding environment is correspondingly installed on the outside of the robot, and multiple gyroscope devices are installed on the robot; the system includes: The recognition module is used to acquire real-time images of the robot and its surrounding environment captured by the image acquisition device, recognize the robot's posture data through the YTS system based on the real-time images, detect the robot's current stability based on the posture data, and identify whether there are any physical objects in the surrounding environment that affect the robot's stability based on the real-time images through the YTS system; the physical objects include at least one of the following: collision-prone objects, operating wind generators, and ground with an actual flatness less than a specified flatness. The determination module is configured to, in response to the current stability being less than a specified stability, and / or to identify the presence of the entity object in the surrounding environment, determine that the robot is about to deviate from the specified stability state; the specified stability is the stability corresponding to the range boundary threshold of the specified stability state; The first control module is used to control the gyroscope device to start operating in advance before the robot deviates from the specified stable state when the robot is about to deviate from the specified stable state, and to perform self-stabilizing adjustment of the robot by maintaining the conservation of angular momentum through the operation of the gyroscope device, so as to avoid the robot deviating from the specified stable state; the angular momentum corresponding to the operation of the gyroscope device is greater than the specified momentum. The second control module is used to determine that the robot is in the specified stable state and is about to deviate from the safe range in response to the current stability being greater than or equal to the specified stability and the detection that the entity object does not exist in the surrounding environment, and to control the gyroscope device to stop operating.

[0013] Thirdly, the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the computer program to implement the steps of the method described in any of the foregoing embodiments.

[0014] This application brings the following beneficial effects: This application provides a YTS-based stability enhancement device control method, system, and electronic device. An image acquisition device facing the robot and its surrounding environment is externally mounted on the robot. Multiple gyroscopes are installed on the robot. The method acquires real-time images of the robot and its surrounding environment captured by the image acquisition device. Based on the real-time images, the YTS system identifies the robot's posture data and detects the robot's current stability. Based on the real-time images, the YTS system identifies whether there are any physical objects in the surrounding environment that affect the robot's stability. These physical objects include at least one of the following: collision-prone objects, operating wind generators, and ground with an actual flatness less than a specified flatness. The method responds to the current stability being less than a specified flatness. And / or, if the presence of the entity object in the surrounding environment is detected, it is determined that the robot is about to deviate from a specified stable state; the specified stability is the stability corresponding to the range boundary threshold of the specified stable state; when the robot is about to deviate from the specified stable state, the gyroscope is controlled to start operating in advance before the robot deviates from the specified stable state, and the robot is self-stabilized by the gyroscope's operation process of maintaining angular momentum conservation to avoid the robot deviating from the specified stable state; the angular momentum corresponding to the operation of the gyroscope is greater than the specified momentum; in response to the current stability being greater than or equal to the specified stability and the absence of the entity object in the surrounding environment, it is determined that the robot is within the safe range of the specified stable state and is not about to deviate, and the gyroscope is controlled to stop operating. In this scheme, firstly, real-time images containing the robot and its surrounding environment are acquired by an image acquisition device set outside the robot. These image data are then input into the YTS system for analyzing the robot's current posture and calculating its stability. At the same time, the YTS system can also analyze whether there are entity objects in the surrounding environment that may affect the robot's stability. Furthermore, based on the acquired posture data, the system can detect whether the robot's current stability is below a specified threshold and whether there are potential unstable factors in the surrounding environment (such as obstacles, uneven ground, etc.). If any of these conditions are met (i.e., the current stability is less than the specified stability or there is an object affecting stability), it is determined that the robot is about to deviate from the specified stable state. If it is determined that the robot is at risk of deviating from the stable state, the system will activate the gyroscope in advance. Because the gyroscope has the ability to maintain the conservation of angular momentum, it can provide the necessary angular momentum before the robot actually begins to deviate, thereby helping the robot to perform self-stabilizing adjustments. This step is preventative and designed to prevent any situation that may lead to instability.Furthermore, during the operation of the gyroscope, the system can continuously monitor the robot's stability and changes in the surrounding environment. This means that if the situation changes (e.g., stability returns to a safe range and there are no threatening objects nearby), the system can react promptly and stop the gyroscope to conserve energy. Therefore, through these steps, the scheme ensures that the robot can react quickly to unstable factors, utilizing the additional angular momentum provided by the gyroscope to maintain or restore balance. This method not only improves the robot's immediate stability but also enhances its operational capabilities in complex or dynamic environments, further improving the stability of the robot's movement. The ultimate result is a significant improvement in robot stability, enabling the robot to operate efficiently under a wider range of conditions, reducing the risk of task failure due to loss of balance, and solving the technical problem of low robot stability caused by insufficient stability.

