CN111284623B - Wheeled mobile device, balance control method, and storage medium - Google Patents

Wheeled mobile device, balance control method, and storage medium Download PDF

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Publication number
CN111284623B
CN111284623B CN202010119714.XA CN202010119714A CN111284623B CN 111284623 B CN111284623 B CN 111284623B CN 202010119714 A CN202010119714 A CN 202010119714A CN 111284623 B CN111284623 B CN 111284623B
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hub
state
target
angle
vertical plane
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CN111284623A (en
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周诚
黎雄
熊坤
张东胜
张正友
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J99/00—Subject matter not provided for in other groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K13/00—Cycles convertible to, or transformable into, other types of cycles or land vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M7/00—Motorcycles characterised by position of motor or engine
    • B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Robotics (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

The embodiment of the application discloses a wheel type mobile device, a balance control method and a storage medium, and belongs to the technical field of computers. The wheel type mobile equipment comprises a body, a first hub, a second hub and a controller, wherein the body comprises a first end, a second end, a third end and a fourth end; the first hub is arranged at the first end, and the second hub is arranged at the second end; the controller is electrically connected with the first hub and the second hub respectively; the controller responds to the condition that the state switching is met, and controls the first hub and the second hub to rotate so as to enable the wheeled mobile equipment to be switched from the current state to the target state; in the switching process, the controller controls the first hub to move towards the target direction along a vertical plane where the first hub is located, the target direction is a direction close to one end with a lower height in the third end and the fourth end, and the first hub is used for controlling the moving direction of the wheel type moving equipment in the wheel type moving equipment, can deform automatically, and improves the convenience of the wheel type moving equipment.

Description

Wheeled mobile device, balance control method, and storage medium
Technical Field
The present disclosure relates to computer technologies, and in particular, to a wheeled mobile device, a balance control method, and a storage medium.
Background
The bicycle is a common tool for replacing the walking, has the characteristics of environmental protection, body building and the like besides the function of replacing the walking, and is more and more widely applied. At present, in order to provide services to users more conveniently, a deformable bicycle has become a trend, for example, a bicycle includes a folded state and an unfolded state, and when the bicycle is in the unfolded state, a user can ride the bicycle; when the bicycle is in the folded state, the user can conveniently carry the bicycle.
At present, all are that the user folds or expandes the bicycle manually for the bicycle switches from the state of expanding to folded state, or switches from folded state to the state of expanding, and when state switches each time, all need the user to operate manually, therefore the convenience of this bicycle is relatively poor.
Disclosure of Invention
The embodiment of the application provides wheel type mobile equipment, a balance control method and a storage medium, and can improve the convenience of the wheel type mobile equipment. The technical scheme is as follows:
in one aspect, a wheeled mobile device is provided, the wheeled mobile device comprising a body, a first hub, a second hub, and a controller, the body comprising a first end, a second end, a third end, and a fourth end, the first end opposing the second end, the third end opposing the fourth end;
the first hub is disposed at the first end and the second hub is disposed at the second end; the controller is electrically connected with the first hub and the second hub respectively;
the controller is used for controlling the first hub and the second hub to rotate in response to a condition for switching states being met, so that the wheeled mobile equipment is switched from a current state to a target state, and the relative position relationship among the first hub, the second hub and the body in the target state is different from the relative position relationship among the first hub, the second hub and the body in the current state;
the controller is further configured to control the first hub to move towards a target direction along a vertical plane where the first hub is located in a switching process, where the target direction is a direction close to a lower end of the third end and the fourth end, and the first hub is a hub in the wheeled mobile device and used for controlling a moving direction of the wheeled mobile device.
In another aspect, a balance control method is provided, which is applied to a wheeled mobile device, the wheeled mobile device including a body, a first hub and a second hub, the body including a first end, a second end, a third end and a fourth end, the first end and the second end being opposite to each other, the third end and the fourth end being opposite to each other, the first hub being disposed at the first end, and the second hub being disposed at the second end; the method comprises the following steps:
in response to a state switching condition being met, controlling the first hub and the second hub to rotate so as to switch the wheeled mobile equipment from a current state to a target state, wherein the relative position relationship among the first hub, the second hub and the body in the target state is different from the relative position relationship among the first hub, the second hub and the body in the current state;
in the switching process, the first hub is controlled to move towards a target direction along a vertical plane where the first hub is located, the target direction is a direction close to the third end and the end with the lower height in the fourth end, and the first hub is a hub used for controlling the moving direction of the wheeled mobile equipment in the wheeled mobile equipment.
In one possible implementation, the first hub is provided with a first motor, and the second hub is provided with a second motor; the method further comprises the following steps:
starting the first motor, and controlling the first hub to move by the first motor;
and starting the second motor, and controlling the second hub to move by the second motor.
In one possible implementation, the first target angle and the second target angle are 0 degrees, and the third target angle is any angle greater than 0 degrees and less than 90 degrees.
In one possible implementation, the first target angle and the second target angle are 90 degrees, and the fourth target angle is any angle greater than 0 degrees and less than 90 degrees.
In one possible implementation manner, the controlling the first hub and the second hub to rotate in response to a state switching condition being met, so as to switch the wheeled mobile device from a current state to a target state includes:
responding to the triggering operation of a state switching key, and controlling the first hub and the second hub to rotate so as to switch the wheeled mobile equipment from the current state to the target state; or,
and acquiring environmental parameters of the environment where the wheeled mobile equipment is located, and controlling the first hub and the second hub to rotate when the environmental parameters are matched with target environmental parameters corresponding to the target state, so that the wheeled mobile equipment is switched from the current state to the target state.
In one possible implementation, the controlling the rotation of the first hub and the second hub includes:
determining a first rotation speed of the first hub according to an angle difference between a current angle of the first vertical plane and the second vertical plane and the first target angle, and controlling the first hub to rotate according to the first rotation speed;
and meanwhile, determining a second rotation speed of the second hub according to the angle difference between the current angle of the second hub and the second angle, and controlling the second hub to rotate according to the second rotation speed, wherein the rotation speed and the corresponding angle difference are in positive correlation.
In one possible implementation, the controlling the first hub to move toward the target direction along a vertical plane in which the first hub is located includes:
acquiring the current inclination angle of the body relative to the vertical direction;
and determining a fifth target angle of the first hub relative to a rotating shaft of the first hub according to the current inclination angle, and controlling the first hub to rotate around the rotating shaft and towards the target direction by the fifth target angle so as to enable the first hub to move towards the target direction along a vertical plane where the first hub is located.
In one possible implementation, the controlling the first hub to move toward the target direction along a vertical plane in which the first hub is located includes:
acquiring a current inclination angle, a current inclination angle speed, a target inclination angle and a current rotating angle of the first hub of the body relative to the vertical direction;
determining a sixth target angle and a rotation speed of the first hub relative to a rotation axis of the first hub according to the current tilt angle, the current tilt angular speed, the target tilt angle, and a currently rotated angle of the first hub;
and controlling the first hub to rotate around the rotating shaft by a sixth target angle towards the target direction according to the rotating speed, so that the first hub moves towards the target direction along a vertical plane in which the first hub is located.
In yet another aspect, a computer-readable storage medium having at least one instruction stored therein is provided, the instruction being loaded and executed by a processor to implement the operations performed in the balance control method as described.
The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:
according to the wheeled mobile equipment, the balance control method and the storage medium, when the state switching condition is met, the state of the wheeled mobile equipment can be changed by changing the relative position relation among the first hub, the second hub and the body, automatic deformation of the wheeled mobile equipment is achieved, manual control of a user is not needed, and convenience of the wheeled mobile equipment is improved. In addition, the problem that the wheel type mobile equipment is in a motion state in the deformation process and is likely to incline is also considered, and when the body of the wheel type mobile equipment inclines, the body applies an acting force opposite to the inclination direction to the hub, and the hub moves in the direction opposite to the inclination direction according to the acting force applied by the body, so that the wheel type mobile equipment falls and fails in automatic deformation. In the balance control method provided by the embodiment of the application, in the switching process, the first hub is also controlled to move towards the target direction along a vertical plane where the first hub is located, the target direction is a direction close to one end with a lower height in the third end and the fourth end, and the first hub is a hub used for controlling the movement direction of the wheeled mobile equipment in the wheeled mobile equipment, so that an acting force applied to the hub by the body is offset, the wheeled mobile equipment is kept vertical, and the success rate of automatic deformation of the wheeled mobile equipment is ensured.
In addition, the target state may be a bicycle straight running state or a balance vehicle state, and optionally, when the wheeled mobile device is switched from the current state to the target state, the wheeled mobile device is switched to the bicycle turning state first, and then switched from the bicycle turning state to the bicycle straight running state or the balance vehicle state, wherein when the wheeled mobile device is in the bicycle turning state, the wheeled mobile device may be controlled to run, so as to change the running direction, so that during the switching process, the wheeled mobile device may switch the running direction, and the running directions of the wheeled mobile device before and after the deformation are not changed, and the user may still advance along the original running direction.
In addition, when the wheel type mobile equipment is switched from the balance car state to the bicycle turning state, or the wheel type mobile equipment is switched from the bicycle turning state to the balance car state, or the wheel type mobile equipment is switched from the balance car state to the bicycle turning state, the position of the second hub is controlled to be unchanged, so that the balance can be controlled by the first hub in the switching process, and the difficulty of balance control is simplified; and moreover, the position of the wheel type mobile equipment cannot be moved along with the balance control in the deformation process, so that the wheel type mobile equipment is kept still in the original position in the switching process.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a convertible vehicle provided in an embodiment of the present application;
FIG. 2 is a top view of a convertible vehicle according to an embodiment of the present disclosure;
FIG. 3 is a front view of a convertible vehicle according to an embodiment of the present disclosure;
fig. 4 is a flowchart of a balance control method provided in an embodiment of the present application;
FIG. 5 is a schematic view of a state of a transformable vehicle provided in an embodiment of the present application;
FIG. 6 is a schematic view of a driving direction of a deformable vehicle in a state of a balance car according to an embodiment of the application;
FIG. 7 is a schematic view of a bicycle in a straight-ahead driving state of the vehicle according to an embodiment of the present disclosure;
fig. 8 is a schematic flow chart of state switching of a convertible vehicle according to an embodiment of the present disclosure;
FIG. 9 is a schematic structural diagram of a convertible vehicle according to an embodiment of the present disclosure;
FIG. 10 is a flow chart of a balance control method provided by an embodiment of the present application;
FIG. 11 is a schematic structural diagram of a convertible vehicle according to an embodiment of the present disclosure;
fig. 12 is a flowchart of a balance control method according to an embodiment of the present application;
FIG. 13 is a schematic structural diagram of a convertible vehicle according to an embodiment of the present disclosure;
FIG. 14 is a schematic structural diagram of a convertible vehicle in a motorcycle state according to an embodiment of the present disclosure;
FIG. 15 is a schematic structural diagram of a convertible vehicle in a state of a balance vehicle according to an embodiment of the present disclosure;
fig. 16 is a schematic structural diagram of a wheeled robot provided in an embodiment of the present application;
fig. 17 is a schematic structural diagram of a wheeled robot in a second state according to an embodiment of the present disclosure;
fig. 18 is a block diagram of a wheeled mobile device according to an embodiment of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
It will be understood that the terms "first," "second," and the like as used herein may be used herein to describe various concepts, which are not limited by these terms unless otherwise specified. These terms are only used to distinguish one concept from another. For example, a first end may be referred to as a second end, and similarly, a second end may be referred to as a first end, without departing from the scope of the present application.
