WO2017024715A1 - Method for returning two-wheeled balancing device in levitated overrunning state back to ground and two-wheeled balancing device - Google Patents

Method for returning two-wheeled balancing device in levitated overrunning state back to ground and two-wheeled balancing device Download PDF

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WO2017024715A1
WO2017024715A1 PCT/CN2015/097856 CN2015097856W WO2017024715A1 WO 2017024715 A1 WO2017024715 A1 WO 2017024715A1 CN 2015097856 W CN2015097856 W CN 2015097856W WO 2017024715 A1 WO2017024715 A1 WO 2017024715A1
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wheel
balancing device
right wheel
motor
ground
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PCT/CN2015/097856
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French (fr)
Chinese (zh)
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邢昀
孔尧
王香连
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上海慧流云计算科技有限公司
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Publication of WO2017024715A1 publication Critical patent/WO2017024715A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw

Abstract

Disclosed is a method for returning a two-wheeled balancing device in a levitated overrunning state back to the ground, which comprises the steps of: 1) starting balancing of the two-wheeled balancing device (S101); 2) detecting rotation speeds of a left wheel (1) and a right wheel (2), if the rotation speeds of the left wheel (1) and the right wheel (2) are both full rotation speeds, executing a subsequent step, and, if the rotation speeds of the left wheel (1) and the right wheel (2) are both less than the full rotation speeds, controlling the two-wheeled device to operate normally (S102); 3) lowering rotation speeds of an electrical motor of the left wheel and an electrical motor of the right wheel to lower the rotation speeds of the left wheel (1) and the right wheel (2) to pre-set values (S103); 4) when the rotation speeds of the left wheel (1) and the right wheel (2) are both the pre-set values, the two-wheeled balancing device being in a levitated overrunning state, otherwise executing a subsequent step (S104); 5) capturing front and back angles and left and right angles of a gyroscope of a machine body (3) (S105); and 6) determining whether the front and back angles and the left and right angles are both of opposite signs and equal magnitude, if not, returning to step 5), and if yes, controlling the two-wheeled balancing device to operate normally (S106). There is no need to restart the device when the device returns back to the ground by applying the method, and the experience of the device is good. Further disclosed is a two-wheeled device.

Description

两轮平衡设备浮空跑飞回地方法及两轮平衡设备Two-wheel balancing equipment floating flight back to ground method and two-wheel balancing equipment
本申请要求2015年08月10日提交中国专利局、申请号为201510487330.2、发明名称为“两轮平衡设备浮空跑飞回地方法及两轮平衡设备”的发明专利申请的优先权,其全部内容通过引用结合在本申请中。This application claims the priority of the invention patent application submitted to the China Patent Office on August 10, 2015, the application number is 201510487330.2, and the invention name is “two-wheel balancing equipment floating flight back to the ground and two-wheel balancing equipment”. The content is incorporated herein by reference.
技术领域Technical field
本发明涉及平衡设备技术领域,更具体地说,涉及一种两轮平衡设备的浮空跑飞回地方法,还涉及一种两轮平衡设备。The present invention relates to the field of balancing equipment, and more particularly to a method for floating back to ground of a two-wheel balancing device, and to a two-wheel balancing device.
背景技术Background technique
近年来随着信息技术的发展,智能制造、机器人等相关产业越来越受到人们关注,而两轮自平衡机器人、两轮自平衡车等两轮平衡设备也在不断的进入到人们的生活,给人们的生活带来更多的便利。In recent years, with the development of information technology, related industries such as intelligent manufacturing and robotics have attracted more and more attention, and two-wheeled self-balancing robots and two-wheeled self-balancing vehicles have continuously entered people's lives. Bring more convenience to people's lives.
两轮平衡设备一般包括机身及机身陀螺仪、左轮及左轮编码器、右轮及右轮编码器、分别控制左轮及右轮的左轮电机与右轮电机、平衡杆等结构。左轮编码器及右轮编码器分别用于检测左轮及右轮的转速,机身陀螺仪能够实时、准确检测两轮自平衡设备的倾角。当启动两轮平衡设备时,系统进行初始化,进而设备进入自平衡状态。两轮平衡设备的平衡为动态平衡,其原理简言之为:不断的通过改变小车前后运动的方向,使小车的车身在竖直方向上保持一个动态的直立平衡。具体的可以通过机身陀螺仪检测机身的角度,反馈至控制器对电机进行控制,通过电机正反转以抵消机身的倾角达到平衡。The two-wheel balancing equipment generally includes a body and a body gyroscope, a left and a left wheel encoder, a right wheel and a right wheel encoder, and a left wheel motor and a right wheel motor, a balance bar, and the like for respectively controlling the left and right wheels. The left wheel encoder and the right wheel encoder are respectively used to detect the rotational speeds of the left and right wheels, and the body gyroscope can detect the inclination of the two-wheel self-balancing device in real time and accurately. When the two-wheel balancing device is activated, the system initializes and the device enters a self-balancing state. The balance of the two-wheel balancing device is dynamic balance, and the principle is simply: continuously changing the direction of the front and rear movement of the car, so that the body of the car maintains a dynamic upright balance in the vertical direction. Specifically, the angle of the fuselage can be detected by the gyroscope of the fuselage, and the controller is fed back to the controller to control the motor, and the motor is reversed to offset the inclination of the fuselage to achieve balance.
然而人们在运行两轮平衡设备时,设备如发生意外摔倒或者离开地面,两轮自平衡设备的两个轮子便会处于高速的运行跑飞状态,同时一般会不停地发出报警声音。那么如果有人正在使用这种两轮平衡设备则由可能受伤或者受到惊吓,同时平衡设备本身也有可能被摔坏,如果两轮平衡设备上装载其它物品,也有可能导致物品损坏。However, when people run two-wheel balancing equipment, if the equipment falls accidentally or leaves the ground, the two wheels of the two-wheel self-balancing equipment will be in a high-speed running state, and the alarm sound will generally be issued continuously. Then, if someone is using the two-wheel balancing device, it may be injured or frightened, and the balancing device itself may be broken. If other items are loaded on the two-wheel balancing device, the item may be damaged.
