CN111443698A - Posture self-adjusting mobile balancing device and method, electronic terminal and storage medium - Google Patents
Posture self-adjusting mobile balancing device and method, electronic terminal and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The invention provides a movement balancing device and method for posture self-adjustment, an electronic terminal and a storage medium. The method comprises the steps that a detection unit is used for collecting attitude data and/or road condition data of the device, and a control unit is used for judging whether the device is in an acceleration/deceleration state or whether a barrier exists on a road surface in the moving process; if the judgment is yes, the detection visual angle of the navigation detection device is guaranteed to be always parallel to the ground in a mode of controlling the angle adjusting unit, so that the technical problem that the unbalance of the intelligent vehicle can influence the function realization of the vehicle-mounted device is effectively solved, and the functional stability of the vehicle-mounted device is greatly improved.
Description
Technical Field
The present invention relates to the field of balance control technologies, and in particular, to a mobile balance device and method for posture self-adjustment, an electronic terminal, and a storage medium.
Background
Nowadays, new types of smart vehicles are increasing, such as balance cars, AGVs, unmanned vehicles, three-wheel/four-wheel smart electric vehicles, and the like.
However, the existing novel intelligent vehicle is generally only used for walking or simple transportation, and the functions are limited, so that the application of the intelligent vehicle cannot be expanded to other fields except for leisure and entertainment, more functions need to be developed on the basis of the intelligent vehicle, and the problem of imbalance caused by the functions is solved.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a mobile balancing apparatus, a mobile balancing method, an electronic terminal and a storage medium for self-adjusting posture, which are used to solve the technical problem in the prior art that the vehicle body imbalance of an intelligent vehicle affects the function implementation of the vehicle-mounted device.
To achieve the above and other related objects, a first aspect of the present invention provides a posture self-adjusting moving balancing apparatus, including a navigation detecting module, where a detecting angle of view of the navigation detecting module forms an initial angle with a road surface on which the apparatus is currently driving when the apparatus is in a stable posture; the device comprises: the detection unit is used for acquiring attitude data and/or road condition data of the device; a control unit communicatively connected to the detection unit to receive the device attitude data and/or road condition data; the angle adjusting unit is electrically connected with and controlled by the control unit; the angle adjusting unit is arranged on the device body and loads the navigation detection module so as to drive the navigation detection module to move relative to the device body; the control unit judges whether the device is in an acceleration/deceleration state or whether an obstacle exists on a road surface in the moving process according to the device posture data and/or the road condition data; if so, a control instruction for controlling an angle adjusting unit of the device to rotate according to a preset angle is sent outwards, so that the detection visual angle of the navigation detection module is adjusted back to the initial angle.
In some embodiments of the first aspect of the present invention, the detection unit comprises: an attitude sensor for acquiring the device attitude data; and/or the obstacle sensor is used for acquiring the road condition data.
In some embodiments of the first aspect of the present invention, the obstacle sensor comprises a lidar detector and/or an image capture device.
In some embodiments of the first aspect of the present invention, the angle adjusting unit includes: the angle adjusting actuating mechanism driver is electrically connected with and controlled by the control unit; the angle adjusting actuating mechanism is electrically connected with and driven by the angle adjusting actuating mechanism driver; the angle adjustment actuating mechanism driver receives the control instruction from the control unit and sends a corresponding driving instruction to the angle adjustment actuating mechanism according to the control instruction so as to control the angle adjustment actuating mechanism to drive the navigation detection module to rotate by a preset angle.
In some embodiments of the first aspect of the present invention, the predetermined angle is calculated by the control unit in a manner that includes: acquiring angle change data of the device after deviating from a stable posture; and calculating and obtaining the angle of the angle adjusting actuating mechanism rotating towards the direction of offsetting the angle change according to the angle change data.
In some embodiments of the first aspect of the present invention, the type of the angle adjustment unit comprises a pan-tilt structure; the angle adjusting actuating mechanism comprises a cradle head steering engine; the angle adjustment actuating mechanism driver comprises a holder steering engine driver.