Computer Vision technology (CV) Computer Vision is a science for researching how to make a machine "see", and further refers to that a camera and a Computer are used to replace human eyes to perform machine Vision such as identification, tracking and measurement on a target, and further image processing is performed, so that the Computer processing becomes an image more suitable for human eyes to observe or transmitted to an instrument to detect. As a scientific discipline, computer vision research-related theories and techniques attempt to build artificial intelligence systems that can capture information from images or multidimensional data. Computer vision technologies generally include image processing, image recognition, image semantic understanding, image retrieval, OCR, video processing, video semantic understanding, video content/behavior recognition, three-dimensional object reconstruction, 3D technologies, virtual reality, augmented reality, synchronous positioning, map construction, and other technologies, and also include common biometric technologies such as face recognition and fingerprint recognition.
The embodiment of the application can determine whether the wheeled mobile equipment is switched to the state by adopting the artificial intelligence technology and the computer vision technology, and the balance control method provided by the embodiment of the application is used for ensuring the balance of the wheeled mobile equipment in the state switching process.
The wheeled mobile device is a device that moves through a hub, and optionally, the wheeled mobile device may be various wheeled robots, such as a sweeping robot, an express robot, a meal delivery robot, and the like. Alternatively, the wheeled mobile device may also be any kind of vehicle, such as a vehicle, and the vehicle may be a bicycle, a balance car, a motorcycle, and the like.
The wheeled mobile device includes a body including a first end, a second end, a third end, and a fourth end, the first end and the second end being opposite, the third end and the fourth end being opposite, a first wheel hub, a second wheel hub, and a controller. First wheel hub sets up in first end, and the second wheel hub sets up in second end, controller respectively with first wheel hub and second wheel hub electricity be connected.
The controller may control the first hub and the second hub to rotate in response to a state switching condition being satisfied, so as to switch the wheeled mobile device from a current state to a target state, where a relative positional relationship between the first hub, the second hub and the body in the target state is different from a relative positional relationship between the first hub, the second hub and the body in the current state.
The controller may further control the first hub to move along a vertical plane in which the first hub is located toward a target direction in the switching process, where the target direction is a direction close to one of the third end and the fourth end that is lower in height, and the first hub is a hub in the wheeled mobile device for controlling a moving direction of the wheeled mobile device.
The wheeled mobile equipment provided by the embodiment of the application can control the first hub and the second hub to rotate in response to the condition that the state switching is met, so that the relative position relation of the first hub, the second hub and the body is changed, the wheeled mobile equipment is switched to a target state from a current state, the state of the wheeled mobile equipment can be automatically switched, manual control of a user is not needed, and convenience of the wheeled mobile equipment is improved. In addition, the problem that the wheel type mobile equipment is in a motion state in the deformation process and is likely to incline is also considered, and when the body of the wheel type mobile equipment inclines, the body applies an acting force opposite to the inclination direction to the hub, and the hub moves in the direction opposite to the inclination direction according to the acting force applied by the body, so that the wheel type mobile equipment falls and fails in automatic deformation. And the wheeled mobile device that this application provided still can control first wheel hub and move to the target direction along the vertical plane that first wheel hub is located at the switching process, and the target direction is for being close to the direction of the lower one end of height in third end and the fourth end, and first wheel hub is the wheel hub that is arranged in controlling wheeled mobile device's direction of movement among the wheeled mobile device to offset the effort that the body applyed to wheel hub, keep this wheeled mobile device vertical, thereby guarantee the success rate of wheeled mobile device's automatic deformation.
The following description will be made of the state switching and balance control of the wheeled mobile device by taking a convertible vehicle as an example:
people's travel tools include bicycles and balance cars. The bicycle has no requirement on the road condition, can run on a flat road and also can run on a rugged road, but is not suitable for relatively narrow spaces such as a factory building, an underground parking lot, a working room and the like due to the large volume of the bicycle. The balance car can only run on a relatively flat road surface, but can run in a relatively narrow space due to the small size of the balance car.
It is known that the bicycle and the balance car are not used in the same environment, and a user may travel from a wide space to a narrow space, or from a narrow space to a wide space, or from a flat road to a rough road, or from a rough road to a flat road when using a travel tool. Therefore, the bicycle and the balance car cannot fully meet the travel requirement of the user.
The bicycle comprises a body and two hubs, and a vertical plane where the hubs are located is parallel to a vertical plane where the body is located; the balance car also comprises a body and two hubs, and the vertical plane of the hubs is vertical to the vertical plane of the body; therefore, the embodiment of the application provides a transformable vehicle, which can be switched from a bicycle state to a balance vehicle state and also can be switched from the balance vehicle state to the bicycle state, and can be switched to a state corresponding to an application environment when the application environment changes, so that the transformable vehicle is more flexible to use and can adapt to various application environments, the switching process is automatically completed by the transformable vehicle, manual operation is not needed, and the convenience of the transformable vehicle is improved.
Fig. 1 is a schematic structural view of a convertible vehicle provided in an embodiment of the present application, wherein the convertible vehicle shown in fig. 1 is in a bicycle straight running state. The morphing car includes a body 101, a first hub 102 and a second hub 103, the body 101 including a first end, a second end, a third end and a fourth end, the first end and the second end being opposite, the third end and the fourth end being opposite. The first hub 102 is disposed at the first end, and the second hub 103 is disposed at the second end.
The deformation vehicle can further comprise a controller, and the controller controls the deformation vehicle to deform to complete state switching.
In one possible implementation, the controller includes a first in-wheel motor 104, a second in-wheel motor 105, a first steering motor 106, and a second steering motor 107. The first in-wheel motor 104 and the first steering motor 106 are respectively connected to the first hub 102, the first in-wheel motor 104 is configured to control the first hub 102 to rotate, so as to move forward or backward along a vertical plane where the first hub 102 is located, and the first steering motor 106 is configured to control the first hub 102 to rotate, so that an angle between the vertical plane where the first hub 102 is located and the vertical plane where the body is located changes. The second hub motor 105 and the second steering motor 107 are respectively connected with the second hub 103, the second hub motor 105 is used for controlling the second hub 103 to rotate, so that the second hub 103 can move forwards or backwards along a vertical plane where the second hub 103 is located, and the second steering motor 107 is used for controlling the second hub 103 to rotate, so that an angle between the vertical plane where the second hub 103 is located and the vertical plane where the body is located changes.
The state switching of the deformable vehicle can be realized by changing the angle between the vertical plane where the first hub 102 and the second hub 103 are located and the vertical plane where the body is located through the first steering motor 106 and the second steering motor 107.
In addition, since the bicycle includes the handlebar and the seat, and the balance car does not include the handlebar and the seat, in one possible implementation, the convertible car further includes the handlebar, the seat, the handlebar telescoping motor 108 and the seat telescoping motor 109, during the conversion of the convertible car from the bicycle state to the balance car state, the handlebar telescoping motor 108 controls the handlebar to retract, and the seat telescoping motor 108 controls the seat to retract; during the process of switching the transformable vehicle from the state of the balance vehicle to the state of the bicycle, the handle extension motor 108 controls the handle to extend, and the seat extension motor 109 controls the seat to extend. The transformable vehicle can realize the state switching of the transformable vehicle through the first steering motor 106, the second steering motor 107, the handle extension motor 108 and the seat extension motor 109.
When the transformable vehicle is in a bicycle state, a balance control method of the bicycle can be adopted to control the balance of the transformable vehicle, wherein the balance control method of the bicycle can be as follows: the balance of the bicycle is controlled by controlling the rotational angle of the first hub 102, wherein the first hub 102 is the front wheel of the bicycle and the balance control method is directed to the driving state of the bicycle. The bicycle needs to be balanced in a stationary state by other means, for example, by other means such as being assisted by a user's feet, being held by the user's hands, etc.
When the deformed vehicle is in a balance vehicle state, the balance of the deformed vehicle can be controlled by adopting a balance control method of the balance vehicle, wherein the balance control method of the balance vehicle can be as follows: the balance is kept by controlling the rotating speed and the rotating direction of the first hub 102 and the second hub 103, and the rotating speed and the rotating direction of the first hub 102 and the second hub 103 are controlled to be the same, so that the deformed vehicle moves straight; the transformable vehicle is turned by controlling the rotation directions of the first hub 102 and the second hub 103 to be the same but the rotation speeds to be different.
However, during the deformation process, the deformed vehicle may be in a state of not belonging to the bicycle state and not belonging to the balance vehicle state, for example, fig. 2 shows a top view of the deformed vehicle, and as shown in fig. 2, an included angle α between a vertical plane where the first hub is located and a vertical plane where the body is located is shown as fig. 21The included angle between the vertical plane of the second hub and the vertical plane of the body is alpha2Wherein α is1And alpha2The shape of the deformed bicycle is an acute angle, and the deformed bicycle does not belong to a bicycle state or a balance bicycle state. The state of the transformable vehicle at this time may be referred to as a transition state.
Wherein, fig. 3 is a front view of the deformable vehicle in a transition state. Where L is the track width, i.e. the distance between the centre point of the first hub 201 and the centre point of the second hub 202; r is the hub radius of the first hub 201 and the second hub 202, wherein the hub radius of the first hub 201 is equal to the hub radius of the second hub 202; phi is the steering angle of the deformable vehicle, the steering angle is the included angle between the vertical plane where the deformable vehicle is located and the vertical plane in the earth coordinate system, h is the height of the gravity center of the deformable vehicle, F is the centrifugal force of the deformable vehicle, g is the gravity acceleration, d is the displacement of the deformable vehicle, and theta is the inclination angle of the deformable vehicle.
In the transition state shown in fig. 2 and 3, the kinematic equation of the morphing car can be expressed as:
Figure GDA0002946733740000091
wherein,
Figure GDA0002946733740000092
the moving speed of the deformation vehicle in the x direction;
Figure GDA0002946733740000093
for the speed of movement of the deforming vehicle in the y-direction,
Figure GDA0002946733740000101
is the rotation speed of the first hub 201, wherein the rotation speed of the first hub 201 refers to the rotation speed of the first hub 201 around the center point of the first hub 201;
Figure GDA0002946733740000102
is the rotational speed of the second hub 202, wherein the rotational speed of the second hub 202 refers to the speed at which the second hub 202 rotates about the center point of the second hub 202.
As can be seen from the above formula, the forward speed and the angular speed of the transformable vehicle in fig. 2 and 3 can be expressed as:
Figure GDA0002946733740000103
wherein,
Figure GDA0002946733740000104
the rotation angle of the first hub 201 around the center point of the first hub 201,
Figure GDA0002946733740000105
is the angle of rotation of the second hub 202 about the center point of the second hub 202. r is the radius of the first hub 201 and the second hub 202, wherein the radius of the first hub 201 and the second hub 202 are the same.