[0015] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating the YTS-based stabilization device control method provided in this application embodiment; Figure 2 Another schematic flowchart of the YTS-based stabilization device control method provided in the embodiments of this application; Figure 3 A schematic diagram of the structure of a YTS-based stabilization device control system provided in an embodiment of this application; Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] The terms "comprising" and "having," and any variations thereof, used in the embodiments of this application, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0020] Currently, existing robots are not smooth enough, resulting in low robot stability. Therefore, this application provides a YTS-based stabilization device control method, system, and electronic device, which can solve the technical problem of low robot stability due to insufficient robot smoothness.

[0021] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0022] Figure 1 This is a flowchart illustrating a YTS-based stabilization device control method provided in an embodiment of this application. An image acquisition device facing the robot and its surrounding environment is externally mounted on the robot, and multiple gyroscope devices are installed on the robot. For example... Figure 1 As shown, the method may include the following steps: S110: Acquire real-time images of the robot and its surrounding environment captured by the image acquisition device; identify the robot's posture data through the YTS system based on the real-time images and detect the robot's current stability based on the posture data; identify whether there are any physical objects in the surrounding environment that affect the robot's stability based on the real-time images through the YTS system.

[0023] The physical object includes at least one of the following: a collision-prone object, an operating wind generator, or a ground surface whose actual flatness is less than the specified flatness.

[0024] In practical applications, YTS (Unity TV Service) refers to the Unity visualization rendering service system. Unity is a real-time 3D interactive content creation and operation platform, enabling creators in game development, art, architecture, automotive design, and film to turn their ideas into reality. The platform provides a complete software solution for creating, operating, and monetizing any real-time interactive 2D and 3D content, supporting platforms including mobile phones, tablets, PCs, game consoles, augmented reality, and virtual reality devices. The YTS engine is an intelligent engine system that deeply integrates AI algorithms, physical simulation, and 3D digital rendering technology, specifically designed for next-generation intelligent vehicles. Its core objective is to drive comprehensive upgrades in areas such as autonomous driving, vehicle-road collaboration, and intelligent interaction through high-precision simulation, real-time decision optimization, and cross-domain collaboration capabilities, building an integrated intelligent transportation ecosystem encompassing "people-vehicle-road-cloud."

[0025] For example, during robot operation, external image acquisition devices (such as cameras) are first activated. These devices capture real-time images of the robot and its surrounding environment. The acquired real-time image data is sent to the YTS system for further processing. The YTS system analyzes the received images, using computer vision technology to identify the robot's current posture. This step may involve complex algorithms, such as feature point detection and posture estimation, to accurately determine the robot's body posture. Based on the identified posture information, the YTS system calculates the robot's current stability. This process considers multiple factors, including but not limited to the robot's center of gravity and support area. Simultaneously, the YTS system analyzes the same set of real-time images to find and identify entities that may affect the robot's stability. This includes, but is not limited to, collision objects, operating wind turbines, and uneven ground. For each identified potential threat, the system categorizes it according to its nature and severity and attempts to quantify its impact on the robot's stability. Combining the robot's current stability with the risk situation of the surrounding environment, the YTS system makes a decision on whether action is needed to maintain or restore stability. If the system determines that the robot is about to deviate from its stable state, a pre-set response mechanism is immediately triggered. This could involve activating a gyro stabilization device to adjust the robot's posture or changing its path to avoid obstacles. The entire process is a dynamic loop; as the robot moves and the environment changes, these steps are repeatedly executed to ensure the robot remains in optimal working condition. The system may also collect feedback from actual operation for subsequent performance optimization, improving stability and adaptability. Through this comprehensive process, the system effectively enhances the stability and safety of the robot when operating in complex and changing environments.