In some embodiments of the first aspect of the present invention, the navigation detection module comprises a lidar detector; the detection view angle of the laser radar detector is in the propagation direction of the laser beam.
To achieve the above and other related objects, a second aspect of the present invention provides an attitude self-adjusting method for a mobile balancing apparatus; the mobile balancing device comprises an angle adjusting unit; the angle adjusting unit is provided with a navigation detection module and can drive the navigation detection module to move relative to the device body; the method comprises the following steps: receiving device attitude data and/or road condition data; judging whether the device is in an acceleration/deceleration state or whether a road surface has an obstacle in the moving process according to the posture data and/or road condition data of the device; if the navigation detection module is judged to be the initial angle, a control instruction for controlling the angle adjusting unit to rotate according to a preset angle is sent outwards so as to adjust the detection visual angle of the navigation detection module to the initial angle; the initial angle refers to a detection visual angle of the navigation detection module when the device is in a stable state.
To achieve the above and other related objects, a third aspect of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the posture self-adjusting method.
To achieve the above and other related objects, a fourth aspect of the present invention provides an electronic terminal comprising: a processor and a memory; the memory is used for storing a computer program, and the processor is used for executing the computer program stored by the memory so as to enable the terminal to execute the attitude self-adjusting method.
As described above, the posture self-adjusting movement balancing device, method, electronic terminal and storage medium of the present invention have the following beneficial effects: the method comprises the steps that a detection unit is used for collecting attitude data and/or road condition data of the device, and a control unit is used for judging whether the device is in an acceleration/deceleration state or whether a barrier exists on a road surface in the moving process; if the judgment is yes, the detection visual angle of the navigation detection device is guaranteed to be always parallel to the ground in a mode of controlling the angle adjusting unit, so that the technical problem that the unbalance of the intelligent vehicle can influence the function realization of the vehicle-mounted device is effectively solved, and the functional stability of the vehicle-mounted device is greatly improved.
Drawings
Fig. 1a is a schematic diagram of a mobile balancing device with self-adjusting posture according to an embodiment of the present invention.
Fig. 1b is a schematic diagram of a mobile balancing device with self-adjusting posture according to an embodiment of the present invention.
Fig. 2 is a schematic side view-based structural diagram of a self-adjusting posture movement balancing apparatus according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a mobile balancing apparatus with self-adjusting posture based on a main viewing angle according to an embodiment of the present invention.
Fig. 4 is a flow chart illustrating an attitude self-adjusting method according to an embodiment of the invention.
Fig. 5 is a schematic structural diagram of an electronic terminal according to an embodiment of the invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It is noted that in the following description, reference is made to the accompanying drawings which illustrate several embodiments of the present application. It is to be understood that other embodiments may be utilized and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present application. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present application is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "below," "lower," "above," "upper," and the like, may be used herein to facilitate describing one element or feature's relationship to another element or feature as illustrated in the figures.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," "retained," and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," and/or "comprising," when used in this specification, specify the presence of stated features, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, operations, elements, components, items, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions or operations are inherently mutually exclusive in some way.
New types of smart vehicles, such as balance cars, AGVs, three/four wheeled smart electric vehicles, and the like, have been increasingly used as vehicles for transportation or simple transportation. However, the functions of the novel intelligent vehicle are still limited, and the application of the novel intelligent vehicle cannot be expanded to other fields except entertainment, so that more functions need to be developed on the basis of the intelligent vehicle, the problem of imbalance caused by the functions is solved, and particularly, the problem of realizing the functions of vehicle-mounted devices due to imbalance of the vehicle body is considered.
Taking a vehicle-mounted laser radar detector as an example: when the vehicle body keeps a stable posture, the laser beam of the laser radar detector is parallel to the ground, and the distance between the obstacle and the vehicle body can be accurately detected. However, when the vehicle is in an acceleration or deceleration state or the vehicle is running on an uneven road surface, the vehicle body of the vehicle cannot maintain a stable posture, and therefore the laser beam of the laser radar detector loaded on the vehicle body is no longer parallel to the ground, the distance between the obstacle and the vehicle body cannot be accurately detected, and great potential safety hazards exist.