同时,两轮平衡设备处于浮空跑飞时,一般的解决方法是直接关闭设备,然后将设备稳定放置好后重新启动设备,且重新启动需一定的启动过程,因而体验感较差。 At the same time, when the two-wheel balancing device is in a floating flight, the general solution is to directly shut down the device, then re-start the device after the device is stably placed, and restarting requires a certain startup process, so the experience is poor.
综上所述,如何有效地解决两轮平衡设备浮空跑飞易造成设备损坏、人员损伤及设备体验感较差等问题,是目前本领域技术人员急需解决的问题。In summary, how to effectively solve the problems of equipment damage, personnel damage and poor equipment experience caused by floating and running of the two-wheel balancing equipment is an urgent problem to be solved by those skilled in the art.
发明内容Summary of the invention
有鉴于此,本发明的第一个目的在于提供一种两轮平衡设备浮空跑飞回地方法,该两轮平衡设备浮空跑飞回地方法可以有效地解决两轮平衡设备浮空跑飞易造成设备损坏、人员损伤及设备体验感较差等的问题,本发明的第二个目的是提供一种包括上述两轮平衡设备浮空跑飞回地方法的两轮平衡设备。In view of this, the first object of the present invention is to provide a method for floating and returning to the ground of a two-wheel balancing device, and the method for floating and returning to the ground of the two-wheel balancing device can effectively solve the floating operation of the two-wheel balancing device. The second object of the present invention is to provide a two-wheel balancing device including the above-described two-wheel balancing device floating and flying back to the ground, which is caused by equipment damage, personnel damage, and poor equipment experience.
为了达到上述第一个目的,本发明提供如下技术方案:In order to achieve the above first object, the present invention provides the following technical solutions:
一种两轮平衡设备浮空跑飞回地方法,包括步骤:A method for floating two-wheel balance equipment to fly back to the ground, comprising the steps of:
1)启动两轮平衡设备的平衡;1) Start the balance of the two-wheel balancing equipment;
2)检测左轮与右轮的转速,若所述左轮与所述右轮的转速均为满转,则执行后续步骤,若所述左轮与所述右轮的转速均小于满转,则控制所述两轮平衡设备正常运行;2) detecting the rotation speeds of the left wheel and the right wheel, if the rotation speeds of the left wheel and the right wheel are both full, performing the following steps, if the rotation speeds of the left wheel and the right wheel are both less than full rotation, the control center The two-wheel balancing equipment is in normal operation;
3)降低左轮电机与右轮电机转速使所述左轮与所述右轮的转速降低至预设值;3) reducing the rotation speed of the left wheel motor and the right wheel motor to reduce the rotation speed of the left wheel and the right wheel to a preset value;
4)所述左轮与所述右轮的转速均为预设值时,则所述两轮平衡设备处于浮空跑飞状态,否则执行后续步骤;4) when the rotational speeds of the left wheel and the right wheel are both preset values, then the two-wheel balancing device is in a floating flight state, otherwise the subsequent steps are performed;
5)捕捉机身陀螺仪的前后角与左右角;5) capture the front and rear corners and left and right corners of the body gyroscope;
6)判断所述前后角与所述左右角是否均为等值相反,若否则返回步骤5),若是则控制所述两轮平衡设备正常运行。6) It is determined whether the front and rear angles are opposite to the left and right angles. If not, return to step 5), and if so, control the two-wheel balancing device to operate normally.
优选地,上述两轮平衡设备浮空跑飞回地方法中,所述步骤6)中判断所述前后角与所述左右角是否均为等值相反,若否则返回步骤5),若是则其后还包括:Preferably, in the method for floating back to the ground of the two-wheel balancing device, in the step 6), it is determined whether the front and rear angles are opposite to the left and right angles, if otherwise, returning to step 5), if yes, It also includes:
7)检测所述左轮与所述右轮的转速;7) detecting the rotational speed of the left wheel and the right wheel;
8)判断所述左轮与所述右轮的转速是否均减小,若否则返回步骤5),若是则控制所述两轮平衡设备正常运行。 8) determining whether the rotational speeds of the left wheel and the right wheel are both reduced, if otherwise returning to step 5), and if so, controlling the two-wheel balancing device to operate normally.
优选地,上述两轮平衡设备浮空跑飞回地方法中,所述步骤6)中判断所述前后角与所述左右角是否均为等值相反,若否则返回步骤5),若是则其后还包括:Preferably, in the method for floating back to the ground of the two-wheel balancing device, in the step 6), it is determined whether the front and rear angles are opposite to the left and right angles, if otherwise, returning to step 5), if yes, It also includes:
7)检测所述左轮与所述右轮的转速;7) detecting the rotational speed of the left wheel and the right wheel;
8)判断所述左轮与所述右轮的转速是否均减小,若否则返回步骤7),若是则控制所述两轮平衡设备正常运行。8) determining whether the rotational speeds of the left wheel and the right wheel are both reduced, if otherwise, returning to step 7), and if so, controlling the normal operation of the two-wheel balancing device.
优选地,上述两轮平衡设备浮空跑飞回地方法中,所述步骤4)与步骤5)之间还包括以下步:Preferably, in the method for floating the flyback to the ground of the two-wheel balancing device, the following steps are further included between the step 4) and the step 5):
41)检测所述左轮与所述右轮的转速;41) detecting a rotational speed of the left wheel and the right wheel;
42)判断所述左轮与所述右轮的转速是否均减小,若是执行后续步骤,若否返回步骤41)。42) determining whether the rotational speeds of the left wheel and the right wheel are both reduced, if the subsequent steps are performed, if not, return to step 41).
优选地,上述两轮平衡设备浮空跑飞回地方法中,所述步骤3)为:Preferably, in the method for the above-mentioned two-wheel balancing device to fly back to the ground, the step 3) is:
3)降低左轮电机与右轮电机转速使所述左轮与所述右轮的转速降低至预设值,且所述左轮电机正转所述右轮电机反转或所述左轮电机反转所述右轮电机正转;3) lowering the rotational speeds of the left and right motores to reduce the rotational speeds of the left and right wheels to a preset value, and the left-wheel motor is rotating the right-wheel motor reverse or the left-wheel motor is reversed The right wheel motor is turning forward;
所述步骤4)为:The step 4) is:
检测所述左轮与所述右轮的转速为预设值且运行方向相反时,则所述两轮平衡设备处于浮空跑飞状态,否则进入步骤5)。When detecting that the rotational speeds of the left wheel and the right wheel are preset values and the running direction is opposite, the two-wheel balancing device is in a floating flight state, otherwise proceeds to step 5).