[0026] S120, in response to the current stability being less than a specified stability, and / or, the presence of an entity in the surrounding environment is detected, and it is determined that the robot is about to deviate from the specified stability state; the specified stability is the stability corresponding to the range boundary threshold of the specified stability state.

[0027] For example, real-time image data provided by an image acquisition device is continuously acquired and analyzed by the YTS system. Based on the posture data, the robot's current stability is calculated. Simultaneously, any objects in the surrounding environment that may affect the robot's stability (such as collision objects, wind generators, uneven ground, etc.) are identified. The calculated current stability is compared with a pre-set "specified stability" (i.e., a stability threshold). If an object affecting stability is detected in the surrounding environment, its potential threat level is assessed. If the current stability is less than the specified stability, and / or an object affecting stability is identified, the system determines that the robot is about to deviate from the specified stable state. Based on the current situation (insufficient stability or hazardous factors in the environment), an appropriate response strategy is selected. This may include adjusting the robot's posture, changing its path to avoid obstacles, activating additional balance control mechanisms, etc. The selected response strategy is immediately executed, taking concrete actions to restore or maintain the robot's stable state. After implementing the response measures, the robot's stability and changes in its surrounding environment continue to be monitored. The response strategy is adjusted based on the actual effects to ensure that the robot can return to its optimal working state in the shortest possible time. The system may record relevant data from this incident for future performance improvements and learning, to better prevent similar problems from occurring. If the robot returns to the designated stable state, the system will perform a final safety check to ensure everything is normal. If necessary, the system can generate a detailed report on the incident, including the cause of the problem, the countermeasures taken, and the final result, for subsequent analysis. This process is designed to ensure that the robot can react quickly to unstable factors and take timely and effective measures to maintain or restore its stability, thereby ensuring that it can safely and efficiently complete its predetermined tasks.

[0028] S130: When the robot is about to deviate from the specified stable state, the control gyroscope device starts operating in advance before the robot deviates from the specified stable state, and performs self-stabilization adjustment of the robot by maintaining the conservation of angular momentum through the operation process of the gyroscope device, so as to avoid the robot deviating from the specified stable state.

[0029] Among them, the angular momentum corresponding to the operation of the gyroscope device is greater than the specified momentum.

[0030] As one possible implementation, the above-mentioned operation process of maintaining angular momentum conservation through the gyroscope device to perform self-stabilization adjustment of the robot may specifically include the following steps: in response to the detection of an imbalance in the robot, the imbalance is compensated and the robot is self-stabilized through the operation process of maintaining angular momentum conservation through the gyroscope device until both the gyroscope device and the robot reach a specified stable state.

[0031] In this embodiment, when the robot encounters external forces (such as wind or collisions) that cause it to lose balance, the gyroscope device can respond quickly and activate a compensation mechanism. This rapid response capability allows the robot to regain balance in the shortest possible time, reducing potential task interruptions or equipment damage caused by imbalance. Utilizing the gyroscope device's characteristic of maintaining angular momentum conservation, fine-tuning and precise control of the robot's posture can be achieved. This is particularly important for applications requiring highly accurate positioning and movement, such as navigation in complex terrain and precision assembly operations.

[0032] The automated self-stabilizing adjustment function significantly improves the reliability and adaptability of robots in dynamic environments. Whether facing sudden external disturbances or performing demanding tasks, it maintains excellent performance. For users who rely on robots to complete specific tasks, a robot with efficient self-stabilizing capabilities means higher work efficiency and lower operational risks. This not only enhances user satisfaction but also broadens the application scope and service areas of robotics technology. The most significant technical effect of this method lies in its real-time self-stabilizing adjustment and high-precision attitude control when facing the threat of imbalance. This feature is crucial for ensuring the stable and reliable operation of robots in various working environments and also helps to promote the development of robotics technology towards higher levels of automation and intelligence.

[0033] In one possible implementation, such as Figure 2 As shown, the aforementioned control gyroscope device operates in advance before the robot deviates from the designated stable state, and may specifically include the following steps: S210, based on real-time images, the YTS system analyzes the robot's first impending deviation angle and the first deviation impact degree corresponding to the current stability being less than the specified stability, and / or the second deviation impact degree of the entity object on the robot and the second impending deviation angle of the entity object on the robot. S220, calculate the target rotation speed of the gyroscope device to be operated based on the first deviating angle and the degree of influence of the first deviating angle, and / or the second deviating angle and the degree of influence of the second deviating angle; S230 controls the gyroscope to run at the target speed in advance before the robot deviates from the specified stable state.

