WO2017024715A1

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

Info

Publication number: WO2017024715A1
Application number: PCT/CN2015/097856
Authority: WO
Inventors: 邢昀; 孔尧; 王香连
Original assignee: 上海慧流云计算科技有限公司
Priority date: 2015-08-10
Filing date: 2015-12-18
Publication date: 2017-02-16
Also published as: CN106444798B; CN106444798A

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

Two-wheel balancing equipment floating flight back to ground method and two-wheel balancing equipment

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.

Technical field

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.

Background technique

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.

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.

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.

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.

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.

Summary of the invention

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.

In order to achieve the above first object, the present invention provides the following technical solutions:

A method for floating two-wheel balance equipment to fly back to the ground, comprising the steps of:

1) Start the balance of the two-wheel balancing equipment;

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) 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) 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) capture the front and rear corners and left and right corners of the body gyroscope;

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.

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) detecting the rotational speed of the left wheel and the right wheel;

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.

7) detecting the rotational speed of the left wheel and the right wheel;

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.

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) detecting a rotational speed of the left wheel and the right wheel;

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).

Preferably, in the method for the above-mentioned two-wheel balancing device to fly back to the ground, the step 3) is:

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;

The step 4) is:

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).

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.

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;

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;

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.

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.

Preferably, in the above two-wheel balancing device, specifically, a two-wheel balance vehicle or a two-wheel balance robot.

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.

DRAWINGS

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.

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;

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;

FIG. 3 is a schematic structural view of a specific embodiment of a two-wheel balancing device provided by the present invention.

The figures are marked as follows:

Revolver 1, right wheel 2, fuselage 3, balance bar 4.

detailed description

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.

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.

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.

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: starting the balance of the two-wheel balancing device;

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: 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;

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: 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;

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: 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;

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: capturing front and rear corners and left and right corners of the body gyroscope;

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: 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.

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.

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.

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: starting the balance of the two-wheel balancing device;

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: 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: 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: capturing front and rear corners and left and right corners of the body gyroscope;

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: detecting the rotation speeds of the left wheel and the right wheel;

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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

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) Start the balance of the two-wheel balancing equipment;

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) 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) 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) capture the front and rear corners and left and right corners of the body gyroscope;

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.
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) detecting the rotational speed of the left wheel and the right wheel;

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.
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) detecting the rotational speed of the left wheel and the right wheel;

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.
The method of claim 1 , wherein the step 4) and the step 5) further comprise the following steps:

41) detecting a rotational speed of the left wheel and the right wheel;

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).
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) 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;

The step 4) is:

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).
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;

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;

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.
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.
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.