应用本发明提供的两轮平衡设备浮空跑飞回地方法时,通过检测左轮与右轮的转速均为满转判断该设备处于浮空跑飞状态,进而控制左轮电机与右轮电机降低转速,使得左轮与右轮的转速下降至预设值。因而将两轮平衡设备放回至地面时更为平稳,且无需关闭设备。人们在运行两轮平衡设备时也不易受伤或者受到惊吓,设备本身也不易损坏,如果两轮平衡设备上装载其它物品,也不易导致物品损坏。浮空跑飞后则进一步进行设备回地判断,也就是通过检测左轮与右轮转速变化及机身陀螺仪的前后角和左右角,判定设备回地且处于竖直状态即可进入自平衡状态,也就是设备进入正常运行。因此在两轮平衡设备浮空跑飞后及后续放置回地过程中无需重启设备,也就避免了设备重启造成的资源浪费及设备体验感差的问题。When the two-wheel balancing device provided by the present invention is used for floating and returning to the ground, the device detects that the device is in a floating flight state by detecting that the rotational speeds of the left and right wheels are full, and thereby controlling the revolving speed of the left and right motor. , so that the speed of the left and right wheels is reduced to a preset value. Therefore, it is more stable to put the two-wheel balancing device back to the ground without shutting down the device. People are not easily injured or frightened when running two-wheel balancing equipment, and the equipment itself is not easily damaged. If other items are loaded on the two-wheel balancing equipment, it is not easy to cause damage to the items. After floating and flying, the equipment is further judged back to the ground, that is, by detecting the change of the left and right wheel speeds and the front and rear angles and the left and right angles of the body gyroscope, it is determined that the device returns to the ground and is in a vertical state to enter the self-balancing state. That is, the device enters normal operation. Therefore, there is no need to restart the device after the two-wheel balancing device is floating and flying back and then placed back to the ground, thereby avoiding the problem of resource waste and poor device experience caused by device restart.
为了达到上述第二个目的,本发明还提供了一种两轮平衡设备,包括机身及机身陀螺仪、左轮及左轮编码器、右轮及右轮编码器、分别控制左 轮及右轮的左轮电机与右轮电机、平衡杆和控制器;In order to achieve the above second object, the present invention also provides a two-wheel balancing device, including a body and a body gyroscope, a left and a left wheel encoder, a right wheel and a right wheel encoder, respectively controlling the left Left and right wheel motors, balance bars and controllers for wheels and right wheels;
所述左轮编码器用于检测所述左轮的转速,所述右轮编码器用于检测所述右轮的转速;The left wheel encoder is configured to detect a rotation speed of the left wheel, and the right wheel encoder is configured to detect a rotation speed of the right wheel;
当检测到所述左轮的转速为满转且所述右轮的转速为满转时,所述控制器降低左轮电机与右轮电机转速使所述左轮与所述右轮的转速降低至预设值,而当检测到所述左轮与所述右轮的转速均小于满转时,所述控制器控制所述两轮平衡设备正常运行;且所述控制器判断所述机身陀螺仪前后角和左右角均为等值相反时控制所述两轮平衡设备正常运行,否则继续捕捉机身陀螺仪的前后角和左右角。When detecting that the rotation speed of the left wheel is full rotation and the rotation speed of the right wheel is full rotation, the controller reduces the rotation speed of the left wheel motor and the right wheel motor to lower the rotation speed of the left wheel and the right wheel to a preset a value, and when detecting that the rotational speeds of the left wheel and the right wheel are both less than full rotation, the controller controls the two-wheel balancing device to operate normally; and the controller determines the front and rear corners of the body gyroscope When the opposite angles are opposite to each other, the two-wheel balancing device is controlled to operate normally, otherwise the front and rear corners and the left and right corners of the gyroscope are continuously captured.
优选地,上述两轮平衡设备中,当所述左轮的转速为满转且所述右轮的转速为满转时,所述控制器控制所述左轮电机与所述右轮电机转速降低至预设值,且控制所述左轮电机正转所述右轮电机反转或所述左轮电机反转所述右轮电机正转;当所述左轮与所述右轮的转速为预设值且运行方向相反时,判断所述两轮平衡设备为浮空跑飞状态,否则控制捕捉机身陀螺仪的前后角和左右角。Preferably, in the above two-wheel balancing device, when the rotation speed of the left wheel is full rotation and the rotation speed of the right wheel is full rotation, the controller controls the rotation speed of the left wheel motor and the right wheel motor to be reduced to Setting a value, and controlling the left wheel motor to rotate the right wheel motor to reverse or the left wheel motor to reverse the right wheel motor forward rotation; when the rotation speed of the left wheel and the right wheel is a preset value and running When the directions are opposite, it is determined that the two-wheel balancing device is in a floating flight state, otherwise the control captures the front and rear corners and the left and right corners of the body gyroscope.
优选地,上述两轮平衡设备中,具体为两轮平衡车或两轮平衡机器人。Preferably, in the above two-wheel balancing device, specifically, a two-wheel balance vehicle or a two-wheel balance robot.
上述两轮平衡设备是基于上述两轮平衡设备浮空跑飞回地方法提供的,因此两轮平衡设备具有上述两轮平衡设备浮空跑飞回地方法的所有技术效果,本文不再赘述。The above two-wheel balancing device is provided based on the above-mentioned two-wheel balancing device floating back to the ground, so the two-wheel balancing device has all the technical effects of the above-mentioned two-wheel balancing device floating back to the ground, and will not be described herein.
附图说明DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work.
图1为本发明提供的两轮平衡设备浮空跑飞回地方法一种具体实施方式的流程示意图; 1 is a schematic flow chart of a specific embodiment of a method for floating and returning to a two-wheel balancing device according to the present invention;
图2为本发明提供的两轮平衡设备浮空跑飞回地方法另一种具体实施方式的流程示意图;2 is a schematic flow chart of another specific implementation manner of a method for floating and returning to a two-wheel balancing device provided by the present invention;
图3本发明提供的两轮平衡设备一种具体实施方式的结构示意图。FIG. 3 is a schematic structural view of a specific embodiment of a two-wheel balancing device provided by the present invention.