Figure GDA0002946733740000106
The forward speed of the deformable vehicle is set, and if the forward speed is greater than 0, the deformable vehicle runs forwards; if the forward speed is less than 0, the deformable vehicle runs backwards; if the forward speed is equal to 0, the vehicle is stationary.
Figure GDA0002946733740000107
Is the angular velocity of the vehicle, which is the angular velocity of the vehicle rotating about the center point of the body.
Assuming that the overall degree of freedom of the transformable vehicle is
Figure GDA0002946733740000108
The active driving torque of the deformable vehicle is
Figure GDA0002946733740000109
Wherein, tauθIs the tilting drive torque of the vehicle1Is the drive torque, τ, of the first hub 2012Is the drive torque of the second hub 202.
The equations are derived and solved according to Lagrange's equation, and the dynamic equation of the deformed vehicle can be obtained:
Figure GDA00029467337400001010
wherein,
Figure GDA00029467337400001011
is a matrix of the inertia, and the inertia matrix,
Figure GDA00029467337400001012
in the term of the centrifugal force,
Figure GDA00029467337400001013
is the gravitational term of the dynamics in which,
Figure GDA00029467337400001014
is a degree of freedom
Figure GDA00029467337400001015
The first derivative of (a) is,
Figure GDA00029467337400001016
is a degree of freedom
Figure GDA00029467337400001017
The second derivative of (a).
Wherein,
Figure GDA00029467337400001018
Figure GDA00029467337400001019
Figure GDA00029467337400001020
the elements in the matrix are respectively:
M11＝mbh2；
Figure GDA0002946733740000111
M13＝M12；
M21＝M12；
Figure GDA0002946733740000112
Figure GDA0002946733740000113
M31＝M13；
M32＝M23；
M33＝M22；
Figure GDA0002946733740000114
Figure GDA0002946733740000115
Figure GDA0002946733740000116
G1＝-mbghsinθ；
G2＝0；
G3＝0；
wherein m isbMass of the body of the transformable vehicle, mwThe quality of the deformed wheel hub is improved.
According to the dynamic equation of the deformed vehicle, the dynamic characteristic of the deformed vehicle follows alpha1And alpha2May vary. Since the balance car is a system with unchanged overall dynamics, the balance control method of the balance car cannot be applied to the transient state of the deformed car. In addition, since the balance control method of the bicycle is a control method for the running process, and the vertical plane where the rear wheel hub of the bicycle is located is parallel to the vertical plane where the body is located, the balance control method of the bicycle cannot be applied to the transient state of the convertible vehicle. The present application thus provides a balance control method for steering angle changes, which is described in the following embodiments.
Fig. 4 is a flowchart of a balance control method according to an embodiment of the present disclosure, and referring to fig. 4, the method is applied to a deformable vehicle, where the deformable vehicle includes a body, a first hub, and a second hub, the body includes a first end, a second end, a third end, and a fourth end, the first end is opposite to the second end, the third end is opposite to the fourth end, the first hub is disposed at the first end, and the second hub is disposed at the second end. The method comprises the following steps:
401. and controlling the first hub and the second hub to rotate in response to the condition for switching the state is met, so that the deformable vehicle is switched from the current state to the bicycle turning state.
Wherein, the bicycle that warp includes bicycle state and balance car state, the bicycle state includes bicycle straight line state and bicycle turn state. The state switching condition refers to a condition for switching the transformable vehicle from the current state to the target state. The target state of the deformable vehicle is a bicycle straight-going state or a balance vehicle state. The current state of the transformable vehicle can be a balance vehicle state, a bicycle straight-going state, a bicycle turning state, other states and the like, and the current state of the transformable vehicle is not limited in the embodiment of the application.
If the current state of the deformable vehicle is the state of the balance vehicle, the state switching condition is a condition for indicating the deformable vehicle to be switched from the state of the balance vehicle to the straight-going state of the bicycle; if the current state of the deformed vehicle is the bicycle straight-going state, the state switching condition is a condition for indicating the deformed vehicle to be switched from the bicycle straight-going state to the balance vehicle state; if the current state of the bicycle is the bicycle turning state, the state switching condition is a condition indicating that the transformable vehicle is switched from the bicycle turning state to the balance vehicle state.
Fig. 5 includes schematic diagrams of 3 different forms of the transformable vehicle, where the transformable vehicle includes a first hub 501 and a second hub 502, and as shown in fig. 5, from left to right, a balance vehicle state schematic diagram, a bicycle turning state schematic diagram, and a bicycle straight-driving state schematic diagram of the transformable vehicle are respectively shown. Wherein, balance car state means: the first vertical plane on which the first hub 501 of the transformable vehicle is located is perpendicular to the second vertical plane on which the body is located, and the third vertical plane on which the second hub 502 is located is also perpendicular to the second vertical plane on which the body is located. The bicycle turning state is as follows: an included angle between a first vertical plane where the first hub 501 of the deformable vehicle is located and a second vertical plane where the body is located is an acute angle, and a third vertical plane where the second hub 502 is located is parallel to the second vertical plane where the body is located. The bicycle straight-going state is as follows: the first vertical plane on which the first hub 501 of the transformable vehicle is located is parallel to the second vertical plane on which the body is located, and the third vertical plane on which the second hub 502 is located is parallel to the second vertical plane on which the body is located. Therefore, the included angle between the first vertical plane where the first hub is located and the second vertical plane where the body is located and the included angle between the third vertical plane where the second hub is located and the second vertical plane where the body is located can be changed by rotating the first hub and the second hub, so that the state of the deformable vehicle is changed.
Considering the relationship between the vertical plane where the hub of the deformable vehicle is located and the vertical plane where the body is located in the balanced vehicle state, the bicycle turning state and the bicycle straight-ahead running state, when the deformable vehicle is switched from the current state to the target state, the deformable vehicle can be switched from the current state to the bicycle turning state and then from the bicycle turning state to the target state.
In addition, if only the angle between the vertical plane where the hub of the deformable vehicle is located and the vertical plane where the body is located is changed, the driving direction of the deformable vehicle is changed, as shown in fig. 6, the current state of the deformable vehicle is a state of a balance vehicle, and the driving direction of the deformable vehicle is the direction indicated by an arrow 601 at this time; the direct control modified vehicle is switched from the balance vehicle state to the bicycle straight-ahead state, as shown in fig. 7, in which case the traveling direction of the modified vehicle is the direction indicated by an arrow 701. It is understood that the traveling direction of the transformable vehicle is changed by changing the orientation of the hub.
The driving direction of the deformable vehicle can be changed when the deformable vehicle is in a bicycle turning state, so that the driving direction of the deformable vehicle before and after deformation is kept consistent by switching the deformable vehicle from the current state to the bicycle turning state and then from the bicycle turning state to the target state according to the deformation scheme provided by the embodiment of the application.
As shown in fig. 8, the transformable vehicle 800 includes a first hub 801 and a second hub 802, the first diagram from left to right in fig. 8 is a schematic diagram of the transformable vehicle in a state of a balance vehicle, the second diagram is a schematic diagram of the transformable vehicle in a transition state, the third diagram is a schematic diagram of the transformable vehicle in a turning state of a bicycle, and the fourth diagram is a schematic diagram of the transformable vehicle in a straight state of the bicycle. And if the current state of the deformable vehicle is the state of the balance vehicle, after the deformable vehicle is switched to the bicycle turning state, controlling the deformable vehicle to turn so that the running direction of the deformable vehicle is the same as the running direction of the balance vehicle. If the current state of the deformable vehicle is the bicycle straight-going state, the deformable vehicle is controlled to turn firstly, the running direction of the deformable vehicle is changed, the deformable vehicle is enabled to be in the bicycle turning state shown in the third graph in fig. 8, and then the deformable vehicle is controlled to be switched from the bicycle turning state to the bicycle straight-going state.
The state switching condition refers to a condition for switching the deformable vehicle from the current state to the target state. In response to the condition for switching the state being satisfied, the first hub and the second hub can be controlled to rotate, so that the deformable vehicle can be switched from the current state to the target state. In addition, the deformable vehicle can determine whether the state switching condition is met according to the operation of the user, and can also automatically detect whether the state switching condition is met.
In one possible implementation manner, in response to a state switching condition being met, controlling the first hub and the second hub to rotate so as to switch the transformable vehicle from the current state to the target state may include: and responding to the triggering operation of the state switching key, and controlling the first hub and the second hub to rotate so as to switch the deformed vehicle from the current state to a bicycle turning state and then from the bicycle turning state to a target state.
For example, an operation panel is disposed on the transformable vehicle, and a state switching key is displayed on the operation panel, and when a user performs a trigger operation on the state switching key, the transformable vehicle is switched from a current state to a target state. The trigger operation may be a click operation, a slide operation, a long press operation, a double click operation, and the like, and the specific manner of the trigger operation is not limited in the embodiment of the present application.
Optionally, the state switching key may be a key for selecting a target state, the user may trigger a key for selecting a certain state, the state corresponding to the key is the target state selected by the user, and if the target state selected by the user is different from the current state of the deformable vehicle, the deformable vehicle is controlled to switch from the current state to the target state; and if the target state selected by the user is the same as the current state of the deformable vehicle, maintaining the current state of the deformable vehicle unchanged.
Optionally, the state switching key is a state switching key which cannot select a target state, and if the current state of the deformed bicycle is a balance bicycle state, the target state is a bicycle straight-going state; if the current state of the deformed bicycle is a bicycle straight-going state, the target state is a balance bicycle state; and if the current state of the deformed vehicle is the bicycle turning state, the target state is the balance vehicle state.
In another possible implementation manner, in response to a state switching condition being met, controlling the first hub and the second hub to rotate so as to switch the transformable vehicle from the current state to the target state may include: and acquiring environmental parameters of the environment where the deformable vehicle is located, and controlling the first hub and the second hub to rotate when responding to the matching of the environmental parameters and the target environmental parameters corresponding to the target state, so that the deformable vehicle is switched from the current state to a bicycle turning state and then is switched from the bicycle turning state to the target state.
For example, the deformable vehicle is provided with a camera device, the camera device can be used for collecting environmental parameters of an environment where the deformable vehicle is located, if the environmental parameters are matched with environmental parameters of a factory building, a target state of the deformable vehicle is a state of the balance vehicle, and if the current state of the deformable vehicle is not the state of the balance vehicle, the deformable vehicle needs to be switched from the current state to the state of the balance vehicle. If the environmental parameters are matched with the environmental parameters of the road, the target state of the deformed vehicle is a bicycle straight-going state, and if the current state of the deformed vehicle is not the bicycle straight-going state, the deformed vehicle needs to be switched from the current state to the bicycle straight-going state.
It should be noted that the above two schemes satisfying the state switching condition can be simultaneously applied to the deformable vehicle. For example, the state of the transformable vehicle can be automatically adjusted according to the environmental parameters of the transformable vehicle, and because the balance vehicle and the bicycle have some shared scenes, the state of the transformable vehicle may not be automatically adjusted in the shared scenes, and at the moment, the user can determine the target state of the transformable vehicle according to the preference of the user.