In view of the above various problems existing in the prior art, the application provides a mobile balancing device with self-adjusting posture, which ensures that the detection visual angle of a navigation detection device is always parallel to the ground in a mode of controlling an angle adjusting unit when the posture of the device is unstable in the moving process of the judgment device, thereby effectively solving the problem that the function realization of a vehicle-mounted device is influenced by the unbalance of an intelligent vehicle and greatly improving the function stability of the vehicle-mounted device.
In order to clearly describe the self-attitude-adjusting movement balance device of the present application, a detailed description will be given with reference to the structural diagram of the device. Referring to fig. 1a, fig. 1a is a schematic structural diagram illustrating a mobile balancing device with self-adjusting posture according to an embodiment of the present application. The device comprises: detection unit 11, control unit 12, angle adjustment unit 13. The device comprises a detection unit 11, a control unit 12, an angle adjustment unit 13, an angle adjustment module 13 and a navigation detection module, wherein the detection unit 11 is used for acquiring device posture data and/or road condition data, the control unit 12 is in communication connection with the detection unit 11 so as to receive the device posture data and/or road condition data, the angle adjustment unit 13 is electrically connected with and controlled by the control unit 12, and the angle adjustment unit 13 is arranged on a device body and loads the navigation detection module so as to drive the navigation detection module to move relative to the device body.
The control unit 12 determines whether the device is in an acceleration/deceleration state or whether an obstacle exists on the road surface during the movement process according to the device posture data and/or the road condition data. And if the device is in an acceleration/deceleration state or the road surface has an obstacle, sending a control instruction for controlling an angle adjusting unit of the device to rotate according to a preset angle outwards so as to adjust the detection visual angle of the navigation detection module to the initial angle.
It should be noted that the reason why the vehicle-mounted device is unbalanced and cannot work normally may be that the device is in an acceleration/deceleration state, or may be caused by the device encountering a road obstacle. Therefore, the posture data of the device can be detected, the road condition data can be detected, or the posture data of the device and the road condition data can be detected to obtain the state information of the device.
In this embodiment, the navigation detection module includes a laser radar detector, which is a radar device for detecting characteristic quantities such as a position and a speed of a target by emitting laser, and is used for detecting an obstacle in a traveling process of the balancing device to avoid vehicle body collision. In this embodiment, the detection view angle of the laser radar detector falls in the propagation direction of the laser beam, that is, the laser emission direction is the detection view angle direction of the detector. The initial angle in this embodiment refers to an angle at which a laser beam of the laser radar detector is parallel to the road surface. It should be noted that the initial angle is not limited to the parallel angle, and may be adaptively adjusted in an actual application scenario, which is not limited in the present application.
Fig. 1b is a schematic structural diagram of a mobile balancing device with self-adjusting posture according to an embodiment of the present application. The detection unit 11 includes an attitude sensor 111 and/or an obstacle sensor 112, the attitude sensor 111 is configured to collect the device attitude data, and the obstacle sensor 112 is configured to collect the road condition data.
The attitude sensor 111 includes any one or more of a gyroscope, an accelerometer, and a magnetic sensor. In particular, accelerometers and magnetic sensors are more susceptible to external interference, but their measurements vary relatively little over time; the gyroscope has good dynamic performance and is not easy to be interfered by the outside, but the measured value of the gyroscope has larger change along with the time. Therefore, the detection unit in the present application can use the gyroscope, the accelerometer, or the magnetic sensor alone to reduce the cost of the product, or can use the combination of the gyroscope, the accelerometer, and the magnetic sensor, which are complementary to each other to form a detection unit that is not easily interfered by the outside and has a small variation of the measured value with time. It should be noted that the attitude sensor 111 includes, but is not limited to, the detection components listed in this embodiment, and any other components capable of implementing an attitude detection function may be applied to the technical solution of the present application.