[0034] By analyzing the current image in real time (step S210 above), the system can identify the angle at which the robot is about to deviate from its stable state and the degree of its impact, and calculate the target rotational speed that the gyroscope needs to achieve based on this information (step S220 above). This method enables the robot to self-adjust before the actual deviation occurs, thereby achieving early intervention in potential imbalances.

[0035] Because it involves predictive adjustments rather than reactive fixes, this mechanism utilizes the gyroscope's energy more efficiently, avoiding energy waste caused by over- or under-adjustment, thereby extending the device's operating time or reducing energy consumption. This method ensures the robot maintains higher stability and smoothness when facing changes in the external environment or performing complex tasks. Especially in dynamic environments, it provides more reliable stability guarantees, reducing the risk of task failure due to accidental collisions or other disturbances.

[0036] By considering the potential deviations caused by physical objects, the system not only accounts for imbalances resulting from its own movement but also takes into account the influence of external factors, further enhancing the robot's adaptability to changes in the external environment. This allows the robot to operate effectively in more diverse and complex scenarios. The most significant technical effect of this mechanism lies in its ability to achieve predictive stabilization control of the robot's stable state. By proactively identifying and responding to factors that may lead to imbalance, the system can more effectively maintain the robot's stable state, improving the accuracy and reliability of its operation while also optimizing energy efficiency. This proactive self-balancing adjustment strategy is of great significance for improving the robot's performance in various application environments.

[0037] In some embodiments, calculating the target rotational speed of the gyroscope device to be operated based on the first impending deviation angle and the degree of influence of the first deviation, and / or the second impending deviation angle and the degree of influence of the second deviation, may specifically include the following steps: Based on the robot's weight and the first impending deviation angle and the degree of influence of the first deviation, and / or the robot's weight and the second impending deviation angle and the degree of influence of the second deviation, the target rotation speed of the gyroscope device is calculated using the following formula, so as to perform self-stabilizing adjustment of the robot through the operation process of the gyroscope device maintaining the conservation of angular momentum: ; in, Indicates the robot's weight; This represents the equivalent lever arm length from the robot's center of gravity to the fulcrum. This indicates the target rotational speed at which the gyroscope device will spin. Indicates that the angle is about to deviate; Indicates the degree of deviation from the intended impact; The weighting coefficients representing the influence of angle and external force; This represents the safety margin coefficient to prevent critical oscillations. This represents the moment of inertia of the gyroscope rotor in a gyroscope device.

[0038] In this embodiment of the application, the calculation result of the target rotation speed of the gyroscope device to be operated is more accurate by using the above formula.

[0039] In one alternative implementation, the aforementioned control gyroscope device operates at a target rotational speed before the robot deviates from a specified stable state, which may specifically include the following steps: The gyroscope is controlled to start at the target speed before the robot deviates from the specified stable state, and the target speed of the gyroscope's rotation is dynamically adjusted during the gyroscope's rotation using the following formula: ; in, This indicates the target rotational speed of the adjusted gyroscope. Indicates the initial target rotational speed; This represents the difference between the current stability and the specified stability. This indicates the strength of the response to the accumulation of historical deviations; This indicates the strength of the response to the rate of change of the deviation; This indicates the strength of the response to the current deviation; Indicates the current time 。

[0040] In this embodiment of the application, the calculation method of the above formula makes the dynamic adjustment result of the target rotation speed of the gyroscope device more accurate.

[0041] In some embodiments, the physical object affecting the stability of the robot is a running wind generator; the calculation of the target rotation speed of the gyroscope device to be operated based on the first impending deviation angle and the degree of the first deviation, and / or the second impending deviation angle and the degree of the second deviation, may specifically include the following steps: Based on the wind force and angle data generated by the wind generator during operation, and the robot's weight, the target rotation speed of the gyroscope is calculated using the following formula. This allows the robot to achieve self-stabilization by maintaining the conservation of angular momentum during the gyroscope's operation. ;in, ; in, This indicates the target rotational speed at which the gyroscope device will spin. Indicates the robot's weight; The lever arm representing the distance from the point of application of the wind force from the wind generator to the robot's center of gravity; Indicates that the angle is about to deviate; Indicates air density; This represents the robot's drag coefficient; This indicates the robot's frontal area; This indicates the wind speed of the wind turbine; This indicates the angle between the wind direction of the wind generator and the robot's tilt axis; Indicates the damping coefficient; This represents the moment of inertia of the gyroscope rotor in a gyroscope device.