Because the current state of the deformable vehicle can be a balance vehicle state or a bicycle straight-going state, when the deformable vehicle is switched from the current state to the target state, two situations can be included:
(1) the current state is the balance car state, and in response to satisfying the state switching condition, control first wheel hub and second wheel hub and rotate to make the car that warp switch over into bicycle turn state from the current state, can include: determining a third target angle between the first vertical plane and the second vertical plane and a second target angle between the third vertical plane and the second vertical plane in a turning state of the bicycle; and controlling the first hub and the second hub to rotate so that the angle between the first vertical plane and the second vertical plane reaches a third target angle, and the angle between the third vertical plane and the second vertical plane reaches a second target angle.
The second target angle is 0 degree, and the third target angle is any angle greater than 0 degree and smaller than 90 degrees, for example, 30 degrees, 45 degrees, 60 degrees, and the like.
Because the first wheel hub and the second wheel hub rotate at different angles, if the rotating speeds of the first wheel hub and the second wheel hub are the same, the first wheel hub needs to wait for the second wheel hub to rotate after the first wheel hub rotates, and the rotating speed of the second wheel hub can be increased in order to increase the deformation rate of the deformation vehicle. Optionally, controlling the rotation of the first hub and the second hub may include: determining a first rotation speed of the first hub according to the angle difference between the current angle of the first vertical plane and the second vertical plane and the first target angle, and controlling the first hub to rotate according to the first rotation speed; and meanwhile, determining a second rotation speed of the second hub according to the angle difference between the current angle and the second angle of the second hub, and controlling the second hub to rotate according to the second rotation speed, wherein the rotation speed and the corresponding angle difference are in positive correlation.
Therefore, the larger the angle difference is, the larger the rotation speed is, the second rotation speed of the second hub is increased, and the time consumed for rotating the second hub is shortened, so that the time consumed for waiting for the second hub to rotate after the first hub completes rotation can be reduced as much as possible.
Alternatively, the first rotation speed and the second rotation speed may also be determined from the target time and the angle difference. The target time is the time for controlling the rotation of the first hub and the second hub, and the first rotation speed and the second rotation speed are determined according to the target time and the angle difference, so that the rotation time of the first hub and the rotation time of the second hub are the same, the problem that the second hub needs to wait for rotation after the first hub rotates is solved, and the deformation efficiency of the deformation vehicle is improved.
(2) Controlling the transformable vehicle to switch from the current state to the bicycle turning state may include: determining a fourth target angle of the first vertical plane and the second vertical plane in the bicycle turning state when the current state is the bicycle straight-going state; and controlling the first hub to rotate so that the angle between the first vertical plane and the second vertical plane reaches a fourth target angle.
Wherein the fourth target angle is any angle greater than 0 degrees and less than 90 degrees. Such as 30 degrees, 45 degrees, 60 degrees, etc., optionally, the fourth target angle may be equal to the third target angle in the same morphing car.
In one possible implementation, in the process of controlling the first hub to rotate so that the angle between the first vertical plane and the second vertical plane reaches the fourth target angle, the first hub may also be controlled to rotate forward along the first vertical plane on which the first hub is located; or the second hub is controlled to rotate forwards along a third vertical plane in which the second hub is positioned.
The first hub or the second hub rotates forwards according to the first vertical plane, so that the deformation vehicle can be driven to run forwards. When the deformation car is the bicycle straight-going state, first vertical plane is parallel with the vertical plane of second that the body was located, and when controlling first wheel hub and rotating, first vertical plane is no longer parallel with the vertical plane of second, can have the contained angle, and the direction of travel has changed, if the drive deformation car of this moment traveles forward, the deformation car can turn according to first wheel hub's the turning to, thereby change the direction of travel of deformation car once more, guarantee through twice change direction of travel, the direction of travel of deformation car before the state switches with after the state switches is unanimous.
402. And in the switching process, the first hub is controlled to move towards a target direction along a vertical plane where the first hub is located, the target direction is a direction close to one end with a lower height in the third end and the fourth end, and the first hub is used for controlling the moving direction of the deformable vehicle.
When the deformed vehicle is switched from the current state to the bicycle turning state, the deformed vehicle is always in a moving state, the deformed vehicle may incline due to changes of dynamic characteristics of a system and the like, and if no measures are taken, the deformed vehicle may topple, so that the switching state of the deformed vehicle fails. When the deformable vehicle inclines, the body of the deformable vehicle applies a force opposite to the inclination direction to the hub of the deformable vehicle, the hub moves in the direction opposite to the inclination direction according to the force applied by the body, so that the deformable vehicle topples, and if the hub moves along the inclination direction of the deformable vehicle, the acting force applied to the hub by the body when the deformable vehicle inclines can be offset, so that the upright state of the deformable vehicle is maintained.
When the deformable vehicle is in a balance vehicle state, the deformable vehicle controls the moving direction through the first hub and the second hub; when the bicycle is in a straight-going state or a turning state, the bicycle controls the moving direction through the front wheel hub. The first hub is used for controlling the moving direction of the deformable vehicle, and the front wheel hub when the deformable vehicle is in the bicycle state is used for controlling the moving direction no matter what state the deformable vehicle is in, so that the first hub can be the front wheel hub when the deformable vehicle is in the bicycle state.
The switching process can be used for controlling the transformable vehicle to be switched from the balance vehicle state to the bicycle turning state, and can also be used for controlling the transformable vehicle to be switched from the bicycle straight-going state to the bicycle turning state. Since the direction is controlled and the balance is maintained by the front wheel hub when the transformable vehicle is in the bicycle state, the direction can be controlled and the balance can be maintained by the first hub when the transformable vehicle is controlled to be switched from the bicycle straight running state to the bicycle turning state or when the transformable vehicle is controlled to be switched from the balance vehicle state to the bicycle turning state in the switching process.
The following describes a method for controlling the balance of a deformed vehicle in two switching processes:
(1) the process of controlling the deformable vehicle to be switched from the balance vehicle state to the bicycle turning state comprises the following steps:
in the switching process, the position of the second hub can be kept unchanged, so that the deformation vehicle can not occupy a large deformation area in the deformation process and can be deformed in situ, and the second hub can also be used as a static supporting point of the deformation vehicle, and the balance of the deformation vehicle is maintained by the first hub.
In one possible implementation, the first hub is provided with a first motor, the second hub is provided with a second motor, and the balance control method further includes: and starting the first motor, controlling the first hub to move by the first motor, closing the second motor and keeping the position of the second hub unchanged. Wherein, close the second motor, keep the position of second wheel hub unchangeable and refer to: the second motor does not control the rotation of the second hub, but the second hub can move in response to the force applied by the external environment. If the body is driven to move when the first hub moves, the body can drive the second hub to move; or, when the person pushes the transformable vehicle to move, the second hub also moves due to the acting force applied by the outside.
In one possible implementation, controlling the first hub to move toward the target direction along a vertical plane in which the first hub is located may include: acquiring a current inclination angle of the body relative to the vertical direction; and according to the current inclination angle, determining a fifth target angle of the first hub relative to the rotating shaft of the first hub, and controlling the first hub to rotate around the rotating shaft and towards the target direction by the fifth target angle so as to enable the first hub to move towards the target direction along a vertical plane where the first hub is located.
The vertical direction can be determined according to a terrestrial coordinate system or a central point of the body, and the vertical direction is the direction pointed by the z axis in the coordinate system. The target direction is a direction near a lower one of the third and fourth ends. When the body takes place to incline, the height of the third end and the fourth end of body can change, and when the body inclines to the direction of third end, the height of third end can be less than the height of fourth end, and when the body inclines to the direction of fourth end, the height of fourth end can be less than the height of third end. Therefore, the control of the first hub to move towards the target direction is to control the first hub to move towards the inclination direction of the body. And when the first hub moves towards the target direction, the first hub is along the vertical plane where the first hub is located, so that the steering angle of the vehicle is not changed when the balance is controlled, namely the process of controlling the rotation of the first hub and the second hub is not influenced.
Alternatively, the current inclination angle of the body with respect to the vertical direction may be obtained by an IMU (Inertial Measurement Unit) sensor comprising 3 accelerometers and 3 gyroscopes mounted on mutually perpendicular Measurement axes. The measuring axis may be any axis in the body, such as a central axis.
It should be noted that, the embodiment of the present application is only exemplified by obtaining the tilt angle through the IMU sensor, and in some embodiments, the tilt angle may also be obtained through other manners. The embodiment of the present application does not limit this.
In another possible implementation, controlling the first hub to move toward the target direction along a vertical plane in which the first hub is located includes: acquiring a current inclination angle, a current inclination angle speed and a target inclination angle of the body relative to the vertical direction; determining a sixth target angle and a rotation speed of the first hub relative to a rotation axis of the first hub according to the current inclination angle, the current inclination angle speed and the target inclination angle; and controlling the first hub to rotate around the rotating shaft by a sixth target angle towards the target direction according to the rotating speed, so that the first hub moves towards the target direction along a vertical plane on which the first hub is located. Since the sixth target angle is determined according to the target inclination angle, the inclination angle of the transformable vehicle may be changed to the target inclination angle by controlling the first hub to rotate in the target direction about the rotation axis by the sixth target angle.
The current tilt angular velocity may be obtained by the IMU sensor, or obtained by differentiating the tilt angle, which is not limited in this application. The target inclination angle is an inclination angle of the body relative to the vertical direction when the body is kept balanced, and when the body is positioned on a horizontal plane, such as a road and the like, the target inclination angle is 0 degree; when the body is positioned on an inclined plane, such as an uphill slope or a downhill slope, the target inclination angle is an included angle between the inclined plane and the horizontal plane.
In another possible implementation, controlling the first hub to move toward the target direction along a vertical plane in which the first hub is located includes: acquiring a current inclination angle, a current inclination angle speed, a target inclination angle and a current rotating angle of the first hub of the body relative to the vertical direction; determining a sixth target angle and a rotation speed of the first hub relative to a rotation shaft of the first hub according to the current inclination angle, the current inclination angle speed, the target inclination angle and the current rotated angle of the first hub; and controlling the first hub to rotate around the rotating shaft by a sixth target angle towards the target direction according to the rotating speed, so that the first hub moves towards the target direction along a vertical plane on which the first hub is located.
Wherein, the current rotated angle of the first hub means: the first hub has rotated an angle relative to the previous state of the first hub. For example, in the process of switching the transformable vehicle from the balance vehicle state to the bicycle turning state, the currently rotated angle of the first hub is as follows: the current first hub of the deformable vehicle rotates relative to the deformable vehicle at a balance vehicle state. Optionally, the method for acquiring the current rotating angle of the first hub by the deforming vehicle may include: the target angles of the transformable vehicle for controlling the rotation of the first hub each time are superposed to obtain the current rotation angle of the first hub, and it should be noted that the target angle may be a target angle indicating the direction, and if the target angle is rotated forwards, the target angle is positive, and if the target angle is rotated backwards, the target angle is negative. For example, the transformable vehicle has controlled the first hub to rotate twice, the transformable vehicle controls the first hub to rotate 5.3 degrees forward about the rotation axis for the first time, and controls the first hub to rotate 5.0 degrees backward about the rotation axis for the second time, then the angle that the first hub has currently rotated is 0.3 degrees.
Optionally, the method for acquiring the current rotating angle of the first hub by the deforming vehicle may include: be provided with angle sensor on the first motor, through angle sensor, acquire the angle that first wheel hub has rotated at present. The method for acquiring the rotated angle is not limited in the embodiment of the present application.
