CN108582074B - Robot, robot control method and device - Google Patents
Robot, robot control method and device Download PDFInfo
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- CN108582074B CN108582074B CN201810435522.2A CN201810435522A CN108582074B CN 108582074 B CN108582074 B CN 108582074B CN 201810435522 A CN201810435522 A CN 201810435522A CN 108582074 B CN108582074 B CN 108582074B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The application provides a robot, a robot control method and a robot control device; the robot control method comprises the following steps: receiving a control instruction; detecting the current inclination angle of the robot according to the control instruction; and controlling the switching of the running state of the robot according to the detected current inclination angle. The robot control device includes: a receiving module configured to receive a control instruction; the detection module is configured to detect the current inclination angle of the robot according to the control instruction; and the control module is configured to control the switching of the running state of the robot according to the detected current inclination angle. The robot includes a body and a robot controller.
Description
Technical Field
The application relates to the field of robot control, in particular to a robot, a robot control method and a robot control device.
Background
The small robot of current intelligence uses the support frame to realize the balance of robot and places under the state that the drive wheel does not operate, and when opening the robot, when the drive wheel of robot began to rotate, if the user wants to make the robot balance in ground, it need pack up the support frame to manual adjustment robot's balance makes the robot stand on ground through the rotation balance of drive wheel.
Disclosure of Invention
The embodiment of the application provides a robot, a robot control method and a robot control device, which are used for solving the problem that the robot falls down due to the fact that the balance of the existing manual robot is adjusted, and increasing the operation interestingness of the robot.
According to an aspect of the present application, a robot control method, and a robot control apparatus are provided. The robot control method comprises the following steps:
receiving a control instruction; detecting the current inclination angle of the robot according to the control instruction; and controlling the switching of the running state of the robot according to the detected current inclination angle.
In some embodiments, controlling the switching of the robot operation state according to the detected current tilt angle includes: when the current inclination angle is larger than a first preset angle, controlling the robot to rotate in situ; when the rotating speed of the driving wheel of the robot rotating in place is greater than a threshold value, the universal wheel of the robot lifts off the ground.
In some embodiments, controlling the switching of the robot operation state according to the detected current tilt angle includes: and when the current inclination angle is smaller than a second preset angle, controlling the driving wheels of the robot to stop moving so as to enable the universal wheels of the robot to land.
In some embodiments, controlling the switching of the robot operation state according to the detected current tilt angle includes: and when the current inclination angle is smaller than a second preset angle and the robot is in a forward motion state, controlling the robot to back for a certain distance and stopping the motion of the driving wheels of the robot so as to enable the universal wheels of the robot to land.
In some embodiments, the control command is a voice control command or a bluetooth control command.
In some embodiments, the current tilt angle is an angle between a body of the robot and a vertical direction.
According to another aspect of the present application, a robot control device is provided. Wherein the robot control device includes: a receiving module configured to receive a control instruction; the detection module is configured to detect the current inclination angle of the robot according to the control instruction; and the control module is configured to control the switching of the running state of the robot according to the detected current inclination angle.
In some embodiments, the control module is configured to control the switching of the robot operation state according to the detected current tilt angle, including: when the detection module detects that the current inclination angle is larger than a first preset angle, the control module controls the robot to rotate in place; when the rotating speed of the driving wheel of the robot rotating in place is greater than a threshold value, the universal wheel of the robot lifts off the ground.
In some embodiments, the control module is configured to control the switching of the robot operation state according to the detected current tilt angle, including: when the detection module detects that the current inclination angle is smaller than a second preset angle, the control module controls the driving wheels of the robot to stop moving so as to enable the universal wheels of the robot to land.
In some embodiments, the control module is configured to control the switching of the robot operation state according to the detected current tilt angle, including: when the detection module detects that the current inclination angle is smaller than a second preset angle and the robot is in a forward motion state, the control module controls the robot to back for a certain distance and stops the motion of the driving wheels of the robot, so that the universal wheels of the robot land.
According to another aspect of the present application, a robot is presented. Wherein, the robot contains fuselage and robot control device, and robot control device contains: a receiving module configured to receive a control instruction; the detection module is configured to detect the current inclination angle of the robot according to the control instruction; and the control module is configured to control the switching of the running state of the robot according to the detected current inclination angle.