[0042] In this embodiment of the application, the calculation method of the above formula makes the calculation result of the target rotation speed of the gyroscope device to be operated more accurate when the robot is about to deviate due to the operation of the wind generator.

[0043] S140, in response to the current stability being greater than or equal to the specified stability and the detection that there are no physical objects in the surrounding environment, determines that the robot is in the specified stable state and is not about to deviate from the safe range, and controls the gyroscope device to stop running.

[0044] In this embodiment, real-time images of the robot and its surrounding environment are first acquired using an image acquisition device located outside the robot. This image data is then input into the YTS system to analyze the robot's current posture and calculate its stability. Simultaneously, the YTS system can also analyze the surrounding environment for any objects that might affect the robot's stability. Furthermore, based on the acquired posture data, the system can detect whether the robot's current stability is below a specified threshold and whether there are any potential unstable factors in the surrounding environment (such as obstacles, uneven ground, etc.). If any of these conditions are met (i.e., the current stability is less than a specified stability or there is an object affecting stability), it is determined that the robot is about to deviate from a specified stable state. If it is determined that the robot is at risk of deviating from a stable state, the system will activate the gyroscope device in advance. Because the gyroscope device has the ability to maintain angular momentum conservation, it can provide the necessary angular momentum before the robot actually begins to deviate, thereby helping the robot to perform self-stabilizing adjustments. This step is preventative and aims to prevent any situations that might lead to instability. Furthermore, during the operation of the gyroscope, the system can continuously monitor the robot's stability and changes in the surrounding environment. This means that if the situation changes (e.g., stability returns to a safe range and there are no threatening objects nearby), the system can react promptly and stop the gyroscope to conserve energy. Therefore, through these steps, the scheme ensures that the robot can react quickly to unstable factors, utilizing the additional angular momentum provided by the gyroscope to maintain or restore balance. This method not only improves the robot's immediate stability but also enhances its operational capabilities in complex or dynamic environments, further improving the stability of the robot's movement. The ultimate result is a significant improvement in robot stability, enabling the robot to operate efficiently under a wider range of conditions and reducing the risk of task failure due to loss of balance. This stability-enhancing control method based on the YTS system, combining advanced attitude recognition technology and the physical principle of angular momentum, provides an innovative solution for improving robot stability.

[0045] In some embodiments, after the above-mentioned control gyroscope device operates in advance before the robot deviates from the specified stable state, and the robot is self-stabilized by the operation process of the gyroscope device maintaining the conservation of angular momentum, the method may further include the following steps: In response to the robot's stepping motion, the system determines the force influence caused by the self-stabilizing adjustment process and controls the gyroscope to stop operating. In response to the completion of the stepping action and the current stability still being less than the specified stability, and / or the completion of the stepping action and the detection of physical objects in the surrounding environment, it is determined that the robot is about to deviate from the specified stability state. When the robot is about to deviate from the specified stability state, the gyroscope device is controlled to start operating in advance before the robot deviates from the specified stability state, so as to avoid the robot deviating from the specified stability state.

[0046] Unnecessary energy consumption is avoided by stopping the gyroscope when the robot is about to take a step. This is because the step itself can be affected by forces generated during self-stabilization, which may conflict with the dynamic balance required for walking. After the step is completed, the system reassesses the robot's stability and the surrounding environment. If the robot is still unstable or faces a potential threat, the gyroscope is immediately reactivated for stabilization. This approach ensures that the robot can respond quickly and maintain its stability even in complex and constantly changing environments. This dynamic adjustment mechanism based on real-time feedback allows the robot to adapt to different terrains and environmental conditions while maintaining high efficiency. Whether on flat ground or rugged terrain, the robot can move more flexibly, reducing the risk of mission interruption due to loss of balance.