In another possible implementation, the relationship between the current tilt angle, the current tilt angle speed, the target tilt angle speed, the sixth target angle, and the rotation speed is as follows:
Figure GDA0002946733740000191
τ1＝fPID(θ1)
θdis a target tilt angle, thetarAs the current tilt angle, the tilt angle is,
Figure GDA0002946733740000192
the target inclination angle speed is set, wherein the target inclination angle speed is 0, and the deformed vehicle is indicated to be static;
Figure GDA0002946733740000193
to be the current pitch angular velocity of the transformable vehicle,
Figure GDA0002946733740000194
the target displacement is the target displacement of the deformed vehicle, and the target displacement can be 0, indicating that the deformed vehicle is not moved in place;
Figure GDA0002946733740000195
in order to deform the actual displacement of the vehicle,
Figure GDA0002946733740000196
a target forward speed of the deformed vehicle, which may be 0, indicating that the deformed vehicle is stationary in place;
Figure GDA0002946733740000197
the actual advancing speed of the deformation vehicle; k is a radical ofpTo balance the controlled proportionality coefficient, kdFor balancing the differential coefficients of the control, mpProportional coefficient for motor control, mdIs the differential coefficient of the maneuvering control. Theta1For the sixth target angle, the rotation speed can be obtained by differentiating the sixth target angle.
Wherein f isPIDFor a function of PID (Proportional-Integral-Derivative) control using the sixth target angle, the function may be based on the sixth target angle and fPIDAs a function of the drive torque, τ, controlling the first hub1Is the drive torque. The first motor controls the first hub to rotate about the rotational axis in response to the driving torque.
It should be noted that, in order to keep the transformable vehicle stable during the switching process, the above balance control method is equivalent to controlling the tilt angle of the transformable vehicle to oscillate back and forth near the target tilt angle, and the first hub needs to be controlled to move in two opposite directions due to different tilt directions, so that during the switching process, the transformable vehicle vibrates slightly at the current position, and since the amplitude of the vibration is small, the user is not easy to perceive the vibration, the switching process can be regarded as the transformation performed in situ by the transformable vehicle.
(2) The process of controlling the bicycle to be switched from the bicycle straight running state to the bicycle turning state comprises the following steps:
in the switching process, a third vertical plane where the second hub is located and a second vertical plane where the body is located are kept parallel and unchanged, and in the process of controlling the first hub to rotate so that the angle between the first vertical plane and the second vertical plane reaches a fourth target angle, the first hub is controlled to move towards the target direction along the vertical plane where the first hub is located to keep balance.
In the terrestrial coordinate system, it can be seen that the orientation of the second hub is changed, but the relative position of the second hub and the body is not changed. During this switching, the position of the deforming vehicle is changed. The first motor can control the first hub to rotate, or the second motor controls the second hub to rotate, so that the body is driven to move, and the first hub is driven to rotate.
403. And controlling the deformed bicycle to be switched to the target state from the bicycle turning state.
Wherein, when the target state is the balance car state, controlling the transformable car to switch from the bicycle turning state to the target state again may include: and continuously controlling the first hub to rotate so that the angle between the first vertical plane and the second vertical plane reaches the first target angle. The first target angle is an angle between a first vertical plane where the first hub is located and a second vertical plane where the body is located in the state of the balance car. Wherein the first target angle is 90 degrees.
Wherein, when the target state is a bicycle straight-going state, controlling the transformable vehicle to switch from the bicycle turning state to the target state again may include: and controlling the first hub and the second hub to rotate so that the angle between the first vertical plane and the second vertical plane reaches a first target angle, and the angle between the third vertical plane and the second vertical plane reaches a second target angle. The first target angle is an angle between a first vertical plane where the first hub is located and a second vertical plane where the body is located in the bicycle straight-ahead state. The second target angle is an angle between a third vertical plane where the second hub is located and a second vertical plane where the body is located in the bicycle straight-ahead state. Wherein the first target angle and the second target angle are 0 degrees.
The process of controlling the transformable vehicle to switch from the bicycle turning state to the balance vehicle state is the reverse process of controlling the transformable vehicle to switch from the balance vehicle state to the bicycle turning state in step 401, and the control methods thereof are similar and are not described in detail herein. The process of controlling the transformable vehicle to switch from the bicycle turning state to the bicycle straight-going state is the reverse process of controlling the transformable vehicle to switch from the bicycle straight-going state to the bicycle turning state in step 401, and the control method is similar and is not repeated herein.
404. And in the switching process, the first hub is controlled to move towards a target direction along a vertical plane where the first hub is located, the target direction is a direction close to one end with a lower height in the third end and the fourth end, and the first hub is used for controlling the moving direction of the deformable vehicle.
The handover procedure of step 404 is similar to the handover procedure of step 402, and the method for controlling balance is also similar, which is not described in detail herein.
In the present embodiment, the present invention is described with reference to the case where the transformable vehicle is switched from the current state to the bicycle turning state and then from the bicycle turning state to the target state, but in another embodiment, the transformable vehicle may be directly switched from the current state to the target state, or the transformable vehicle may be switched from the other state to the target state.
In one possible implementation manner, the deformable vehicle controls the first hub and the second hub to rotate in response to the state switching condition being met, so that the deformable vehicle is switched from the current state to a target state, wherein the target state is a bicycle straight-ahead state or a balance vehicle state; and in the switching process, the first hub is controlled to move towards a target direction along a vertical plane where the first hub is located, the target direction is a direction close to one end with a lower height in the third end and the fourth end, and the first hub is a front wheel hub when the bicycle is in a bicycle state.
Optionally, in response to a state switching condition being met, controlling the first hub and the second hub to rotate so as to switch the transformable vehicle from the current state to the target state may include: in response to the condition that the state switching is met, determining a first target angle between a first vertical plane where the first hub is located and a second vertical plane where the body is located and a second target angle between a third vertical plane where the second hub is located and the second vertical plane in the target state, wherein the first target angle is equal to the second target angle; and controlling the first hub and the second hub to rotate so that the angle between the first vertical plane and the second vertical plane reaches the first target angle, and the angle between the third vertical plane and the second vertical plane reaches the second target angle.
According to the balance control method provided by the embodiment of the application, when the state condition is met, the first hub and the second hub can be automatically controlled to rotate based on the relative position relationship between the hub and the body in the balance vehicle and the relative position relationship between the hub and the body in the bicycle, so that the deformation vehicle is switched from the current state to the balance vehicle state or the bicycle straight-ahead state, the automatic deformation of the deformation vehicle is realized, the deformation vehicle is not required to be manually controlled by a user to deform, the deformation vehicle is not required to be manually controlled by the user to deform, and the convenience of the deformation vehicle is improved. In addition, the problem that the deformation vehicle is in a moving state in the deformation process and may incline is also considered, and when the body of the deformation vehicle inclines, the body applies an acting force opposite to the inclination direction to the hub, and the hub moves in the direction opposite to the inclination direction according to the acting force applied by the body, so that the deformation vehicle topples and fails in automatic deformation. In the balance control method provided by the embodiment of the application, the first hub is also controlled to move towards the target direction along the vertical plane where the first hub is located in the switching process, and the target direction is the direction close to the middle end with the lower height of the third end and the fourth end, so that the acting force applied to the hub by the body is offset, the deformed vehicle is kept vertical, and the success rate of automatic deformation of the deformed vehicle is never ensured.
In the embodiment of the application, when the deformable vehicle is switched from the current state to the target state, the deformable vehicle is switched to the bicycle turning state, and then is switched to the bicycle straight-going state from the turning state, wherein when the deformable vehicle is in the bicycle turning state, the running direction can be changed, so that in the switching process, the direction of the deformable vehicle can be changed, and the running direction of the deformable vehicle before and after deformation is not changed, and a user can still go forward along the original running direction.
In the embodiment of the application, when the deformable vehicle is switched from the balance vehicle state to the bicycle turning state or is switched from the bicycle turning state to the balance vehicle state, the position of the second hub is controlled to be unchanged, so that the balance can be controlled by the first hub in the switching process, and the difficulty of balance control is simplified; and moreover, the position of the deformation vehicle cannot be moved along with balance control in the deformation process, so that the deformation vehicle is kept in place in the switching process.
In the embodiment of the application, the fifth target angle of the first hub relative to the rotating shaft of the first hub can be determined according to the current inclination angle of the deformable vehicle, and the deformable vehicle can maintain a vertical state and cannot topple over by controlling the first hub to rotate the fifth target angle around the rotating shaft of the first hub and towards the target direction, so that the success rate of deformation success of the deformable vehicle is ensured as far as possible.
In the embodiment of the application, a sixth target angle and a rotation speed of the first hub relative to the rotation axis of the first hub are determined according to the current inclination angle and the target inclination angle of the deformable vehicle, the first hub is controlled to rotate the sixth target angle around the rotation axis of the first hub and in a target direction according to the rotation speed, the deformable vehicle can be adjusted to be in a vertical state more accurately by determining the target angle and the rotation speed, and the adjustment efficiency is improved.
In the embodiment of the application, a sixth target angle and a rotation speed of the first hub relative to a rotation shaft of the first hub are determined according to the current inclination angle, the current inclination angle speed, the target inclination angle and the current rotation angle of the first hub of the deformable vehicle, and the first hub is controlled to rotate the sixth target angle around the rotation shaft of the first hub and in the target direction according to the rotation speed, so that the rotation angle of the first hub can be adjusted in real time, and the adjustment result is more accurate.
Fig. 9 is a schematic structural diagram of a modification vehicle provided in an embodiment of the present application, and referring to fig. 9, the modification vehicle includes: the wheel hub comprises a body 901, a first wheel hub 902, a second wheel hub 903 and a controller 904, wherein the body 901 comprises a first end 9011, a second end 9012, a third end 9013 and a fourth end 9014, the first end 9011 is opposite to the second end 9012, and the third end 9013 is opposite to the fourth end 9014; the first hub 902 is disposed at the first end 9011, and the second hub 903 is disposed at the second end 9012; the controller 904 is electrically connected to the first hub 902 and the second hub 903, respectively.
The controller is used for controlling deformation of the deformation vehicle and balance of the deformation vehicle in the deformation process, and the controller is used for executing the following steps:
1001. the controller controls the first hub and the second hub to rotate in response to the state switching condition being met, so that the transformable vehicle is switched from the current state to a target state, wherein the target state is a bicycle straight-moving state or a balance vehicle state.
Step 1001 is similar to step 401 and step 403, respectively, except that step 1003 is completed through a controller, which may refer to step 401 and step 403, and is not described herein again.
In one possible implementation manner, the controller responds to the triggering operation of the state switching key to control the first hub and the second hub to rotate so as to enable the deformable vehicle to be switched from the current state to the target state; or,
the controller obtains environmental parameters of an environment where the deformable vehicle is located, and when the environmental parameters are matched with target environmental parameters corresponding to a target state, the first hub and the second hub are controlled to rotate so that the deformable vehicle is switched from a current state to the target state.