The obstacle sensor 112 may be a laser radar detector, or may also be an image pickup device such as a depth camera or a fisheye camera. The road condition data is used for representing the condition of the road surface, such as the road surface is flat, a slope appears, or the road surface has obstacles and the like.
In this embodiment, the angle adjusting unit 13 includes an angle adjusting actuator driver 131 and an angle adjusting actuator 132 as shown in fig. 1 b. The angle adjustment actuator driver 131 is electrically connected to and controlled by the control unit 12, and the angle adjustment actuator 132 is electrically connected to and controlled by the angle adjustment actuator driver 131. The angle adjustment actuator 132 in this embodiment loads the lidar detector, and it is driven by the angle adjustment actuator driver, drives the lidar detector to rotate to adjust the angle that is between the lidar detector and the ground, guarantee that the laser beam of the lidar detector remains parallel with the ground throughout.
The angle adjusting unit 12 may adopt a pan-tilt structure, the angle adjusting actuator driver 131 is a pan-tilt steering engine driver, and the angle adjusting actuator 132 is a pan-tilt steering engine. It should be noted that the pan-tilt structure is only one implementation manner for implementing angle adjustment in the present application, and any device or tool that can be used to drive the navigation detection module to rotate in the prior art can be applied to the technical scheme of the present application.
The control unit 12 is configured to send a control instruction for controlling the angle adjustment unit of the apparatus to rotate according to a preset angle, so as to adjust the detection angle of the navigation detection module back to the initial angle. It should be noted that the control unit 12 in the present application includes a controller, and the controller may adopt any one or a combination of a MCU controller, an ARM controller, an FPGA controller, an SoC controller, and a DSP controller.
Specifically, the control unit 12 obtains device acceleration/deceleration data and/or road condition data, calculates angle change data after the device deviates from a stable posture, and calculates and obtains an angle of the angle adjustment actuator rotating in a direction of offsetting angle change according to the angle change data.
For example, the control unit detects that the balancing device tilts forward by an angle X through the detection unit, and the navigation detection module and the holder structure follow the balancing device to tilt forward by an angle X. Therefore, the control unit controls the angle adjusting unit to drive the navigation detection module to face the opposite direction (back tilting) by the X angle according to the forward tilting angle, so that the detection visual angle of the navigation detection module returns to the initial visual angle. Based on the same principle, the control unit detects the inclination angle Y of the balancing device through the detection unit, and the navigation detection module and the holder structure follow the inclination angle Y of the balancing device. Therefore, the control unit controls the angle adjusting unit to drive the navigation detection module to face the opposite direction (forward inclination) by the Y angle according to the backward inclination angle, so that the detection visual angle of the navigation detection module returns to the initial visual angle.
In order to facilitate a better understanding of the technical solutions of the present application, a detailed explanation will now be given in conjunction with fig. 2 and 3. Fig. 2 shows a schematic structural view of the mobile balancing device based on a side view, and fig. 3 shows a schematic structural view of the mobile balancing device based on a front view.
In the present embodiment, a balance car is used as the mobile balancing device for attitude self-adjustment, and as shown in fig. 2 and 3, the balance car 21 is provided with rolling wheels and pedals; the pedal is provided with a pan-tilt structure 22 for adjusting the detection visual angle of the navigation detection module, and the pan-tilt structure 22 comprises a pan-tilt steering engine and a pan-tilt steering engine driver which are not shown in the figure; the head structure 22 carries a connection navigation detection module 23.