附图中标记如下:The figures are marked as follows:
左轮1,右轮2,机身3,平衡杆4。Revolver 1, right wheel 2, fuselage 3, balance bar 4.
具体实施方式detailed description
本发明实施例公开了一种两轮平衡设备浮空跑飞回地方法,以降低两轮平衡设备浮空跑飞造成设备损坏、人员损伤的风险,提升设备体验感。The embodiment of the invention discloses a method for floating and returning to the ground of a two-wheel balance device, so as to reduce the risk of equipment damage and personnel damage caused by the floating operation of the two-wheel balance equipment, and improve the experience of the equipment.
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
请参阅图1,图1为本发明提供的两轮平衡设备浮空跑飞回地方法一种具体实施方式的流程示意图。Please refer to FIG. 1. FIG. 1 is a schematic flow chart of a specific embodiment of a method for floating and returning to a two-wheel balancing device according to the present invention.
在一种具体实施方式中,本发明提供的两轮平衡设备浮空跑飞回地方法包括如下步骤:In a specific embodiment, the method for floating the flyback of the two-wheel balancing device provided by the present invention comprises the following steps:
S101:启动两轮平衡设备的平衡;S101: starting the balance of the two-wheel balancing device;
首先开启两轮平衡设备,且通常进行系统初始化,再进入平衡功能。也就是启动两轮平衡设备的动态平衡,具体的就是不断的通过改变小车前后运动的方向,使小车的车身在竖直方向上保持一个动态的直立平衡。First turn on the two-wheel balancing device, and usually initialize the system and then enter the balance function. That is to start the dynamic balance of the two-wheel balancing equipment, the specific is to constantly change the direction of the front and rear movement of the trolley, so that the body of the trolley maintains a dynamic upright balance in the vertical direction.
S102:检测左轮与右轮的转速,若左轮与右轮的转速均为满转,则执行后续步骤,若左轮与右轮的转速均小于满转,则控制两轮平衡设备正常运行;S102: detecting the rotation speeds of the left wheel and the right wheel. If the rotation speeds of the left wheel and the right wheel are both full, performing the following steps. If the rotation speeds of the left wheel and the right wheel are both less than full rotation, the two-wheel balancing device is controlled to operate normally;
检测左轮与右轮的转速,左轮与右轮的转速均为满转,也就是左轮与右轮均高速转动,则表明两轮平衡设备处于浮空跑飞状态,因此执行后续步骤;而当左轮与右轮的转速均小于满转时,则表明两轮平衡设备的两轮均与地面接触,也就是并非处于平衡跑飞状态,则控制其正常运行即可。 Detecting the rotational speed of the left and right wheels, the rotational speeds of the left and right wheels are full, that is, the left and right wheels are both rotated at a high speed, indicating that the two-wheel balancing device is in a floating flight state, so the subsequent steps are performed; When the rotation speed of the right wheel is less than full rotation, it indicates that the two wheels of the two-wheel balance device are in contact with the ground, that is, not in the balanced flight state, then the normal operation can be controlled.
S103:降低左轮电机与右轮电机转速使左轮与右轮的转速降低至预设值;S103: reducing the rotation speed of the left wheel motor and the right wheel motor to reduce the rotation speeds of the left wheel and the right wheel to a preset value;
当检测到两轮平衡设备处于浮空跑飞状态时,通过降低左轮电机与右轮电机转速,使得左轮与右轮的转速降低至预设值,也就是使左轮与右轮低速运行,具体的预设值的大小可以根据两轮平衡设备具体运行情况进行设置,此处不做具体限定。When it is detected that the two-wheel balancing device is in the floating flight state, the rotation speed of the left wheel and the right wheel is reduced to a preset value by lowering the rotation speed of the left wheel motor and the right wheel motor, that is, the left wheel and the right wheel are operated at a low speed, specifically The preset value can be set according to the specific operation of the two-wheel balancing device, and is not specifically limited herein.
S104:检测左轮与右轮的转速均为预设值时,则两轮平衡设备处于浮空跑飞状态,否则执行后续步骤;S104: When detecting that the rotation speeds of the left wheel and the right wheel are both preset values, the two-wheel balancing device is in a floating flight state, otherwise performing the subsequent steps;
将左轮与右轮的转速降低至预设值后,两轮平衡设备能够较为稳定的落地,进而执行回地检测。通过检测左轮与右轮的转速,若二者仍为预设值,则表明两轮平衡设备仍处于平衡跑飞状态;否则执行后续步骤,进行进一步回地判断。也就是当左轮的转速由预设值发生变化,或者右轮的转速由预设值发生变化,或者二者均发生变化时,则表明左轮或者右轮或者二者与地面接触,因此需通过进一步回地判断准确确定两轮平衡设备的运行状态。After the rotational speeds of the left and right wheels are reduced to a preset value, the two-wheel balancing device can be more stably landed, and then the ground return detection is performed. By detecting the rotational speeds of the left and right wheels, if the two are still preset values, it indicates that the two-wheel balancing device is still in a balanced running state; otherwise, the subsequent steps are performed to further determine the ground return. That is, when the rotational speed of the left wheel changes from the preset value, or the rotational speed of the right wheel changes from the preset value, or both of them change, it indicates that the left or right wheel or both are in contact with the ground, so further Go back to the ground to determine the operating status of the two-wheel balancing equipment accurately.
S105:捕捉机身陀螺仪的前后角与左右角;S105: capturing front and rear corners and left and right corners of the body gyroscope;
机身陀螺仪的前后角及左右角反映了机身前后、左右倾斜的状态,通过捕捉机身陀螺仪的前后角与左右角来检测机身的状态。The front and rear corners and the left and right corners of the body gyroscope reflect the state of the front and rear of the fuselage, and the left and right tilt. The state of the fuselage is detected by capturing the front and rear corners and the left and right corners of the gyroscope.