The robot control method, the device and the robot disclosed by the embodiment of the invention have the beneficial effects that: when the robot stops operating or is in a closed state, the robot related to the application is switched from double wheels to three wheels, so that the universal wheels are grounded to serve as a support frame, and the robot is stably placed. When the robot is in the running state, the three-wheel state is instantly switched into the two-wheel balance state, so that the robot is prevented from falling down due to manual operation and two-wheel balance. Meanwhile, the three wheels of the robot are switched to the two wheels to change the body, so that the operation interest of the robot is increased.
Reference is made in detail to the following description and accompanying drawings that form a part hereof, and in which is shown by way of illustration specific embodiments in which the principles of the subject application may be employed. It should be understood that the embodiments of the present application are not so limited in scope. The embodiments of the application include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is an overall flowchart of a robot control method according to the present application;
FIG. 2 is a flow chart of a control method to control a three-wheel to two-wheel switch of a robot according to one embodiment of the present application;
FIG. 3 is a side view of a robot landing three wheels according to the present application;
FIG. 4 is a side view of a robot landing two wheels according to the present application;
FIG. 5 is a flow chart of a control method for controlling a robot to switch from two wheels to three wheels according to one embodiment of the present application;
FIG. 6 is a flow chart of a control method for controlling a robot to switch from two wheels to three wheels according to another embodiment of the present application;
fig. 7 is an overall structural schematic diagram of a robot control device according to the present application;
fig. 8 is a perspective view of a robot according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be embodied as a system, apparatus, device, method, or computer program product. Thus, the present application may be embodied in the form of: entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.
The principles and spirit of the present application are explained in detail below with reference to several representative embodiments of the present application.
According to an aspect of the present application, a robot control method is provided. The robot control method comprises the following steps: receiving a control instruction; detecting the current inclination angle of the robot according to a control instruction; and controlling the switching of the running state of the robot according to the detected current inclination angle. Wherein the switching of robot running state switches into the switching of double round for the three-wheeled switching of robot and the switching of robot double round switching for the three-wheeled, can make automatic steady balance in ground of robot through two kinds of switching methods, prevents because the falling of the robot that manual adjustment balance leads to, has increased the interest of robot operation simultaneously.
Fig. 1 is an overall flowchart of a robot control method according to the present application. As shown in fig. 1, step S11 is first executed, i.e., a control instruction is received; then, step S12 is executed, namely, the current tilt angle of the robot is detected according to the control command in step S11; after the current inclination angle of the body of the robot is detected according to the control command, as shown in S13 in fig. 1, switching of the operation state of the robot is controlled according to the detected current inclination angle. Wherein the switching of the robot operation state in step S13 includes the following two modes: the robot three-wheel landing is switched to two-wheel landing and the robot two-wheel landing is switched to three-wheel landing. Two different switching modes will be described in detail with reference to the following embodiments.
First, an embodiment in which the robot of the present invention switches the three-wheel landing to the two-wheel landing will be described in detail with reference to fig. 2 to 4.
Fig. 2 is a flowchart of a control method of controlling the robot to switch from the three-wheel landing to the two-wheel landing according to an embodiment of the present application, and step S21 in fig. 2 corresponds to step S11 in fig. 1, and step S22 corresponds to step S12 in fig. 1. As shown in step S21 in fig. 2, a control command is first received, where the control command is a voice control command or a bluetooth control command. In some embodiments, when the control command is a voice control command, for example, when the user speaks a voice control command of "change" to the robot, the robot receives the voice control command of "change" and then performs step S22 in fig. 2. The voice control command issued by the user in this embodiment is only illustrative, and the specific voice control command may be set by the user in a user-defined manner, for example, the voice control command may also be set to "switch" or the like, which is not limited herein.