In one possible implementation, the first hub is provided with a first motor, and the first motor is electrically connected with the controller; the second hub is provided with a second motor which is electrically connected with the controller; the controller starts the first motor and controls the first hub to move by the first motor, or the controller stops the first motor and keeps the position of the first hub unchanged; the controller starts the second motor and controls the second hub to move by the second motor, or the controller stops the second motor and keeps the position of the second hub unchanged.
Wherein, after the first motor is closed, keeping the position of the first hub unchanged means that: the first motor is in a released state, and the first motor does not drive the first hub to rotate around the central point of the first hub, but the first hub can rotate according to the force in the external environment. Similarly, after the second motor is turned off, keeping the position of the second hub unchanged means: the second motor is in a released state, and the second motor does not drive the second hub to rotate around the center point of the second hub, but the first hub can rotate according to the force in the external environment.
The controller can control the first motor to be turned on or turned off or control the second motor to be turned on or turned off according to the current state of the deformable vehicle.
For example, when the transformable vehicle is switched from the balance vehicle state to the bicycle turning state, or when the transformable vehicle is switched from the bicycle turning state to the balance vehicle state, the first motor is turned on, and the second motor is turned off; when the bicycle is switched from the bicycle turning state to the bicycle straight-going state or when the bicycle is switched from the bicycle straight-going state to the bicycle turning state, the second motor is started, and the first motor is closed.
In one possible implementation manner, in response to a condition that the state switching is satisfied, the controller determines a first target angle between a first vertical plane in which the first hub is located and a second vertical plane in which the body is located in a target state, and a second target angle between a third vertical plane in which the second hub is located and the second vertical plane, where the first target angle is equal to the second target angle; the controller controls the first hub and the second hub to rotate, so that the angle between the first vertical plane and the second vertical plane reaches a first target angle, and the angle between the third vertical plane and the second vertical plane reaches a second target angle.
When the target state is a balance car state, the first target angle and the second target angle are 100 degrees; when the target state is the bicycle straight-ahead state, the first target angle and the second target angle are 0 degrees. In addition, the target state may be another state, and the first target angle and the second target angle may also be another angle, which is not limited in this embodiment of the present application.
In one possible implementation manner, the controller controls the first hub and the second hub to rotate in response to the state switching condition being satisfied, so that the transformable vehicle is switched from the current state to the bicycle turning state and then switched from the bicycle turning state to the target state.
Optionally, the controller controls the position of the second hub to be unchanged during the switching from the bicycle turning state to the balance vehicle state or from the balance vehicle state to the bicycle turning state.
The current state of the transformable vehicle can be a balance vehicle state, a bicycle straight-going state or a bicycle turning state, and the embodiment of the application takes the current state as the balance vehicle state and the bicycle straight-going state as examples.
The following describes the process of controlling the transformable vehicle to switch from the balance vehicle state to the bicycle straight-going state in steps 1 to 3:
1. the controller determines a third target angle of the first vertical plane and the second vertical plane and a second target angle of the third vertical plane and the second vertical plane in a turning state of the bicycle.
2. The controller controls the first hub and the second hub to rotate, so that the angle between the first vertical plane and the second vertical plane reaches a third target angle, and the angle between the third vertical plane and the second vertical plane reaches a second target angle.
3. The controller continues to control the first hub to rotate so that the angle between the first vertical plane and the second vertical plane reaches a first target angle.
The first target angle and the second target angle are 0 degrees, and the third target angle is any angle which is larger than 0 degrees and smaller than 90 degrees.
Step 401 and step 403 may be referred to in step 1 to step 3, which are not described in detail herein.
The following describes the process of controlling the transformable vehicle to switch from the bicycle straight-going state to the balance vehicle state in steps 4-6:
4. the controller is further used for determining a fourth target angle of the first vertical plane and the second vertical plane under the turning state of the bicycle;
5. the controller is further used for controlling the first hub to rotate so that the angle between the first vertical plane and the second vertical plane reaches a fourth target angle;
6. and the controller is also used for controlling the first hub and the second hub to rotate, so that the angle between the first vertical plane and the second vertical plane reaches a first target angle, and the angle between the third vertical plane and the second vertical plane reaches a second target angle.
The first target angle and the second target angle are 90 degrees, and the fourth target angle is any angle which is larger than 0 degree and smaller than 90 degrees.
As shown in fig. 11, the controller may include an overall controller 1101, a first motor 1102, and a second motor 1103. The master controller 1101 is configured to determine a first target angle, a second target angle, a third target angle, and a fourth target angle, and the first motor 1102 controls the first hub to rotate according to any one of the first target angle, the third target angle, and the fourth target angle. The second motor 1103 controls the second hub to rotate according to the second target angle. Encoders are further arranged on the first motor 1102 and the second motor 1103, the encoder 1104 on the first motor 1102 is used for measuring the included angle between the first vertical plane and the second vertical plane, and the encoder 1105 on the second motor 1103 is used for measuring the included angle between the third vertical plane and the second vertical plane.
In addition, for the two switching processes, the controller may further determine a first rotation speed of the first hub according to an angle difference between a current angle of the first vertical plane and the second vertical plane and the first target angle, and control the first hub to rotate according to the first rotation speed; and meanwhile, determining a second rotation speed of the second hub according to the angle difference between the current angle and the second angle of the second hub, and controlling the second hub to rotate according to the second rotation speed, wherein the rotation speed and the corresponding angle difference are in positive correlation.
1002. In the switching process, the controller controls the first hub to move towards a target direction along a vertical plane where the first hub is located, the target direction is a direction close to one end with a lower height in the third end and the fourth end, and the first hub is used for controlling the moving direction of the deformable vehicle.
In one possible implementation, the controller obtains a current inclination angle of the body with respect to a vertical direction; and according to the current inclination angle, determining a fifth target angle of the first hub relative to the rotating shaft of the first hub, and controlling the first hub to rotate around the rotating shaft and towards the target direction by the fifth target angle so as to enable the first hub to move towards the target direction along a vertical plane where the first hub is located.
In one possible implementation, the controller obtains a current inclination angle, a current inclination angular velocity, and a target inclination angle of the body with respect to a vertical direction; a controller further configured to determine a sixth target angle and a rotational speed of the first hub relative to the rotational axis of the first hub according to the current tilt angle, the current tilt angular velocity, and the target tilt angle; and the controller is also used for controlling the first hub to rotate around the rotating shaft by a sixth target angle towards the target direction according to the rotating speed so as to enable the first hub to move towards the target direction along a vertical plane where the first hub is located.
In one possible implementation, the relationship of the current tilt angle, the current tilt angle speed, the target tilt angle speed, the sixth target angle, and the rotation speed is as follows:
Figure GDA0002946733740000261
τ1＝fPID(θ1)
wherein, thetadIs a target tilt angle, thetarAs the current tilt angle, the tilt angle is,
Figure GDA0002946733740000262
the target inclination angle speed is set, wherein the target inclination angle speed is 0, and the deformed vehicle is indicated to be static;
Figure GDA0002946733740000263
to be the current pitch angular velocity of the transformable vehicle,
Figure GDA0002946733740000264
the target displacement is the target displacement of the deformed vehicle, and the target displacement can be 0, indicating that the deformed vehicle is not moved in place;
Figure GDA0002946733740000265
in order to deform the actual displacement of the vehicle,
Figure GDA0002946733740000266
a target forward speed of the deformed vehicle, which may be 0, indicating that the deformed vehicle is stationary in place;
Figure GDA0002946733740000267
the actual advancing speed of the deformation vehicle; k is a radical ofpTo balance the controlled proportionality coefficient, kdFor balancing the differential coefficients of the control, mpProportional coefficient for motor control, mdIs the differential coefficient of the maneuvering control. Theta1For the sixth target angle, the rotation speed can be obtained by differentiating the sixth target angle.
Optionally, the controller consists essentially of a balance control loop and a motorized loop. Wherein the balance control ring controls an angle of rotation of the first hub about a rotation axis of the first hub according to a difference between a current inclination angle and a target inclination angle of the body. And the maneuvering ring is used for controlling the rotation angle of the first hub around the rotation axis of the first hub in real time according to the Cartesian motion of the deformation vehicle. Therefore, the Cartesian motion state of the deformed bicycle is corrected, for example, a certain correction is made on the determined angle of the balance control ring, so that the deformed bicycle is kept in the original position.
Wherein f isPIDFor the function of PID control using the sixth target angle, the sixth target angle and f can be usedPIDAs a function of the drive torque, τ, controlling the first hub1Is the drive torque.
In one possible implementation, as shown in fig. 11 and 12, the controller further includes a third motor 1106 and a fourth motor 1107, wherein the third motor 1106 is used to control the movement of the first hub and the fourth motor 1107 is used to control the movement of the second hub. Wherein, the third motor 1106 and the fourth motor 1107 are respectively provided with an encoder, which may be an angle sensor, for acquiring the rotation angle of the first hub and the second hub.
As can be seen from fig. 12, the first motor 1102 and the second motor 1103 control the steering process of the first hub and the second hub independently from the control process of the third motor 1106 and the fourth motor 1107 for controlling the movement of the first hub and the second hub. Wherein the controller includes a balance control loop 1201 and a maneuver loop 1202. Wherein balance control loop 1201 is used to control the balance of the transformable vehicle and maneuvering loop 1202 is used to control the movement of the transformable vehicle.
The balance control loop 1201 can acquire an inclination angle theta of the deformed vehicle body sent by the inertial unit sensor, and differentiates the inclination angle theta to obtain an inclination angle speed; the balancing control loop 1201 may also obtain the tilt angular velocity sent by the inertial unit sensor
Figure GDA0002946733740000271
In addition, the balance control ring 1201 can also acquire the rotation angle θ of the first hub1And determining the displacement of the deformation vehicle according to the rotation angle. In addition, the rotation angle is differentiated to obtain the moving speed of the deformed vehicle, and Kp can be obtained1As a coefficient corresponding to the inclination angle θ, Kd is expressed1Kd is expressed as a coefficient corresponding to the calculated tilt angular velocity2As a coefficient corresponding to the received tilt angular velocity, mp is calculated1As a coefficient corresponding to the displacement, md1As the coefficient corresponding to the moving speed, the angle of the first hub rotation at the next time is obtained by calculation according to the corresponding coefficient, and the angle is sent to the driving circuit 1203, and the driving circuit 1203 drives the first motor 1102 to operate, so that the first motor 1102 controls the first hub to rotate around the rotation axis by the angle.
In addition, when the deformable vehicle is in a switching state, the state judgment is carried out, the next state of the deformable vehicle is determined, according to the switched next state, a first target angle between a vertical plane where the first hub is located and a vertical plane where the body is located and a second target angle between a vertical plane where the second hub is located and a vertical plane where the body is located are determined, and according to the current angle, the angle alpha, required to rotate, of the first hub is determined1And the angle alpha of rotation of the second hub2According to the alpha1Third electric machine1106, the deformable vehicle drives the third motor through the driving circuit, the first hub is controlled to rotate through the third motor, the deformable vehicle determines the current angle between the vertical plane of the first hub and the vertical plane of the body when rotating once, and the current angle is determined according to alpha1And determining the angle of the next rotation until the angle between the vertical plane where the first hub is located and the vertical plane where the body is located is a first target angle. The manner of controlling the second hub by the fourth motor is similar to the manner of controlling the first hub by the third motor, and is not repeated here.