S106:判断前后角与左右角是否均为等值相反,若否则返回步骤S105,若是则控制两轮平衡设备正常运行。S106: It is determined whether the front and rear angles are opposite to the left and right angles. If not, return to step S105, and if yes, control the two-wheel balancing device to operate normally.
根据捕获的机身陀螺仪的前后角及左右角,判断前后角与左右角是否均为等值相反,若二者均为等值相反,则表明两轮平衡设备处于直立状态,也就是其由浮空跑飞状态回地,两轮与地面接触机身呈竖直。故可进一步控制两轮平衡设备正常运行;而当前后角与左右角并非均等值相反时,则表明机身未呈竖直,因此设备可能处于倾斜状态而两轮未均着地的情况,故仍需进一步捕捉机身陀螺仪的前后角和左右角并进一步判断二者是否均为等值相反,直至二者均为等值相反时则表明两轮平衡设备回地。According to the front and rear angles and the left and right angles of the captured gyroscope, it is judged whether the front and rear angles are opposite to each other. If the two are equal, the two-wheel balancing device is in an upright state, that is, When the flight is flying back to the ground, the two-wheel contact with the ground is vertical. Therefore, the two-wheel balancing device can be further controlled to operate normally; while the current back angle and the left and right angles are not equal to each other, the fuselage is not vertical, so the device may be tilted and the two wheels are not evenly grounded, so It is necessary to further capture the front and rear corners and left and right corners of the gyroscope and further determine whether the two are opposite in the opposite direction, until the two are equal in opposite directions, indicating that the two-wheel balancing device returns to the ground.
请参阅图2,图2为本发明提供的两轮平衡设备浮空跑飞回地方法另一种具体实施方式的流程示意图。 Please refer to FIG. 2. FIG. 2 is a schematic flow chart of another embodiment of a method for floating and returning to a two-wheel balancing device according to the present invention.
在另一种具体实施方式中,本发明提供的两轮平衡设备浮空跑飞回地方法中前五个步骤与上述实施例相同,而在第六个步骤中为提高判定的准确性,进一步增加了回地判断条件,具体步骤如下:In another specific embodiment, the first five steps in the method for floating back to the ground of the two-wheel balancing device provided by the present invention are the same as the above embodiment, and in the sixth step, in order to improve the accuracy of the determination, further Added the conditions for returning to the ground, the specific steps are as follows:
S201:启动两轮平衡设备的平衡;S201: starting the balance of the two-wheel balancing device;
S202:检测左轮与右轮的转速,若左轮与右轮的转速均为满转,则执行后续步骤,若左轮与右轮的转速均小于满转,则控制两轮平衡设备正常运行;S202: detecting the rotation speeds of the left wheel and the right wheel. If the rotation speeds of the left wheel and the right wheel are full, the subsequent steps are performed. If the rotation speeds of the left wheel and the right wheel are both less than full rotation, the two-wheel balancing device is controlled to operate normally;
S203:降低左轮电机与右轮电机转速使左轮与右轮的转速降低至预设值;S203: reducing the rotation speed of the left wheel motor and the right wheel motor to reduce the rotation speeds of the left wheel and the right wheel to a preset value;
S204:检测左轮与右轮的转速均为预设值时,则两轮平衡设备处于浮空跑飞状态,否则执行后续步骤;S204: When detecting that the rotation speeds of the left wheel and the right wheel are both preset values, the two-wheel balancing device is in a floating flight state, otherwise performing the subsequent steps;
S205:捕捉机身陀螺仪的前后角与左右角;S205: capturing front and rear corners and left and right corners of the body gyroscope;
S206:判断前后角与左右角是否均为等值相反,若否则返回步骤S205,若是则其后还包括步骤:S206: It is determined whether the front and rear angles and the left and right angles are equal to each other. If not, the process returns to step S205, and if yes, the steps are further included:
S207:检测左轮与右轮的转速;S207: detecting the rotation speeds of the left wheel and the right wheel;
S208:判断左轮与右轮的转速是否均减小,若否则返回步骤5),若是则控制两轮平衡设备正常运行。S208: Determine whether the rotational speeds of the left wheel and the right wheel are both reduced, if otherwise, return to step 5), and if so, control the normal operation of the two-wheel balancing device.
当机身陀螺仪的前后角与左右角均为等值相反时,机身处于直立状态,进一步检测左轮与右轮的转速,若左轮与右轮的转速均减小,则进一步表明两轮平衡设备由浮空跑飞状态回地,因此只需控制两轮平衡设备正常运行即可,也就是进入动态平衡。而当左轮与右轮的转速并非均减小时,则需返回步骤S205,继续捕捉机身陀螺仪的前后角与左右角并执行后续判断,直至左轮与右轮转速均减小后,控制两轮平衡设备正常运行。When the front and rear angles of the fuselage gyroscope are opposite to each other, the fuselage is in an upright state, and the rotational speeds of the left and right wheels are further detected. If the rotational speeds of the left and right wheels are both reduced, the two-wheel balance is further indicated. The equipment is returned to the ground from the floating state, so it is only necessary to control the normal operation of the two-wheel balancing equipment, that is, to enter the dynamic balance. When the rotation speeds of the left wheel and the right wheel are not all decreased, the process returns to step S205 to continue capturing the front and rear angles and the left and right corners of the body gyroscope and performing subsequent judgments until the left and right wheel speeds are reduced, and the two wheels are controlled. Balance the device to operate normally.
需要说明的是,根据具体情况的不同,也可以设置当左轮与右轮的转速并非均减小时,返回步骤S207,继续检测左轮与右轮的转速,并执行后续判断,直至左轮与右轮转速均减小后,控制两轮平衡设备正常运行。It should be noted that, depending on the specific situation, when the rotational speeds of the left and right wheels are not all decreased, the process returns to step S207, and the rotational speeds of the left and right wheels are continuously detected, and subsequent determinations are performed until the left and right wheel speeds are performed. After the reduction, the two-wheel balancing equipment is controlled to operate normally.