Specifically, with the direction of the dotted line a in fig. 2 as a reference line, when the posture of the device is stable, the detection viewing angle of the navigation detection module 23 is parallel to the direction of the dotted line a. When the device causes the detection visual angle to change due to acceleration, deceleration, uneven road surface and the like, the pan-tilt steering engine drives the navigation detection module to rotate around the connection point of the navigation detection module and the pan-tilt steering engine along the direction indicated by an arrow B or an arrow C in figure 2. For example, when the detection viewing angle is shifted downward, the angle adjustment actuator drives the navigation detection module to rotate upward around the connection point of the two in the direction of arrow B in fig. 2; when the detection visual angle is shifted upwards, the angle adjustment actuator drives the navigation detection module to rotate downwards around the connection point of the navigation detection module and the navigation detection module along the direction of an arrow C in fig. 2. It should be noted that the technical solution of how the pan/tilt steering engine drives the navigation detection module will be described below.
Fig. 4 is a schematic flow chart showing an attitude self-adjusting method according to an embodiment of the present application. The attitude self-adjusting method is applied to a controller, such as an MCU controller, an ARM controller, an FPGA controller, an SoC controller, or a DSP controller. Alternatively, the pose self-adjustment method is also applicable to a user terminal such as a computer including components such as memory, memory controllers, one or more processing units (CPU), peripheral interfaces, RF circuitry, audio circuitry, speakers, microphones, input/output (I/O) subsystems, display screens, other output or control devices, and external ports, which communicate over one or more communication buses or signal lines. The computer includes, but is not limited to, personal computers such as desktop computers, notebook computers, tablet computers, smart phones, smart televisions, Personal Digital Assistants (PDAs), and the like.
In the present embodiment, the self-adjusting method mainly includes steps S41, S42, S43, and S44.
In step S41, the device attitude data and/or the road condition data are received.
In step S42, it is determined whether the device is in an acceleration/deceleration state or whether there is an obstacle on the road surface during the movement process according to the device posture data and/or the road condition data.
In step S43, if yes, a control instruction for controlling the angle adjustment unit to rotate according to a preset angle is sent outwards to adjust the detection angle of view of the navigation detection module to an initial angle; the initial angle refers to a detection visual angle of the navigation detection module when the device is in a stable state.
In step S44, if the determination result is no, a control command for controlling the angle adjustment unit to rotate according to the preset angle is sent out, where the signal is 0.
In an embodiment, the navigation detection module comprises a lidar detector; the detection view angle of the laser radar detector is in the propagation direction of the laser beam. Since the implementation of the attitude self-adjusting method is similar to the above implementation of the attitude adjustable mobile balancing apparatus, further description is omitted.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Fig. 5 is a schematic structural diagram of an electronic terminal according to another embodiment of the present application. The electronic terminal comprises a processor 51 and a memory 52, wherein the processor 51 and the memory 52 are connected through a system bus. The memory 52 is used for storing a computer program, and the processor 51 is used for executing the computer program stored in the memory, so that the electronic terminal executes the steps of the attitude self-adjustment method.
The above-mentioned system bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The Memory may include a Random Access Memory (RAM), and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
In summary, the invention provides a posture self-adjusting mobile balancing device, a posture self-adjusting mobile balancing method, an electronic terminal and a storage medium, the posture data and/or road condition data of the device are collected, and when the device is judged to be unbalanced, the detection visual angle of the navigation detection device is ensured to be always parallel to the ground in a mode of controlling an angle adjustment unit, so that the problem that the function realization of a vehicle-mounted device is influenced by the unbalance of an intelligent vehicle is effectively solved, and the functional stability of the vehicle-mounted device is greatly improved. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A posture self-adjusting mobile balancing device is characterized by comprising a navigation detection module, wherein a detection visual angle of the navigation detection module forms an initial angle with a road surface on which the device is currently driven when the device is in a stable posture; the device comprises:
the detection unit is used for acquiring attitude data and/or road condition data of the device;
a control unit communicatively connected to the detection unit to receive the device attitude data and/or road condition data;
the angle adjusting unit is electrically connected with and controlled by the control unit; the angle adjusting unit is arranged on the device body and loads the navigation detection module so as to drive the navigation detection module to move relative to the device body;
the control unit judges whether the device is in an acceleration/deceleration state or whether an obstacle exists on a road surface in the moving process according to the posture data and/or road condition data of the device; if so, a control instruction for controlling an angle adjusting unit of the device to rotate according to a preset angle is sent outwards, so that the detection visual angle of the navigation detection module is adjusted back to the initial angle.