In other embodiments, when the control command is a bluetooth control command, for example, when the user uses an application program in a portable electronic device such as a smart phone or a smart tablet to issue a control command to the robot and presses a "change" button in the application control program in the smart phone, the bluetooth module in the smart phone sends a corresponding bluetooth control command to the robot, and the robot receives the "change" bluetooth control command and then performs step S22 in fig. 2. The bluetooth control instruction in the application control program in this embodiment is only illustrative, and the specific bluetooth control instruction may be set by a user in a customized manner, for example, the bluetooth control instruction may also be set to "switch" or the like, and this embodiment is not limited herein.
In some embodiments, controlling the switching of the robot operation state according to the detected current tilt angle includes: when the current inclination angle is larger than a first preset angle, controlling the robot to rotate in situ; when the rotating speed of the driving wheel of the robot rotating in place is greater than a threshold value, the universal wheel of the robot lifts off the ground.
Specifically, after receiving a control command from a user, as shown in step S22 in fig. 2, detecting a current tilt angle of the robot according to the control command, where the current tilt angle is an included angle between a body of the robot and a vertical direction, and in an embodiment, the current tilt angle is measured by a three-axis gyroscope sensor. Step S23 in fig. 2 corresponds to step S13 in fig. 1, and as shown in fig. 2, step S23 includes step S231: when the current inclination angle is larger than a first preset angle, controlling the robot to rotate in situ; and step S232: when the rotating speed of the driving wheel of the robot rotating in place is larger than a threshold value, the universal wheel of the robot lifts off the ground.
According to an embodiment of the present application, when the three-wheel landing operation of the robot is to be switched to the two-wheel landing operation, step S21 is first performed, that is, a control instruction is received, the control instruction may be a voice control instruction or a bluetooth control instruction, and then the control instruction is analyzed, and an analyzed signal is sent to the three-axis gyro sensor, and step S22 is performed after the three-axis gyro sensor receives the signal, that is, the current tilt angle of the robot is detected according to the control instruction.
In one embodiment, the control command may be analyzed by a Micro Control Unit (MCU), and the MCU may send the analyzed signal to the three-axis gyro sensor, and the three-axis gyro sensor performs step S22 after receiving the signal of the MCU, that is, the three-axis gyro sensor detects the current tilt angle of the robot according to the control command. In some embodiments, the three-axis gyro sensor may be a commercially available three-axis gyro sensor, such as MPU 6050.
Fig. 3 is a side view of a robot according to the present application landing three wheels. As shown in fig. 3, the current inclination angle is defined as the included angle between the body of the robot and the vertical direction as θ, the dashed line 33 is the vertical direction, the dashed line 34 is the direction of the body of the robot, the angle θ between the dashed line 33 and the dashed line 34 is the included angle between the body of the robot and the vertical direction, and the case of landing three wheels of the robot shown in fig. 3 is that the angle θ is the maximum value θ0In the case of a robot with three wheels comprising two driving wheels 32, a universal wheel 31, three wheels landing, i.e. twoThe driving wheels 32 and the universal wheel 31 are simultaneously grounded, and theta is the maximum value theta0。
And the three-axis gyroscope sensor sends the detected current inclination angle value theta of the robot body to the MCU, and after the three-axis gyroscope sensor sends the current inclination angle value theta of the robot body to the MCU, the step S231 is executed, namely when the current inclination angle is larger than a first preset angle, the robot is controlled to rotate in situ. During specific implementation, if the current inclination angle value theta is larger than a first preset angle, the MCU determines that the current state of the robot is a three-wheel landing state as shown in fig. 3, the MCU sends a Pulse Width Modulation (PWM) signal to the motor, a driving chip of the motor amplifies driving voltage after receiving the PWM signal so as to control the torsion of the motor to be increased, the driving force of the driving wheel is provided by the motor, the torsion of the motor is increased to improve the rotating speed of the driving wheel, and the robot can rotate in situ under the condition that the universal wheel lands at the moment.
Due to the current tilt angle theta in fig. 30The angle between the robot body and the vertical direction when the universal wheel lands on the ground, therefore theta0The value of (a) is the maximum value that the three-axis gyro sensor can detect for the current inclination angle theta, so the first preset angle should be less than theta0A value of (a). In some embodiments, the first preset angle may be set to θ0-10 o. The set value of the first preset angle is only schematic, and different adjustments can be made according to different terrains where the robot is located, which is not limited herein in this embodiment.