[0047] In summary, the most significant technical achievement is the provision of precise and efficient dynamic stabilization support during robot movement. This not only improves the robot's overall stability but also optimizes energy efficiency and enhances its ability to perform tasks in complex environments. This effect is crucial for improving the robot's autonomy and adaptability.

[0048] In some embodiments, a wind sensor is provided within a specified range around the robot; the method may further include the following steps: detecting the current wind force around the robot using the wind sensor; and determining, based on the robot's weight, that the robot is about to deviate from a specified stable state in response to the current wind force being greater than a specified wind force.

[0049] By monitoring the surrounding wind conditions in real time, the robot can react before strong winds cause it to lose balance. This early warning mechanism gives the robot sufficient time to take preventative measures or adjust its posture to maintain stability. Taking the robot's weight into account when determining whether it will deviate from its stable state due to wind increases the accuracy and reliability of risk assessment. Since robots of different weights have varying sensitivities to wind, this method can more accurately predict potential stability issues. If the system detects that the wind force exceeds the safe operating range and anticipates that the robot may lose balance, it can immediately trigger corresponding compensatory measures, such as activating gyroscopes or other stabilizing devices, adjusting its speed or direction, thereby effectively preventing tipping over or loss of control.

[0050] This method enables robots to operate more robustly under various weather conditions, especially windy environments, expanding their application scenarios. Whether for outdoor exploration, material handling, or other tasks requiring operation in natural environments, it improves the robot's applicability and work efficiency.

[0051] In summary, the most significant technological advantage lies in the substantial improvement in the robot's stability and safety when facing external environmental disturbances (especially wind), ensuring its reliable performance under a wider range of complex conditions. This is of great importance for enhancing the robot's autonomous operation capabilities and expanding its application areas.

[0052] Figure 3 A schematic diagram of a YTS-based stabilization device control system is provided. An image acquisition device facing the robot and its surrounding environment is correspondingly installed on the robot's exterior. Multiple gyroscope devices are mounted on the robot. Figure 3 As shown, the YTS-based stabilization device control system 300 includes: The recognition module 301 is used to acquire real-time images of the robot and its surrounding environment captured by the image acquisition device, recognize the robot's posture data through the YTS system based on the real-time images, detect the robot's current stability based on the posture data, and identify whether there are any physical objects in the surrounding environment that affect the robot's stability based on the real-time images through the YTS system; the physical objects include at least one of the following: collision-prone objects, operating wind generators, and ground with an actual flatness less than a specified flatness. The determination module 302 is configured to determine that the robot is about to deviate from the specified stable state in response to the current stability being less than a specified stability, and / or in response to the detection of the entity object in the surrounding environment; the specified stability is the stability corresponding to the range boundary threshold of the specified stable state. The first control module 303 is used to control the gyroscope device to start operating in advance before the robot deviates from the specified stable state when the robot is about to deviate from the specified stable state, and to perform self-stabilizing adjustment of the robot by maintaining the conservation of angular momentum through the operation process of the gyroscope device, so as to avoid the robot deviating from the specified stable state; the angular momentum corresponding to the operation of the gyroscope device is greater than the specified momentum. The second control module 304 is used to respond to the current stability being greater than or equal to the specified stability and the detection that the entity object does not exist in the surrounding environment, determine that the robot is in the specified stable state and is not about to deviate from the safe range, and control the gyroscope device to stop running.

[0053] The YTS-based stabilization device control system provided in this application embodiment has the same technical features as the YTS-based stabilization device control method provided in the above embodiments, so it can also solve the same technical problems and achieve the same technical effects.

[0054] An electronic device provided in this application embodiment, such as Figure 4 As shown, the electronic device 400 includes a processor 402 and a memory 401. The memory stores a computer program that can run on the processor. When the processor executes the computer program, it implements the steps of the method provided in the above embodiments.

[0055] See Figure 4 The electronic device also includes a bus 403 and a communication interface 404. The processor 402, the communication interface 404 and the memory 401 are connected via the bus 403. The processor 402 is used to execute executable modules, such as computer programs, stored in the memory 401.

[0056] The memory 401 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 404 (which can be wired or wireless), such as the Internet, wide area network, local area network, or metropolitan area network.

[0057] Bus 403 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0058] The memory 401 is used to store programs. After receiving an execution instruction, the processor 402 executes the program. The method executed by the apparatus defined by the process disclosed in any of the preceding embodiments of this application can be applied to the processor 402 or implemented by the processor 402.