此外,机身陀螺仪前后角左右角是否等值相反的判断及左轮与右轮转速是否均减小的判断均是为了进一步确认两轮平衡设备是否回地,具体的二者的先后顺序可以不做限定,也就是可以在步骤S204后先执行步骤S207和步骤S208,再执行步骤S205和步骤S206。 In addition, the judgment of whether the left and right corners of the front and rear corners of the gyroscope are opposite and whether the left and right wheel speeds are reduced is to further confirm whether the two-wheel balancing device returns to the ground. The specific order of the two may not be To be limited, step S207 and step S208 may be performed after step S204, and then step S205 and step S206 are performed.
在上述各实施例的基础上,降低左轮电机与右轮电机转速使左轮与右轮的转速降低至预设值的步骤中,还可以进一步包括控制左轮电机正转、右轮电机反转或左轮电机反转、右轮电机正转,也就是控制左轮电机与右轮电机转向相反使得左轮与右轮转向相反。通过左轮与右轮转向相反的设置,能够使两轮平衡设备回地时更为平稳。On the basis of the above embodiments, the steps of reducing the rotational speeds of the left and right motores to reduce the rotational speeds of the left and right wheels to a preset value may further include controlling the forward rotation of the left wheel motor, the reverse rotation of the right wheel motor, or the revolver. The motor reverses and the right wheel motor rotates forward, that is, the opposite of the control of the left wheel motor and the right wheel motor makes the left wheel and the right wheel turn opposite. By setting the opposite of the left and right wheel steering, it is possible to make the two-wheel balancing device more stable when it returns to the ground.
相应的,随后检测左轮与右轮转速均为预设值时两轮平衡设备处于浮空跑飞状态的步骤中,还包括检测左轮与右轮是否转向相反,若左轮与右轮转速均为预设值且左轮与右轮反向运行时,则两轮平衡设备处于浮空跑飞状态,否则执行后续步骤,即捕捉机身陀螺仪的前后角与左右角以及后续一系列判断。当然,根据需要,也可以设置为仅检测左轮与右轮转是否转向相反,若是则两轮平衡设备处于浮空跑飞状态,否则执行后续步骤。Correspondingly, the step of detecting that the two-wheel balancing device is in the floating flight state when the left and right wheel rotation speeds are all preset values further includes detecting whether the left wheel and the right wheel are opposite to each other, and if the left wheel and the right wheel are both rotating When the value is set and the left and right wheels are reversed, the two-wheel balancing device is in a floating flight state. Otherwise, the subsequent steps are performed, that is, capturing the front and rear angles and the left and right corners of the body gyroscope and subsequent series of judgments. Of course, if necessary, it can also be set to detect whether the left and right wheels are reversed, and if so, the two-wheel balancing device is in a floating flight state, otherwise the subsequent steps are performed.
请参阅图3,图3本发明提供的两轮平衡设备一种具体实施方式的结构示意图。Please refer to FIG. 3 , which is a schematic structural diagram of a specific embodiment of a two-wheel balancing device provided by the present invention.
在一种具体实施方式中,本发明提供的两轮平衡设备包括机身3及机身陀螺仪、左轮1及左轮编码器、右轮2及右轮编码器、分别控制左轮1及右轮2的左轮电机与右轮电机、平衡杆3和控制器。In a specific embodiment, the two-wheel balancing device provided by the present invention comprises a body 3 and a body gyroscope, a left wheel 1 and a left wheel encoder, a right wheel 2 and a right wheel encoder, and controls the left wheel 1 and the right wheel 2 respectively. The left and right wheel motors, the balance bar 3 and the controller.
其中,左轮编码器用于检测左轮1的转速,右轮编码器用于检测右轮2的转速。两轮平衡设备启动进入动态平衡后,通过左轮编码器检测左轮1的转速,右轮编码器检测右轮2的转速,进而为浮空跑飞判断及回地判断提供依据。Wherein, the left wheel encoder is used to detect the rotation speed of the left wheel 1, and the right wheel encoder is used to detect the rotation speed of the right wheel 2. After the two-wheel balance device starts to enter the dynamic balance, the left wheel encoder detects the rotation speed of the left wheel 1 by the left wheel encoder, and the right wheel encoder detects the rotation speed of the right wheel 2, thereby providing a basis for the judgment of the floating flight and the judgment of returning to the ground.
机身陀螺仪能够反映机身3的倾斜状态,通过捕捉机身陀螺仪的前后角和左右角,当前后角及左右角均为等值相反时,即表明机身3处于竖直状态。具体机身陀螺仪的结构等请参考现有技术,此处不再赘述。The body gyroscope can reflect the tilt state of the body 3, and captures the front and rear corners and the left and right corners of the body gyroscope. When the current back angle and the left and right angles are opposite, the body 3 is in a vertical state. Please refer to the prior art for the structure of the specific gyroscope, and will not be described here.
左轮电机与右轮电机分别用于控制左轮1及右轮2的转速,进而对两轮平衡设备的运行状态进行调整。The left wheel motor and the right wheel motor are respectively used to control the rotational speeds of the left wheel 1 and the right wheel 2, thereby adjusting the operating state of the two-wheel balancing device.
控制器作为两轮平衡设备的控制中心,用于在设备启动后,控制左轮编码器检测左轮1转速,右轮编码器检测右轮2转速,且当左轮1转速与右轮2转速均小于满转时,控制两轮平衡设备正常运行;而当左轮1转速与右轮2转速均为满转时则控制降低左轮电机与右轮电机的转速以使左轮1与右轮2的转速降低至预设值。进而在将浮空跑飞状态的两轮平衡设备 放回至地面时更为平稳。The controller acts as the control center of the two-wheel balancing device, and is used to control the left wheel encoder to detect the rotational speed of the left wheel 1 after the device is started, and the right wheel encoder detects the rotational speed of the right wheel 2, and when the rotational speed of the left wheel 1 and the right wheel 2 are both less than full When turning, the two-wheel balancing equipment is controlled to operate normally; when the left wheel 1 speed and the right wheel 2 speed are both full, the control reduces the rotation speed of the left wheel motor and the right wheel motor to reduce the rotation speed of the left wheel 1 and the right wheel 2 to the pre-rotation Set the value. In turn, the two-wheel balancing device that will fly in a floating state It is more stable when placed back to the ground.