In some preferred embodiments, in order to prevent the body of the robot from tilting forward to make the angle θ between the body of the robot and the vertical direction greater than a first preset value, a timer may be added to the robot, the timer is used to start timing after the three-axis gyro sensor sends the current tilt angle value θ of the body to the MCU, step S231 is performed when the timing time of the timer is greater than a preset time and the three-axis gyro sensor detects that the current tilt angle θ of the body does not change within the preset time period, and step S231 is not performed if the current tilt angle value θ of the body detected by the three-axis gyro sensor changes. Since the robot is in a stable state when the robot is in the three-wheel landing state, the current tilt angle θ of the body detected by the three-axis gyro sensor in this state does not change within the preset time period timed by the timer, the MCU determines that the robot is in the stable state when the three-wheel landing state, and executes step S231. On the contrary, when the robot body lands on the ground and inclines forwards only by the two driving wheels 32, in this case, the body of the robot is inclined forwards to cause the included angle θ between the robot body and the vertical direction to be larger than the first preset value instantly, but because the robot body cannot stand stably in this state, the current inclination angle value θ of the body detected by the three-axis gyro sensor changes continuously within the preset time period timed by the timer, if the three-axis gyro sensor detects different current inclination angle values θ of the body within the preset time period timed by the timer, the MCU judges that the robot is not in a stable three-wheel landing state, and the MCU does not execute step S231.
As the number of original rotations of the robot increases, the rotation speed of the motor increases continuously, and since the motor provides driving force for the driving wheel of the robot, the rotation speed of the driving wheel 32 of the robot increases continuously due to the increase of the rotation speed of the motor, and at this time, as shown in step 232 in fig. 2, when the rotation speed of the driving wheel of the robot is greater than a threshold value, the universal wheel of the robot leaves the ground. This is because when the rotation speed of the driving wheels 32 of the robot reaches a threshold value, the torque generated by the motor under the threshold value just offsets the moment of the gravity component generated by the robot body tilting backwards, so that the universal wheels of the robot lift off the ground.
Fig. 4 is a side view of a robot landing on two wheels according to the present application. As shown in fig. 4, the universal wheels 41 of the robot leave the ground after step S232 of fig. 2 is completed, and the robot is in a state where the two driving wheels 42 are grounded, i.e., a two-wheel grounded state. It should be noted that the two driving wheels 42 are constantly rotating when the robot is in the two-wheel landing state, and once stopped, the robot body will tilt forward or backward, and the dotted line 43 indicates the vertical direction.
When the robot is in the running state, the three-wheel state is instantly switched to the two-wheel balance state, so that the robot is prevented from falling down due to the fact that the two wheels are balanced through manual operation. Meanwhile, the three wheels of the robot are switched to the double-wheel turning man-machine interaction operation, so that the operation interestingness of a user on the robot is increased.
An embodiment of switching the robot to the three-wheel landing in the two-wheel landing will be described in detail with reference to fig. 5 and 6. The specific states of the robot for three-wheel landing and two-wheel landing are described in detail in fig. 3 and 4, and are not described herein. Fig. 5 is a flowchart of a control method for controlling a robot to switch from two wheels to three wheels according to an embodiment of the present application. As shown in step S51 in fig. 5, a control instruction is first received. Wherein the control command is a voice control command or a Bluetooth control command. When the control command is a voice control command, for example, when the user speaks a "landing" voice control command to the robot, the robot receives the "landing" voice control command and then performs step S52 in fig. 5. The voice control command issued by the user in this embodiment is only illustrative, and the specific voice control command may be set by the user in a user-defined manner, for example, the voice control command may also be set to "switch" or the like, which is not limited herein.
When the control command is a bluetooth control command, for example, when the user uses an application program in a portable electronic device such as a smart phone or a smart tablet to issue a control command to the robot and presses a "land" button in the application control program in the smart phone, the bluetooth module in the smart phone sends a corresponding bluetooth control command to the robot, and the robot receives the "land" bluetooth control command and then executes step S52 in fig. 5. The bluetooth control instruction in the application control program in this embodiment is only illustrative, and the specific bluetooth control instruction may be set by a user in a customized manner, for example, the bluetooth control instruction may also be set to "switch" or the like, and this embodiment is not limited herein.