According to the balance control method provided by the embodiment of the application, when the state condition is met, the first hub and the second hub can be automatically controlled to rotate based on the relative position relationship between the hub and the body in the balance vehicle and the relative position relationship between the hub and the body in the bicycle, so that the deformation vehicle is switched from the current state to the balance vehicle state or the bicycle straight-ahead state, the automatic deformation of the deformation vehicle is realized, the deformation vehicle is not required to be manually controlled by a user to deform, the deformation vehicle is not required to be manually controlled by the user to deform, and the convenience of the deformation vehicle is improved. In addition, the problem that the deformation vehicle is in a moving state in the deformation process and may incline is also considered, and when the body of the deformation vehicle inclines, the body applies an acting force opposite to the inclination direction to the hub, and the hub moves in the direction opposite to the inclination direction according to the acting force applied by the body, so that the deformation vehicle topples and fails in automatic deformation. In the balance control method provided by the embodiment of the application, the first hub is also controlled to move towards the target direction along the vertical plane where the first hub is located in the switching process, and the target direction is the direction close to the middle end with the lower height of the third end and the fourth end, so that the acting force applied to the hub by the body is offset, the deformed vehicle is kept vertical, and the success rate of automatic deformation of the deformed vehicle is never ensured.
In the embodiment of the application, when the deformable vehicle is switched from the current state to the target state, the deformable vehicle is switched to the bicycle turning state, and then is switched to the bicycle straight-going state from the turning state, wherein when the deformable vehicle is in the bicycle turning state, the running direction can be changed, so that in the switching process, the direction of the deformable vehicle can be changed, and the running direction of the deformable vehicle before and after deformation is not changed, and a user can still go forward along the original running direction.
In the embodiment of the application, when the deformable vehicle is switched from the balance vehicle state to the bicycle turning state or is switched from the bicycle turning state to the balance vehicle state, the position of the second hub is controlled to be unchanged, so that the balance can be controlled by the first hub in the switching process, and the difficulty of balance control is simplified; and moreover, the position of the deformation vehicle cannot be moved along with balance control in the deformation process, so that the deformation vehicle is kept in place in the switching process.
It should be noted that, in the embodiment of the present application, the transformable vehicle is described only by taking an example that the transformable vehicle can be switched from the bicycle state to the balance vehicle state, or from the balance vehicle state to the bicycle state, while in another embodiment, the transformable vehicle can be switched from the motorcycle state to the balance vehicle state, or from the balance vehicle state to the motorcycle state, where a process of switching the transformable vehicle from the motorcycle state to the balance vehicle state is similar to a process of switching the transformable vehicle from the bicycle state to the balance vehicle state, and a process of switching the transformable vehicle from the balance vehicle state to the motorcycle state is similar to a process of switching the transformable vehicle from the balance vehicle state to the bicycle state, which is not described herein again one by one, and in addition, the embodiment of the present application does not limit the state of the transformable vehicle.
Further, the modified vehicle may be a four-wheel motorcycle, and as shown in fig. 13, the modified vehicle 1300 may include a first hub 1301 and a second hub 1302. Wherein the first hub 1301 comprises two parallel hubs and the second hub 1302 comprises two parallel hubs. The convertible vehicle 1300 may be switched from the motorcycle state to the balance vehicle state, or may be switched from the balance vehicle state to the motorcycle state.
As shown in fig. 14, the convertible vehicle 1401 is in a motorcycle state, and according to the method provided by the above embodiment, the first hub and the second hub are controlled to rotate, so that the convertible vehicle is switched from the motorcycle state to a balance vehicle state, and as shown in fig. 15, the convertible vehicle 1401 is in the balance vehicle state. Optionally, when the first hub is controlled to rotate, the two hubs included in the first hub are always kept parallel, and when the second hub is controlled to rotate, the two hubs included in the second hub are always kept parallel. In addition, the first hub of the deformable vehicle can comprise two hubs, three hubs, four hubs and the like, the second hub can also comprise two hubs, three hubs, four hubs and the like, and the number of the hubs of the first hub and the second hub is not limited in the application embodiment.
In addition, it should be noted that the above embodiment is only exemplified by taking the modified vehicle as an example, and the solution of the modified vehicle can be applied to any wheel type moving apparatus. For example, in another embodiment, the wheeled mobile device may also be a wheeled robot, as shown in fig. 16, the wheeled robot 1601 may be an express delivery robot or a meal delivery robot, which is not limited in this embodiment of the present application.
The wheeled robot 1601 includes a body 1611, a controller 1621, a first hub 1631, and a second hub 1641. The wheeled robot may include a first state in which the wheeled robot 1601 shown in fig. 16 is in the first state and a second state in which the wheeled robot 1601 shown in fig. 17 is in the second state, in which only the first hub 1631 of the wheeled robot 1601 is shown in fig. 17, and the second hub is behind the first hub 1631 and is hidden by the first hub 1631, which is not shown in fig. 17.
Alternatively, when the wheeled robot travels, if there are a plurality of obstacles in front of the traveling direction, the distance between the obstacles is greater than the width of the wheel hub, and the height of the body of the wheeled robot is greater than the height of the obstacles, the wheeled robot may switch from the first state to the second state, and pass through between the obstacles. The process of switching the wheeled robot from the first state to the second state is similar to the process of switching the deformable vehicle from the balance vehicle state to the bicycle state, and is not described in detail herein.
Fig. 18 is a block diagram of a wheeled mobile device according to an embodiment of the present disclosure. The wheeled mobile device 1800 is used to perform the steps performed by the wheeled mobile device in the embodiments described above.
Generally, wheeled mobile device 1800 includes: a processor 1801 and a memory 1802.
The processor 1801 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 1801 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 1801 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 1801 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing content required to be displayed on the display screen. In some embodiments, the processor 1801 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.
Memory 1802 may include one or more computer-readable storage media, which may be non-transitory. Memory 1802 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 1802 is used to store at least one instruction for execution by the processor 1801 to implement the communication connection establishment methods provided by the method embodiments herein.
In some embodiments, the wheeled mobile device 1800 may also optionally include: a peripheral interface 1803 and at least one peripheral. The processor 1801, memory 1802, and peripheral interface 1803 may be connected by a bus or signal line. Each peripheral device may be connected to the peripheral device interface 1803 by a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1804, display 1805, camera assembly 1806, audio circuitry 1807, positioning assembly 1808, and power supply 1809.
The peripheral interface 1803 may be used to connect at least one peripheral associated with I/O (Input/Output) to the processor 1801 and the memory 1802. In some embodiments, the processor 1801, memory 1802, and peripheral interface 1803 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1801, the memory 1802, and the peripheral device interface 1803 may be implemented on separate chips or circuit boards, which are not limited in this application.
The Radio Frequency circuit 1804 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 1804 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 1804 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuitry 1804 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 1804 may communicate with other wheeled mobile devices via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 1804 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 1805 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 1805 is a touch display screen, the display screen 1805 also has the ability to capture touch signals on or over the surface of the display screen 1805. The touch signal may be input to the processor 1801 as a control signal for processing. At this point, the display 1805 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 1805 may be one, providing a front panel of the wheeled mobile device 1800; in other embodiments, the display screens 1805 may be at least two, respectively disposed on different surfaces of the wheeled mobile device 1800 or in a folded design; in still other embodiments, the display 1805 may be a flexible display disposed on a curved surface or on a folded surface of the wheeled mobile device 1800. Even more, the display 1805 may be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display 1805 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or the like.
The camera assembly 1806 is used to capture images or video. Optionally, the camera assembly 1806 includes a front camera and a rear camera. Generally, a front camera is disposed on a front panel of a wheeled mobile device, and a rear camera is disposed on a rear surface of the wheeled mobile device. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 1806 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.
The audio circuitry 1807 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 1801 for processing or inputting the electric signals to the radio frequency circuit 1804 to achieve voice communication. The microphones may be multiple and placed at different locations on the wheeled mobile device 1800 for stereo capture or noise reduction purposes. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 1801 or the radio frequency circuitry 1804 to sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuitry 1807 may also include a headphone jack.
The Location component 1808 is used to locate the current geographic Location of the wheeled mobile device 1800 for navigation or LBS (Location Based Service). The Positioning component 1808 may be a Positioning component based on a GPS (Global Positioning System) in the united states, a beidou System in china, or a greiner System in russia, or a galileo System in the european union.
The power supply 1809 is used to power the various components of the wheeled mobile device 1800. The power supply 1809 may be ac, dc, disposable or rechargeable. When the power supply 1809 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
In some embodiments, the wheeled mobile device 1800 also includes one or more sensors 1810. The one or more sensors 1810 include, but are not limited to: acceleration sensor 1811, gyro sensor 1812, pressure sensor 1818, fingerprint sensor 1814, optical sensor 1815, and proximity sensor 1816.
The acceleration sensor 1811 may detect the magnitude of acceleration in three coordinate axes of a coordinate system established with the wheel moving apparatus 1800. For example, the acceleration sensor 1811 may be used to detect components of gravitational acceleration in three coordinate axes. The processor 1801 may control the display 1805 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 1811. The acceleration sensor 1811 may also be used for acquisition of motion data of a game or a user.
The gyro sensor 1812 may detect a body direction and a rotation angle of the wheeled mobile device 1800, and the gyro sensor 1812 may cooperate with the acceleration sensor 1811 to acquire a 3D motion of the user on the wheeled mobile device 1800. The processor 1801 may implement the following functions according to the data collected by the gyro sensor 1812: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.
The pressure sensors 1818 may be located on the side rims of the wheeled mobile device 1800 and/or on the lower layers of the display 1805. When the pressure sensor 1818 is disposed on a side frame of the wheeled mobile device 1800, a user's holding signal of the wheeled mobile device 1800 can be detected, and the processor 1801 performs left-right hand recognition or quick operation according to the holding signal collected by the pressure sensor 1818. When the pressure sensor 1818 is disposed at the lower layer of the display screen 1805, the processor 1801 controls the operability control on the UI interface according to the pressure operation of the user on the display screen 1805. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.
The fingerprint sensor 1814 is used to collect the fingerprint of the user, and the processor 1801 identifies the user according to the fingerprint collected by the fingerprint sensor 1814, or the fingerprint sensor 1814 identifies the user according to the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, the processor 1801 authorizes the user to perform relevant sensitive operations, including unlocking a screen, viewing encrypted information, downloading software, paying, and changing settings, etc. The fingerprint sensor 1814 may be provided on the front, back, or side of the wheeled mobile device 1800. When a physical key or a manufacturer Logo is provided on the wheeled mobile device 1800, the fingerprint sensor 1814 may be integrated with the physical key or the manufacturer Logo.
The optical sensor 1815 is used to collect the ambient light intensity. In one embodiment, the processor 1801 may control the display brightness of the display screen 1805 based on the ambient light intensity collected by the optical sensor 1815. Specifically, when the ambient light intensity is high, the display brightness of the display screen 1805 is increased; when the ambient light intensity is low, the display brightness of the display 1805 is reduced. In another embodiment, the processor 1801 may also dynamically adjust the shooting parameters of the camera assembly 1806 according to the intensity of the ambient light collected by the optical sensor 1815.