控制器通过进一步判断左轮1与右轮2的转速是否均为预设值进行回地判断,如果均为预设值则两轮平衡设备处于浮空跑飞状态,否则进一步判断机身陀螺仪的前后角和左右角,前后角和左右角均为等值相反时控制两轮平衡设备正常运行,否则控制继续捕捉机身陀螺仪的前后角和左右角,直至二者为等值相反,则表明两轮平衡设备回地。The controller further judges whether the rotational speeds of the left wheel 1 and the right wheel 2 are all preset values, and if both are preset values, the two-wheel balancing device is in a floating flight state, otherwise the body gyroscope is further judged. The front and rear angles and the left and right angles, the front and rear angles and the left and right angles are opposite when the equivalent operation is controlled. Otherwise, the control continues to capture the front and rear angles and the left and right corners of the gyroscope until the opposite is true. Two rounds of balancing equipment back to the ground.
由于左轮编码器及右轮编码器、机身陀螺仪等均是两轮平衡设备本身具有的结构,因此本发明提供的两轮平衡设备在现有设备的基础上通过控制器控制的改进即可实现对浮空跑飞回地的判断。Since the left wheel encoder and the right wheel encoder, the body gyroscope and the like are the structures of the two-wheel balancing device itself, the two-wheel balancing device provided by the present invention can be improved by the controller control on the basis of the existing equipment. Realize the judgment of flying back to the ground.
进一步地,为提高回地判断的准确性,在判断获得机身陀螺仪的前后角和左右角均为等值相反时,控制器进一步判断左轮1转速与右轮2转速是否均减小,若是则控制两轮平衡设备正常运行,否则控制重新捕捉机身陀螺仪的前后角和左右角或者宠幸检测左轮与右轮的转速。Further, in order to improve the accuracy of the return judgment, when it is judged that the front and rear angles and the left and right angles of the body gyroscope are opposite, the controller further determines whether the rotational speed of the left wheel 1 and the right wheel 2 are both reduced, if Then control the normal operation of the two-wheel balancing device, otherwise the control recaptures the front and rear corners and the left and right corners of the gyroscope of the fuselage or the speed of detecting the left and right wheels.
更进一步地,为使两轮平衡设备由浮空跑飞状态回地时更为平稳,当控制器判断左轮1转速与右轮2转速均为满转时,控制器降低左轮电机与右轮电机的转速以使左轮1与右轮2的转速降低至预设值,同时使左轮1正转右轮2反转或左轮1反转右轮2正转,也就是两轮的转向相反。相应的在回地判断时,检测左轮1与右轮2的转速为预设值且转向相反时,则两轮平衡设备处于浮空跑飞状态;否则进入进一步回地判断,执行后续机身陀螺仪的前后角和左右角捕捉及判断等。Furthermore, in order to make the two-wheel balancing device more stable when it is returned to the ground from the floating state, when the controller judges that both the left wheel 1 speed and the right wheel 2 speed are full, the controller lowers the left wheel motor and the right wheel motor. The rotation speed is such that the rotation speeds of the left wheel 1 and the right wheel 2 are lowered to a preset value, while the left wheel 1 is rotated forwardly by the right wheel 2 or the left wheel 1 is reversed by the right wheel 2, that is, the steering of the two wheels is reversed. Correspondingly, when it is judged back to the ground, when the rotational speeds of the left wheel 1 and the right wheel 2 are detected as preset values and the steering is reversed, the two-wheel balancing device is in a floating flight state; otherwise, it is further judged to perform the subsequent body gyro The front and rear corners and left and right corners of the instrument are captured and judged.
本说明书中各个实施例采用递进的方式描述,每个实施例重点说明的都是与其他实施例的不同之处,各个实施例之间相同相似部分互相参见即可。The various embodiments in the present specification are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same similar parts between the various embodiments may be referred to each other.
对所公开的实施例的上述说明,使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的,本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下,在其它实施例中实现。因此,本发明将不会被限制于本文所示的这些实施例,而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。 The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments are obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but the scope of the invention is to be accorded

Claims (8)

  1. 一种两轮平衡设备浮空跑飞回地方法,其特征在于,包括步骤:A method for floating and returning to the ground of a two-wheel balancing device, characterized in that the method comprises the steps of:
    1)启动两轮平衡设备的平衡;1) Start the balance of the two-wheel balancing equipment;
    2)检测左轮与右轮的转速,若所述左轮与所述右轮的转速均为满转,则执行后续步骤,若所述左轮与所述右轮的转速均小于满转,则控制所述两轮平衡设备正常运行;2) detecting the rotation speeds of the left wheel and the right wheel, if the rotation speeds of the left wheel and the right wheel are both full, performing the following steps, if the rotation speeds of the left wheel and the right wheel are both less than full rotation, the control center The two-wheel balancing equipment is in normal operation;
    3)降低左轮电机与右轮电机转速使所述左轮与所述右轮的转速降低至预设值;3) reducing the rotation speed of the left wheel motor and the right wheel motor to reduce the rotation speed of the left wheel and the right wheel to a preset value;
    4)所述左轮与所述右轮的转速均为预设值时,则所述两轮平衡设备处于浮空跑飞状态,否则执行后续步骤;4) when the rotational speeds of the left wheel and the right wheel are both preset values, then the two-wheel balancing device is in a floating flight state, otherwise the subsequent steps are performed;
    5)捕捉机身陀螺仪的前后角与左右角;5) capture the front and rear corners and left and right corners of the body gyroscope;
    6)判断所述前后角与所述左右角是否均为等值相反,若否则返回步骤5),若是则控制所述两轮平衡设备正常运行。6) It is determined whether the front and rear angles are opposite to the left and right angles. If not, return to step 5), and if so, control the two-wheel balancing device to operate normally.
  2. 根据权利要求1所述的两轮平衡设备浮空跑飞回地方法,其特征在于,所述步骤6)中判断所述前后角与所述左右角是否均为等值相反,若否则返回步骤5),若是则其后还包括步骤:The method for floating back to the ground of a two-wheel balancing device according to claim 1, wherein in the step 6), it is determined whether the front and rear angles are opposite to the left and right angles, and if otherwise, returning to the step 5) If yes, then include the steps:
    7)检测所述左轮与所述右轮的转速;7) detecting the rotational speed of the left wheel and the right wheel;
    8)判断所述左轮与所述右轮的转速是否均减小,若否则返回步骤5),若是则控制所述两轮平衡设备正常运行。8) determining whether the rotational speeds of the left wheel and the right wheel are both reduced, if otherwise returning to step 5), and if so, controlling the two-wheel balancing device to operate normally.