After receiving the control command sent by the user, as shown in step S52 in fig. 5, according to the control command detects the current inclination angle of the robot, wherein the current inclination angle is an included angle between the body of the robot and the vertical direction, and the current inclination angle of the body of the robot is measured by the three-axis gyroscope sensor.
In some embodiments, controlling the switching of the robot operation state according to the detected current tilt angle includes: and when the current inclination angle is smaller than a second preset angle, controlling the driving wheels of the robot to stop moving so as to enable the universal wheels of the robot to land.
When the current tilt angle of the robot is detected according to the control command, the switching of the operation state of the robot is controlled according to the detected current angle, as shown in S53 of fig. 5, wherein step S53 of fig. 5 corresponds to step S13 of fig. 1. Step S53 includes step S531: and when the current inclination angle is smaller than a second preset angle, controlling the driving wheels of the robot to stop moving so as to enable the universal wheels of the robot to land on the ground, and achieving the state shown in fig. 3.
Specifically, according to an embodiment of the present application, after the robot receives the control command, a Micro Control Unit (MCU) analyzes the control command and sends an analyzed signal to a three-axis gyro sensor, and the three-axis gyro sensor executes step S52 after receiving the signal of the MCU, that is, detects the current tilt angle of the robot according to the control command. The current inclination angle is an angle θ between the body of the robot and the vertical direction, and the definition of the angle θ has been given in the above embodiments, and is not described herein again. And then the three-axis gyroscope sensor sends the detected current inclination angle value theta of the robot body to the MCU, and after the three-axis gyroscope sensor sends the current inclination angle value theta of the robot body to the MCU, step S531 is executed, namely when the current inclination angle value theta is smaller than a second preset angle, the driving wheel 42 of the robot is controlled to stop moving, so that the universal wheel 41 of the robot lands. The MCU determines that the current state of the robot is the two-wheel grounding state shown in fig. 4 if the current tilt angle value θ is smaller than the second preset angle, and sends a stop signal to the driving chip of the motor, so that the motor stops rotating to control the driving wheel 42 of the robot to stop moving, so that the universal wheel 41 of the robot is grounded to reach the state shown in fig. 3.
Since the body of the robot in fig. 4 is in a vertical state, an angle θ between the body of the robot and the vertical direction in the case of fig. 4 is 0o, and 0o is the minimum value that the three-axis gyro sensor can detect for the current tilt angle θ, so the second preset angle should be a value greater than 0 o. In some embodiments, the second preset angle may be set to 10 °. The set value of the second preset angle is only schematic, and different adjustments can be made according to different terrains where the robot is located, and this embodiment is not limited herein.
In some embodiments, controlling the switching of the robot operation state according to the detected current tilt angle includes: and when the current inclination angle is smaller than a second preset angle and the robot is in a forward motion state, controlling the robot to back for a certain distance and stopping the motion of the driving wheels of the robot so as to enable the universal wheels of the robot to land.
Fig. 6 is a flowchart of a control method for controlling a robot to switch from two wheels to three wheels according to another embodiment of the present application. As shown in fig. 6, wherein step S61 corresponds to step S51 in fig. 5, step S62 corresponds to step S52 in fig. 5, and step S51 and step S52 have been described in detail in the above embodiments and are not repeated herein. Step S63 corresponds to step S13 in fig. 1. Step S63 includes step S631: and when the current inclination angle is smaller than a second preset angle and the robot is in a forward motion state, controlling the robot to back for a certain distance and stopping the motion of the driving wheels of the robot so as to enable the universal wheels of the robot to land and achieve the state shown in fig. 3. In this embodiment, in order to prevent the robot body from falling forward due to inertia caused by the sudden stop of the driving wheels when the two driving wheels of the robot are in the forward motion state, when the MCU judges that the robot is in the forward motion state, it issues a reverse command to the motor through the PWM signal, and controls the driving wheels to rotate backward through the reverse rotation of the motor, so that the robot stops the driving wheels of the robot after reversing for a certain distance, and thus the robot body will tilt backward due to inertia, so that the universal wheels of the robot land. Where the robot backs up a short distance, in some embodiments no more than 3 cm.