2. The attitude self-adjusting mobile balancing device according to claim 1, characterized in that the detection unit comprises:
the attitude sensor is used for acquiring attitude data of the device; and/or
And the obstacle sensor is used for acquiring road condition data.
3. The attitude self-adjusting mobile balancing apparatus according to claim 2, characterized in that the obstacle sensor comprises a lidar detector and/or an image capture device.
4. The attitude self-adjusting movement balance device according to claim 1, wherein the angle adjusting unit includes:
the angle adjusting actuating mechanism driver is electrically connected with and controlled by the control unit;
the angle adjusting actuating mechanism is electrically connected with and driven by the angle adjusting actuating mechanism driver;
the angle adjustment actuating mechanism driver receives the control instruction from the control unit and sends a corresponding driving instruction to the angle adjustment actuating mechanism according to the control instruction so as to control the angle adjustment actuating mechanism to drive the navigation detection module to rotate by a preset angle.
5. The attitude self-adjusting mobile balancing device according to claim 4, wherein the predetermined angle is calculated by the control unit in a manner that includes:
acquiring angle change data of the device after deviating from a stable posture;
and calculating and obtaining the angle of the angle adjusting actuating mechanism rotating towards the direction of offsetting the angle change according to the angle change data.
6. The attitude self-adjusting movement balancing apparatus according to claim 4, wherein the type of the angle adjusting unit includes a pan-tilt structure; the angle adjusting actuating mechanism comprises a cradle head steering engine; the angle adjustment actuating mechanism driver comprises a holder steering engine driver.
7. The attitude self-adjusting mobile balancing device of claim 1, wherein the navigation detection module comprises a lidar detector; the detection view angle of the laser radar detector is in the propagation direction of the laser beam.
8. An attitude self-adjusting method is characterized by being suitable for a mobile balancing device; the mobile balancing device comprises an angle adjusting unit; the angle adjusting unit is provided with a navigation detection module and can drive the navigation detection module to move relative to the device body; the method comprises the following steps:
receiving device attitude data and/or road condition data;
judging whether the device is in an acceleration/deceleration state or whether a road surface has an obstacle in the moving process according to the posture data and/or road condition data of the device;
if the navigation detection module is judged to be the initial angle, a control instruction for controlling the angle adjusting unit to rotate according to a preset angle is sent outwards so as to adjust the detection visual angle of the navigation detection module to the initial angle; the initial angle refers to a detection visual angle of the navigation detection module when the device is in a stable state.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the attitude self-adjustment method of claim 8.
10. An electronic terminal, comprising: a processor and a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory to cause the electronic terminal to execute the attitude self-adjustment method according to claim 8.
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| CN201811625463.1A CN111443698A (en) | 2018-12-28 | 2018-12-28 | Posture self-adjusting mobile balancing device and method, electronic terminal and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113030923A (en) * | 2021-04-01 | 2021-06-25 | 森思泰克河北科技有限公司 | Dynamic balance correction method for laser radar rotor |
| WO2023025032A1 (en) * | 2021-08-26 | 2023-03-02 | 追觅创新科技(苏州)有限公司 | Data processing method and apparatus, storage medium, electronic apparatus and self-moving device |
-
2018
- 2018-12-28 CN CN201811625463.1A patent/CN111443698A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113030923A (en) * | 2021-04-01 | 2021-06-25 | 森思泰克河北科技有限公司 | Dynamic balance correction method for laser radar rotor |
| WO2023025032A1 (en) * | 2021-08-26 | 2023-03-02 | 追觅创新科技(苏州)有限公司 | Data processing method and apparatus, storage medium, electronic apparatus and self-moving device |
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