A proximity sensor 1816, also known as a distance sensor, is typically provided on the front panel of the wheeled mobile device 1800. The proximity sensor 1816 is used to gather the distance between the user and the front of the wheeled mobile device 1800. In one embodiment, the processor 1801 controls the display 1805 to switch from a bright screen state to a dark screen state when the proximity sensor 1816 detects that the distance between the user and the front of the wheeled mobile device 1800 is gradually decreased; when the proximity sensor 1816 detects that the distance between the user and the front surface of the wheeled mobile device 1800 gradually becomes larger, the processor 1801 controls the display 1805 to switch from the breath screen state to the bright screen state.
Those skilled in the art will appreciate that the configuration shown in fig. 18 is not intended to be limiting of the wheeled mobile device 1800 and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components may be used.
The embodiment of the present application further provides a computer device, where the computer device includes a processor and a memory, where the memory stores at least one instruction, and the instruction is loaded by the processor and executes the operations performed in the balance control method of the foregoing embodiment.
The embodiment of the present application further provides a computer-readable storage medium, where at least one instruction is stored in the computer-readable storage medium, and the instruction is loaded and executed by a processor to implement the operations performed in the balance control method of the foregoing embodiment.
The embodiment of the present application further provides a computer program, where at least one instruction is stored in the computer program, and the at least one instruction is loaded and executed by a processor to implement the operations performed in the balance control method of the foregoing embodiment.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (20)

1. A wheeled mobile device comprising a body, a first hub, a second hub, and a controller, the body comprising a first end, a second end, a third end, and a fourth end, the first end opposing the second end, the third end opposing the fourth end;
the first hub is disposed at the first end and the second hub is disposed at the second end; the controller is electrically connected with the first hub and the second hub respectively;
the controller is used for controlling the first hub and the second hub to rotate in response to a condition for switching states being met, so that the wheeled mobile equipment is switched from a current state to a target state, and the relative position relationship among the first hub, the second hub and the body in the target state is different from the relative position relationship among the first hub, the second hub and the body in the current state;
the controller is further configured to control the first hub to move towards a target direction along a vertical plane where the first hub is located in a switching process, where the target direction is a direction close to a lower end of the third end and the fourth end, and the first hub is a hub for controlling a moving direction of the wheeled mobile device.
2. The wheeled mobile of claim 1 wherein the target state is a bicycle straight-ahead state or a balance car state, an intermediate state between the current state and the target state being a bicycle turn state;
the controller is further configured to control the first hub and the second hub to rotate in response to the state switching condition being met, so that the wheeled mobile device is switched from the current state to the bicycle turning state and then from the bicycle turning state to the target state.
3. The wheeled mobility apparatus of claim 2,
the controller is further configured to control the position of the second hub to be unchanged when the bicycle is switched from the bicycle turning state to the balance vehicle state or when the bicycle is switched from the balance vehicle state to the bicycle turning state.
4. The wheeled mobility apparatus of claim 1,
the first hub is provided with a first motor, and the first motor is electrically connected with the controller;
the second hub is provided with a second motor which is electrically connected with the controller;
the controller is used for starting the first motor and controlling the first hub to move by the first motor;
the controller is used for starting the second motor, and the second motor controls the second hub to move.
5. The wheeled mobility apparatus of claim 1,
the controller is further configured to determine, in response to the state switching condition being satisfied, a first target angle between a first vertical plane in which the first hub is located and a second vertical plane in which the body is located in the target state, and a second target angle between a third vertical plane in which the second hub is located and the second vertical plane, where the first target angle is equal to the second target angle;
the controller is further configured to control the first hub and the second hub to rotate, so that an angle between the first vertical plane and the second vertical plane reaches the first target angle, and an angle between the third vertical plane and the second vertical plane reaches the second target angle.
6. The wheeled mobile of claim 5 wherein the current state is a balance car state and the target state is a bicycle straight-ahead state;
the controller is further configured to determine a third target angle of the first vertical plane and the second target angle of the third vertical plane and the second vertical plane in a turning state of the bicycle;
the controller is further configured to control the first hub and the second hub to rotate, so that an angle between the first vertical plane and the second vertical plane reaches the third target angle, and an angle between the third vertical plane and the second vertical plane reaches the second target angle;
the controller is further configured to continue to control the first hub to rotate, so that the angle between the first vertical plane and the second vertical plane reaches the first target angle.
7. The wheeled mobile device of claim 6 wherein the first target angle and the second target angle are 0 degrees and the third target angle is any angle greater than 0 degrees and less than 90 degrees.
8. The wheeled mobile of claim 5 wherein the current state is a bicycle straight-ahead state and the target state is a balance car state;
the controller is further configured to determine a fourth target angle of the first vertical plane and the second vertical plane in a bicycle turning state;
the controller is further configured to control the first hub to rotate so that an angle between the first vertical plane and the second vertical plane reaches the fourth target angle;
the controller is further configured to control the first hub and the second hub to rotate, so that an angle between the first vertical plane and the second vertical plane reaches the first target angle, and an angle between the third vertical plane and the second vertical plane reaches the second target angle.
9. The wheeled mobile device of claim 8 wherein the first target angle and the second target angle are 90 degrees and the fourth target angle is any angle greater than 0 degrees and less than 90 degrees.
10. The wheeled mobility apparatus of claim 1,
the controller is further configured to control the first hub and the second hub to rotate in response to a trigger operation on a state switching key, so that the wheeled mobile device is switched from the current state to the target state; or,
the controller is further configured to acquire an environmental parameter of an environment where the wheeled mobile device is located, and control the first hub and the second hub to rotate when the environmental parameter is matched with a target environmental parameter corresponding to the target state, so that the wheeled mobile device is switched from the current state to the target state.
11. The wheeled mobility apparatus of claim 5,
the controller is further configured to determine a first rotation speed of the first hub according to an angle difference between a current angle of the first vertical plane and the second vertical plane and the first target angle, and control the first hub to rotate according to the first rotation speed;
the controller is further configured to determine a second rotation speed of the second hub according to an angle difference between the current angle of the second hub and the second target angle, and control the second hub to rotate according to the second rotation speed, where the rotation speed and the corresponding angle difference have a positive correlation.
12. The wheeled mobility apparatus of claim 1,
the controller is used for acquiring the current inclination angle of the body relative to the vertical direction;
the controller is further configured to determine a fifth target angle of the first hub relative to a rotation axis of the first hub according to the current tilt angle, and control the first hub to rotate around the rotation axis and toward the target direction by the fifth target angle, so that the first hub moves toward the target direction along a vertical plane where the first hub is located.
13. The wheeled mobility apparatus of claim 1,
the controller is used for acquiring a current inclination angle, a current inclination angle speed, a target inclination angle and a current rotating angle of the first hub of the body relative to the vertical direction;
the controller is further configured to determine a sixth target angle and a rotation speed of the first hub relative to a rotation axis of the first hub according to the current tilt angle, the current tilt angular velocity, the target tilt angle, and a currently rotated angle of the first hub;
the controller is further configured to control the first hub to rotate around the rotation axis by the sixth target angle toward the target direction according to the rotation speed, so that the first hub moves toward the target direction along a vertical plane where the first hub is located.
14. A balance control method is applied to wheel type mobile equipment, the wheel type mobile equipment comprises a body, a first wheel hub and a second wheel hub, the body comprises a first end, a second end, a third end and a fourth end, the first end is opposite to the second end, the third end is opposite to the fourth end, the first wheel hub is arranged at the first end, and the second wheel hub is arranged at the second end; the method comprises the following steps:
in response to a state switching condition being met, controlling the first hub and the second hub to rotate so as to switch the wheeled mobile equipment from a current state to a target state, wherein the relative position relationship among the first hub, the second hub and the body in the target state is different from the relative position relationship among the first hub, the second hub and the body in the current state;
in the switching process, the first hub is controlled to move towards a target direction along a vertical plane where the first hub is located, the target direction is a direction close to the third end and the end with the lower height in the fourth end, and the first hub is a hub used for controlling the moving direction of the wheeled mobile equipment in the wheeled mobile equipment.
15. The method of claim 14, wherein the target state is a bicycle straight state or a balance car state, and an intermediate state between the current state and the target state is a bicycle turning state;
the controlling the first hub and the second hub to rotate in response to the condition of state switching being met, so that the wheeled mobile equipment is switched from a current state to a target state, includes:
and controlling the first hub and the second hub to rotate in response to the condition for switching the state being met, so that the wheeled mobile equipment is switched from the current state to the bicycle turning state and then from the bicycle turning state to the target state.
16. The method of claim 15, wherein the first hub is a front wheel hub of the wheeled mobile device in the bicycle state, the method further comprising:
and controlling the position of the second hub to be unchanged in the process of switching from the bicycle turning state to the balance vehicle state or switching from the balance vehicle state to the bicycle turning state.
17. The method of claim 14, wherein the controlling the first hub and the second hub to rotate to cause the wheeled mobile device to switch from a current state to a target state in response to a state switch condition being satisfied comprises:
in response to the condition that the state switching is met, determining a first target angle between a first vertical plane where the first hub is located and a second vertical plane where the body is located and a second target angle between a third vertical plane where the second hub is located and the second vertical plane in the target state, wherein the first target angle is equal to the second target angle;
controlling the first hub and the second hub to rotate so that the angle between the first vertical plane and the second vertical plane reaches the first target angle, and the angle between the third vertical plane and the second vertical plane reaches the second target angle.
18. The method of claim 17, wherein the current state is a balance car state and the target state is a bicycle straight-ahead state; the controlling the first hub and the second hub to rotate in response to the condition of state switching being met, so that the wheeled mobile equipment is switched from a current state to a target state, includes:
determining a third target angle of the first vertical plane and the second vertical plane and a second target angle of the third vertical plane and the second vertical plane in a turning state of the bicycle;
controlling the first hub and the second hub to rotate so that the angle between the first vertical plane and the second vertical plane reaches the third target angle and the angle between the third vertical plane and the second vertical plane reaches the second target angle;
and continuously controlling the first hub to rotate so that the angle between the first vertical plane and the second vertical plane reaches the first target angle.
19. The method of claim 17, wherein the current state is a bicycle straight-ahead state and the target state is a balance car state; the controlling the first hub and the second hub to rotate in response to the condition of state switching being met, so that the wheeled mobile equipment is switched from a current state to a target state, includes:
determining a fourth target angle of the first vertical plane and the second vertical plane in a turning state of the bicycle;
controlling the first hub to rotate so that the angle between the first vertical plane and the second vertical plane reaches the fourth target angle;
controlling the first hub and the second hub to rotate so that the angle between the first vertical plane and the second vertical plane reaches the first target angle, and the angle between the third vertical plane and the second vertical plane reaches the second target angle.
20. A computer-readable storage medium having stored therein at least one instruction, which is loaded and executed by a processor to perform operations performed in the balance control method of any one of claims 14 to 19.
CN202010119714.XA 2020-02-26 2020-02-26 Wheeled mobile device, balance control method, and storage medium Active CN111284623B (en)

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CN115991211B (en) * 2023-02-22 2024-08-06 山东建筑大学 Balance control method, device and system for momentum wheel type unmanned bicycle

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