Above-mentioned robot is switched into the tricycle by the double round to the universal wheel lands and makes the robot place steadily as the support frame, prevents the robot because the user maloperation and the falling that leads to, and on the other hand switches to the man-machine interaction who falls to the ground "of tricycle through the double round of robot simultaneously, has increased the user and has been interesting to the operation of robot.
Having described the method of the exemplary embodiment of the present application, the robot control device of the exemplary embodiment of the present application will be described next with reference to fig. 7. The implementation of the device can be referred to the implementation of the method, and repeated details are not repeated. The terms "module" and "unit", as used below, may be software and/or hardware that implements a predetermined function. While the modules described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.
Fig. 7 is an overall configuration diagram of a robot control device according to the present application. As shown in fig. 7, the robot controller includes: a receiving module configured to receive a control instruction; the detection module is configured to detect the current inclination angle of the robot according to the control instruction; and the control module is configured to control the switching of the running state of the robot according to the detected current inclination angle.
In some embodiments, the control module is configured to control the switching of the robot operation state according to the detected current tilt angle, including: when the detection module detects that the current inclination angle is larger than a first preset angle, the control module controls the robot to rotate in place; when the rotating speed of the driving wheel of the robot rotating in place is greater than a threshold value, the universal wheel of the robot lifts off the ground.
In some embodiments, the control module is configured to control the switching of the robot operation state according to the detected current tilt angle, including: when the detection module detects that the current inclination angle is smaller than a second preset angle, the control module controls the driving wheels of the robot to stop moving so as to enable the universal wheels of the robot to land.
In some embodiments, the control module is configured to control the switching of the robot operation state according to the detected current tilt angle, including: when the detection module detects that the current inclination angle is smaller than a second preset angle and the robot is in a forward motion state, the control module controls the robot to back for a certain distance and stops the motion of the driving wheels of the robot, so that the universal wheels of the robot land.
In one embodiment, the receiving module comprises a voice receiving module or a bluetooth receiving module configured to receive a voice control command or a bluetooth control command; the detection module comprises a three-axis gyroscope sensor, and the functions executed by the detection module are detailed in the embodiment of the method and are not described herein; the control module includes an MCU, a motor, and a motor driving chip, and the functions executed by the control module are described in the above embodiments, which are not described herein.
When the robot stops operating or is in a closed state, the robot control device can control the robot to be switched from two wheels to three wheels, so that the universal wheels are grounded to be used as a support frame to enable the robot to be placed stably. When the robot is in the running state, the robot is instantly switched to the double-wheel balance state from the three-wheel state through the control of the robot control device, so that the robot is prevented from falling down due to the double-wheel balance operated by people. Meanwhile, the control device controls the three wheels to be switched to the two wheels to change the body, so that the operation interest of the robot is increased.
Next, a robot according to an exemplary embodiment of the present application will be described with reference to fig. 8. The implementation of the robot control device in the robot can refer to the implementation of the above device, and repeated details are not repeated. The terms "module" and "unit", as used below, may be software and/or hardware that implements a predetermined function. While the modules described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.
Fig. 8 is a perspective schematic view of a robot according to the present application. As shown in fig. 8, the robot includes a body 81 and a robot controller 82 located inside the body 81 of the robot, and the robot controller 82 is indicated by a dotted line because it is located inside the body 81. The robot control device 82 is used to realize the control of the robot running state, wherein the robot control device 82 comprises: a receiving module configured to receive a control instruction; the detection module is configured to detect the current inclination angle of the robot according to the control instruction; and the control module is configured to control the switching of the running state of the robot according to the detected current inclination angle. In one embodiment, the receiving module comprises a voice receiving module or a bluetooth receiving module configured to receive a voice control command or a bluetooth control command; the detection module comprises a three-axis gyroscope sensor, and the functions executed by the detection module are detailed in the embodiment of the method and are not described herein; the control module includes an MCU, a motor, and a motor driving chip, and the functions executed by the control module are described in the above embodiments, which are not described herein. The control module and the receiving module are connected inside the body 81 and perform signal interaction, and the control module and the detection module are connected inside the body 81 and perform signal interaction.