  3. 根据权利要求1所述的两轮平衡设备浮空跑飞回地方法,其特征在于,所述步骤6)中判断所述前后角与所述左右角是否均为等值相反,若否则返回步骤5),若是则其后还包括步骤:The method for floating back to the ground of a two-wheel balancing device according to claim 1, wherein in the step 6), it is determined whether the front and rear angles are opposite to the left and right angles, and if otherwise, returning to the step 5) If yes, then include the steps:
    7)检测所述左轮与所述右轮的转速;7) detecting the rotational speed of the left wheel and the right wheel;
    8)判断所述左轮与所述右轮的转速是否均减小,若否则返回步骤7),若是则控制所述两轮平衡设备正常运行。8) determining whether the rotational speeds of the left wheel and the right wheel are both reduced, if otherwise, returning to step 7), and if so, controlling the normal operation of the two-wheel balancing device.
  4. 根据权利要求1所述的两轮平衡设备浮空跑飞回地方法,其特征在于,所述步骤4)与所述步骤5)之间还包括以下步骤:The method of claim 1 , wherein the step 4) and the step 5) further comprise the following steps:
    41)检测所述左轮与所述右轮的转速;41) detecting a rotational speed of the left wheel and the right wheel;
    42)判断所述左轮与所述右轮的转速是否均减小,若是则执行后续步骤,若否则返回步骤41)。 42) determining whether the rotational speeds of the left wheel and the right wheel are both reduced, and if so, performing the subsequent steps, if otherwise returning to step 41).
  5. 根据权利要求1-4任一项所述的两轮平衡设备浮空跑飞回地方法,其特征在于,所述步骤3)为:The method for floating back to the ground of a two-wheel balancing device according to any one of claims 1 to 4, wherein the step 3) is:
    3)降低左轮电机与右轮电机转速使所述左轮与所述右轮的转速降低至预设值,且所述左轮电机正转所述右轮电机反转或所述左轮电机反转所述右轮电机正转;3) lowering the rotational speeds of the left and right motores to reduce the rotational speeds of the left and right wheels to a preset value, and the left-wheel motor is rotating the right-wheel motor reverse or the left-wheel motor is reversed The right wheel motor is turning forward;
    所述步骤4)为:The step 4) is:
    检测所述左轮与所述右轮的转速为预设值且运行方向相反时,则所述两轮平衡设备处于浮空跑飞状态,否则进入步骤5)。When detecting that the rotational speeds of the left wheel and the right wheel are preset values and the running direction is opposite, the two-wheel balancing device is in a floating flight state, otherwise proceeds to step 5).
  6. 一种两轮平衡设备,其特征在于,包括机身及机身陀螺仪、左轮及左轮编码器、右轮及右轮编码器、分别控制左轮及右轮的左轮电机与右轮电机、平衡杆和控制器;A two-wheel balancing device, comprising: a body and a body gyroscope, a left and a left wheel encoder, a right wheel and a right wheel encoder, and a left and right wheel motor, a right wheel motor and a balance bar respectively controlling the left and right wheels And controller;
    所述左轮编码器用于检测所述左轮的转速,所述右轮编码器用于检测所述右轮的转速;The left wheel encoder is configured to detect a rotation speed of the left wheel, and the right wheel encoder is configured to detect a rotation speed of the right wheel;
    当检测到所述左轮的转速为满转且所述右轮的转速为满转时,所述控制器降低左轮电机与右轮电机转速使所述左轮与所述右轮的转速降低至预设值,而当检测到所述左轮与所述右轮的转速均小于满转时,所述控制器控制所述两轮平衡设备正常运行;且所述控制器判断所述机身陀螺仪前后角和左右角均为等值相反时控制所述两轮平衡设备正常运行,否则继续捕捉机身陀螺仪的前后角和左右角。When detecting that the rotation speed of the left wheel is full rotation and the rotation speed of the right wheel is full rotation, the controller reduces the rotation speed of the left wheel motor and the right wheel motor to lower the rotation speed of the left wheel and the right wheel to a preset a value, and when detecting that the rotational speeds of the left wheel and the right wheel are both less than full rotation, the controller controls the two-wheel balancing device to operate normally; and the controller determines the front and rear corners of the body gyroscope When the opposite angles are opposite to each other, the two-wheel balancing device is controlled to operate normally, otherwise the front and rear corners and the left and right corners of the gyroscope are continuously captured.
  7. 根据权利要求6所述的两轮平衡设备,其特征在于,当所述左轮的转速为满转且所述右轮的转速为满转时,所述控制器控制所述左轮电机与所述右轮电机转速降低至预设值,且控制所述左轮电机正转所述右轮电机反转或所述左轮电机反转所述右轮电机正转;当所述左轮与所述右轮的转速为预设值且运行方向相反时,判断所述两轮平衡设备为浮空跑飞状态,否则控制捕捉机身陀螺仪的前后角和左右角。The two-wheel balancing apparatus according to claim 6, wherein said controller controls said revolver motor and said right when said revolving speed of said revolver is full rotation and said revolving speed of said right wheel is full rotation Turning the motor speed to a preset value, and controlling the left wheel motor to rotate the right wheel motor to reverse or the left wheel motor to reverse the right wheel motor forward; when the left wheel and the right wheel rotate When it is a preset value and the running direction is opposite, it is judged that the two-wheel balancing device is in a floating running state, otherwise the front and rear corners and the left and right corners of the body gyroscope are captured.
  8. 根据权利要求6或7所述的两轮平衡设备,其特征在于,具体为两轮平衡车或两轮平衡机器人。 A two-wheel balancing device according to claim 6 or 7, characterized in that it is specifically a two-wheel balancing vehicle or a two-wheel balancing robot.
PCT/CN2015/097856 2015-08-10 2015-12-18 Method for returning two-wheeled balancing device in levitated overrunning state back to ground and two-wheeled balancing device WO2017024715A1 (en)

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