[0059] Processor 402 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 402 or by instructions in software form. The processor 402 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 401, and processor 402 reads the information from memory 401 and, in conjunction with its hardware, completes the steps of the above method.

[0060] Corresponding to the above-described YTS-based stabilization device control method, this application embodiment also provides a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are invoked and executed by a processor, the computer-executable instructions cause the processor to perform the steps of the above-described YTS-based stabilization device control method.

[0061] The YTS-based stabilization device control system provided in this application embodiment can be specific hardware on the device or software or firmware installed on the device. The device provided in this application embodiment has the same implementation principle and technical effects as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can all be referred to the corresponding processes in the above method embodiments, and will not be repeated here.

[0062] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0063] For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0064] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0065] In addition, the functional units in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0066] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the YTS-based stabilization device control method described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0067] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, if an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0068] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A control method of a YTS-based stability augmentation device, characterized by, The robot is provided with an image acquisition device facing the robot and the surrounding environment of the robot, and a plurality of gyro devices are arranged on the robot; the method comprises: acquiring real-time images of the robot and the surrounding environment of the robot collected by the image acquisition device, identifying posture data of the robot based on the real-time images through a YTS system, and detecting a current stability of the robot according to the posture data, identifying whether there is an entity object affecting the stability of the robot in the surrounding environment based on the real-time images through the YTS system; the entity object includes at least one of the following: a collidable object, a running wind generator, and a ground with an actual flatness less than a specified flatness; in response to the current stability being less than a specified stability, and / or, identifying that there is the entity object in the surrounding environment, determining that the robot is about to deviate from a specified stable state; the specified stability is a stability corresponding to a range boundary threshold of the specified stable state; when the robot is about to deviate from the specified stable state, controlling the gyro device to operate in advance before the robot deviates from the specified stable state, and performing self-stabilizing adjustment on the robot through a gyro device operation process maintaining angular momentum conservation to avoid the robot deviating from the specified stable state; the angular momentum corresponding to the operation of the gyro device is greater than a specified momentum; in response to the current stability being greater than or equal to the specified stability and identifying that there is no entity object in the surrounding environment, determining that the robot is in a safe range not about to deviate from the specified stable state, and controlling the gyro device to stop operating.

2. The method of claim 1, wherein, the self-stabilizing adjustment on the robot through the gyro device operation process maintaining angular momentum conservation comprises: in response to detecting that the robot has an imbalance, compensating for the imbalance and performing self-stabilizing adjustment on the robot through the gyro device operation process maintaining angular momentum conservation until the gyro device and the robot both reach the specified stable state.

3. The method of claim 2, wherein, the control of the gyro device to operate in advance before the robot deviates from the specified stable state comprises: analyzing, based on the real-time images, a first deviation angle of the robot corresponding to the case that the current stability is less than the specified stability and a first deviation influence degree corresponding to the first deviation angle, and / or, a second deviation influence degree of the entity object on the robot and a second deviation angle of the entity object on the robot through the YTS system; calculating a target rotation speed of the gyro device to be rotated according to the first deviation angle and the first deviation influence degree, and / or, the second deviation angle and the second deviation influence degree; controlling the gyro device to operate at the target rotation speed in advance before the robot deviates from the specified stable state.

4. The method of claim 3, wherein, The target rotation speed of the gyro device to be operated is calculated according to the first angle of deviation and the first influence degree of deviation, and / or the second angle of deviation and the second influence degree of deviation, which comprises: The target rotation speed of the gyro device to be operated is calculated according to the weight of the robot, the first angle of deviation and the first influence degree of deviation, and / or the weight of the robot, the second angle of deviation and the second influence degree of deviation, by the following formula, so as to keep the angular momentum conservation of the gyro device during the operation process to self-stabilize the robot: ； wherein, represents the weight of the robot; represents the equivalent lever arm length from the center of gravity of the robot to the fulcrum; represents the target rotation speed at which the gyro device is to be operated; represents the angle of impending deviation; represents the degree of influence of deviation; represents the weight coefficient of the angle and the influence of external force; represents the safety margin coefficient for preventing critical oscillation; represents the moment of inertia of the gyro rotor of the gyro device.