When the robot stops running or is in a closed state, the robot is switched from a double-wheel mode to a three-wheel mode, and therefore the universal wheels are grounded to serve as support frames, and the robot is placed stably. When the robot is in the running state, the three-wheel state is instantly switched to the two-wheel balance state, so that the robot is prevented from falling down due to manual operation of two-wheel balance. Meanwhile, the three wheels of the robot are switched to the two wheels to change the body, so that the operation interest of the robot is increased.
Those skilled in the art will appreciate that embodiments of the present application may be provided as a method, apparatus, or robot. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and robots according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are further described in detail for the purpose of illustrating the invention, and it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not to be construed as limiting the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A robot control method, characterized by comprising:
receiving a control instruction;
detecting the current inclination angle of the robot according to the control instruction;
controlling the switching of the running state of the robot according to the detected current inclination angle, wherein the switching of the running state of the robot is switching from three wheels of the robot to two wheels and switching from two wheels of the robot to three wheels;
wherein, according to the current inclination angle that detects control the switching of robot running state, include:
and when the current inclination angle is smaller than a second preset angle and the robot is in a forward motion state, controlling the robot to back for a certain distance and stopping the motion of the driving wheels of the robot so as to enable the universal wheels of the robot to land.
2. The robot control method according to claim 1, wherein controlling switching of the robot operation state in accordance with the detected current tilt angle includes:
when the current inclination angle is larger than a first preset angle, controlling the robot to rotate in situ;
when the rotating speed of the driving wheel of the robot rotating in place is larger than a threshold value, the universal wheel of the robot lifts off the ground.
3. The robot control method of claim 1, wherein the control command is a voice control command or a bluetooth control command.
4. A robot control method according to any of claims 1-2, characterized in that the current tilt angle is an angle between the body of the robot and the vertical.
5. A robot control apparatus, comprising:
a receiving module configured to receive a control instruction;
the detection module is configured to detect the current inclination angle of the robot according to the control instruction; and
the control module is configured to control the switching of the running state of the robot according to the detected current inclination angle, wherein the switching of the running state of the robot is switching from three wheels of the robot to two wheels and switching from two wheels of the robot to three wheels;
wherein, the switching of the robot running state is controlled according to the detected current inclination angle, and the switching comprises the following steps:
when the detection module detects that the current inclination angle is smaller than a second preset angle and the robot is in a forward movement state, the control module controls the robot to back for a certain distance and stops the movement of the driving wheels of the robot, so that the universal wheels of the robot land.
6. The robot controller according to claim 5, wherein the control module is configured to control switching of the robot operation state according to the detected current tilt angle, and includes:
when the detection module detects that the current inclination angle is larger than a first preset angle, the control module controls the robot to rotate in situ;
when the rotating speed of the driving wheel of the robot rotating in place is larger than a threshold value, the universal wheel of the robot lifts off the ground.
7. A robot comprising a body and a robot control device, the robot control device comprising:
a receiving module configured to receive a control instruction;
the detection module is configured to detect the current inclination angle of the robot according to the control instruction; and
the control module is configured to control the switching of the running state of the robot according to the detected current inclination angle, wherein the switching of the running state of the robot is switching from three wheels of the robot to two wheels and switching from two wheels of the robot to three wheels;
wherein, according to the current inclination angle that detects control the switching of robot running state, include:
and when the current inclination angle is smaller than a second preset angle and the robot is in a forward motion state, controlling the robot to back for a certain distance and stopping the motion of the driving wheels of the robot so as to enable the universal wheels of the robot to land.
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| CN109846411B (en) * | 2018-12-28 | 2020-12-29 | 尚一盛世(北京)科技有限公司 | Climbing support arm raise angle control system |
| CN113635305B (en) * | 2021-08-17 | 2023-06-23 | 乐聚(深圳)机器人技术有限公司 | Robot motion protection method, device, controller and storage medium |
| CN115431272A (en) * | 2022-09-23 | 2022-12-06 | 上海合时智能科技有限公司 | Robot control system, control method, control device and robot |
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