5. The method of claim 4, wherein, The gyro device is controlled to operate in advance at the target rotation speed before the robot deviates from the specified stable state, which comprises: The gyro device is controlled to operate in advance at the target rotation speed before the robot deviates from the specified stable state, and the target rotation speed of the gyro device during the rotation operation is dynamically adjusted by the following formula: ； wherein, represents a target rotation speed of the gyro device adjusted to be operated; represents an initial target rotation speed; represents a difference between a current stability and the specified stability; represents a response strength to a cumulative deviation of history; represents a response strength to a change rate of the deviation; represents a response strength to a current deviation; represents a current time point 。 6. The method of claim 3, wherein, The entity object affecting the stability of the robot is a wind generator in operation; The target rotation speed of the gyro device to be operated is calculated according to the first angle of deviation and the first influence degree of deviation, and / or the second angle of deviation and the second influence degree of deviation, which comprises: The target rotation speed of the gyro device to be operated is calculated according to the wind force degree data and the wind angle data generated by the wind generator during the operation process and the weight of the robot, by the following formula, so as to keep the angular momentum conservation of the gyro device during the operation process to self-stabilize the robot: ; wherein, ; wherein, represents a target rotation speed at which the gyro device is to be operated; represents the weight of the robot; represents a force arm from a wind action point of the wind generator to the center of gravity of the robot; represents an angle of deviation; represents air density; represents a wind resistance coefficient of the robot; represents a wind area of the robot; represents a wind speed of the wind generator; represents an angle between a wind direction of the wind generator and a tilt axis of the robot; represents a damping coefficient; represents a moment of inertia of a gyro rotor of the gyro device.

7. The method of claim 1, wherein, After the gyro device is controlled to operate in advance before the robot deviates from the specified stable state and to self-stabilize the robot by keeping the angular momentum conservation of the gyro device during the operation process, it further comprises: In response to the robot to be executed to take a step action, it is determined that the step action is affected by the force caused by the self-stabilization adjustment process, and the gyro device is controlled to stop running; In response to the completion of the step action and the current stability is still less than the specified stability, and / or the completion of the step action and it is identified that the entity object still exists in the surrounding environment, it is determined that the robot is about to deviate from the specified stable state, and when the robot is about to deviate from the specified stable state, the gyro device is controlled to operate in advance before the robot deviates from the specified stable state to avoid the robot deviating from the specified stable state.

8. The method of claim 1, wherein, A wind sensor is arranged in a specified range around the robot; the method further comprises: The current wind force degree around the robot is detected by the wind sensor; In response to the current wind force degree being greater than a specified wind force degree, it is determined that the robot is about to deviate from the specified stable state according to the weight of the robot.

9. A YTS-based stability augmentation device control system, characterized by, An image acquisition device corresponding to the outside of the robot is arranged towards the robot and the surrounding environment of the robot, and a plurality of gyro devices are arranged on the robot; the system comprises: An identification module is configured to acquire a real-time image containing the robot and the environment around the robot collected by the image acquisition device, identify pose data of the robot based on the real-time image through a YTS system, detect a current stability of the robot according to the pose data, and identify whether there is an entity object affecting the stability of the robot in the environment based on the real-time image through the YTS system; the entity object includes at least one of the following: a collidable object, a running wind generator, and a ground with an actual flatness less than a specified flatness; A determination module is configured to determine that the robot is about to deviate from a specified stable state in response to the current stability being less than a specified stability and / or the entity object being identified in the environment; the specified stability is a stability corresponding to a range boundary threshold of the specified stable state; A first control module is configured to control the gyro device to run in advance before the robot deviates from the specified stable state when the robot is about to deviate from the specified stable state, and perform self-stabilization adjustment on the robot through a gyro device running process maintaining angular momentum conservation to avoid the robot from deviating from the specified stable state; the angular momentum corresponding to the running of the gyro device is greater than a specified momentum; A second control module is configured to determine that the robot is in a safe range not about to deviate from the specified stable state in response to the current stability being greater than or equal to the specified stability and the entity object not being identified in the environment, and control the gyro device to stop running.

10. An electronic device comprising a memory, a processor, the memory having stored therein a computer program executable on the processor, characterized in that, The processor executes the computer program to implement the steps of the method of any one of claims 1 to 8.

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