CN113147974A - Method and device for controlling two-wheeled vehicle, storage medium, and electronic device - Google Patents
Method and device for controlling two-wheeled vehicle, storage medium, and electronic device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
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Abstract
The application discloses a control method of a single-wheel or two-wheel vehicle and a related device. The method for controlling the single-wheel or two-wheel vehicle comprises the following steps: judging whether the detected first inclination angle of the single-wheel or two-wheel vehicle is the same as a first preset inclination angle or not; the first preset inclination angle is an angle at which the single-wheel or double-wheel vehicle is in a toppling state; if so, controlling a flywheel in the single-wheel or double-wheel vehicle to rotate in the direction opposite to the toppling direction to a first preset rotating speed and then suddenly stopping to enable the single-wheel or double-wheel vehicle to turn over to a second preset inclination angle; the second preset inclination angle is an angle at which the single-wheel or two-wheel vehicle is in a balanced state. The application solves the technical problem of low intelligent level caused by the fact that the toppled single wheel or double-wheel vehicle cannot automatically overturn and stand up.
Description
Technical Field
The application relates to the field of single-wheel or two-wheel vehicle control, in particular to a single-wheel or two-wheel vehicle control method and a related device.
Background
The inventor finds that the balance of the single wheel or the two-wheel vehicle adopts a built-in flywheel to match with a control algorithm to realize a balance mechanism of small-amplitude deviation correction; however, when the single wheel or the double-wheel vehicle is inclined at a large angle or topples over accidentally, the balance mechanism cannot make the single wheel or the double-wheel vehicle turn over and stand up, and human intervention is needed to adjust the single wheel or the double wheel to the adjustable range of the balance mechanism.
Aiming at the problem of low intelligent level caused by the fact that a toppled single wheel or double-wheel vehicle cannot automatically turn over and stand up in the related technology, an effective solution is not provided at present.
Disclosure of Invention
The present disclosure provides a method and a device for controlling a single wheel or a two-wheel vehicle, so as to solve the problem of low intelligence level caused by the inability to automatically turn over and stand up the toppled single wheel or two-wheel vehicle.
In order to achieve the above object, according to one aspect of the present application, there is provided a control method of a single-wheel or two-wheel vehicle.
The method for controlling a single wheel or a two-wheel vehicle according to the application comprises the following steps: judging whether the detected first inclination angle of the single-wheel or two-wheel vehicle is the same as a first preset inclination angle or not; the first preset inclination angle is an angle at which the single-wheel or double-wheel vehicle is in a toppling state; if so, controlling a flywheel in the single-wheel or double-wheel vehicle to rotate in the direction opposite to the toppling direction to a first preset rotating speed and then suddenly stopping to enable the single-wheel or double-wheel vehicle to turn over to a second preset inclination angle; the second preset inclination angle is an angle at which the single-wheel or two-wheel vehicle is in a balanced state.
Further, if yes, controlling a flywheel in the single wheel or the two-wheel vehicle to rotate in the direction opposite to the toppling direction to a first preset rotating speed and then suddenly stopping, so that after the single wheel or the two-wheel vehicle overturns to a second preset inclination angle, the method further comprises the following steps: judging whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle or not; if so, controlling the single wheel or the double wheel to move.
Further, if yes, controlling the flywheel in the single wheel or the two-wheel vehicle to rotate in the direction opposite to the toppling direction to a first preset rotating speed and then suddenly stopping, so that after the single wheel or the two-wheel vehicle overturns to a second preset inclination angle, the method further comprises the following steps: judging whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle or not; if not, determining a second preset rotating speed in the preset balance deviation correction table according to the second inclination angle; and controlling a flywheel in the single wheel or the double-wheel vehicle to rotate in the direction opposite to the inclination direction of the second inclination angle to the second preset rotating speed and then suddenly stopping to enable the single wheel or the double-wheel vehicle to rotate to the second preset inclination angle.
Further, if yes, controlling the flywheel in the single wheel or the two-wheel vehicle to rotate in the direction opposite to the toppling direction to a first preset rotating speed and then suddenly stopping, so that after the single wheel or the two-wheel vehicle overturns to a second preset inclination angle, the method further comprises the following steps: judging whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle or not; if not, controlling a flywheel in the single wheel or the double-wheel vehicle to rotate in the direction opposite to the inclination direction of the second inclination angle to a third preset rotating speed and then suddenly stopping to enable the single wheel or the double-wheel vehicle to slightly rotate to the second preset inclination angle; and circularly executing the steps until the single wheel or the double-wheel vehicle rotates to a second preset inclination angle.
In order to achieve the above object, according to another aspect of the present application, there is provided a control device of a single wheel or two-wheel vehicle.
The control device for a single wheel or two-wheel vehicle according to the present application comprises: the first judgment module is used for judging whether the detected first inclination angle of the single-wheel or two-wheel vehicle is the same as a first preset inclination angle or not; the first preset inclination angle is an angle at which the single-wheel or double-wheel vehicle is in a toppling state; the first control module is used for controlling a flywheel in the single wheel or the double-wheel vehicle to rotate in the direction opposite to the toppling direction to a first preset rotating speed and then suddenly stop so as to enable the single wheel or the double-wheel vehicle to overturn to a second preset inclination angle if the flywheel in the single wheel or the double-wheel vehicle rotates to the first preset rotating speed; the second preset inclination angle is an angle at which the single-wheel or two-wheel vehicle is in a balanced state.
Further, the method also comprises the following steps: the second judgment module is used for judging whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle or not; and the second control module is used for controlling the movement of the single-wheel or two-wheel vehicle if the single-wheel or two-wheel vehicle moves.
Further, the method also comprises the following steps: the third judgment module is used for judging whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle or not; the determining module is used for determining a second preset rotating speed in the preset balance deviation correcting table according to the second inclination angle if the first preset rotating speed is not the second preset rotating speed; and the third control module controls the flywheel in the single wheel or the double-wheel vehicle to rotate in the direction opposite to the inclination direction of the second inclination angle to the second preset rotating speed and then suddenly stops so as to enable the single wheel or the double-wheel vehicle to rotate to the second preset inclination angle.
Further, it is characterized by also comprising: the fourth judging module is used for judging whether the detected second inclination angle of the single wheel or the double-wheel vehicle is the same as the second preset inclination angle or not; if not, the flywheel in the single wheel or the double-wheel vehicle is controlled to rotate to a third preset rotating speed in the direction opposite to the inclination direction of the second inclination angle and then suddenly stops, so that the single wheel or the double-wheel vehicle slightly rotates to the second preset inclination angle; and the circulating module is used for circularly executing the steps until the single wheel or the double-wheel vehicle rotates to a second preset inclination angle.
To achieve the above object, according to another aspect of the present application, there is provided a computer-readable storage medium.
A computer-readable storage medium according to the present application, having a computer program stored thereon, wherein the computer program is arranged to, when run, perform the method of controlling a single-wheel or two-wheel vehicle of any of the above.
In order to achieve the above object, according to another aspect of the present application, there is provided an electronic device.
An electronic device according to the present application includes: a memory having a computer program stored therein and a processor configured to run the computer program to perform the method of controlling a single-wheel or two-wheel vehicle of any of the above.
In the embodiment of the application, the method of judging and controlling the inclination angle is adopted, and whether the detected first inclination angle of the single-wheel or two-wheel vehicle is the same as a first preset inclination angle is judged; the first preset inclination angle is an angle at which the single-wheel or double-wheel vehicle is in a toppling state; if so, controlling a flywheel in the single-wheel or double-wheel vehicle to rotate in the direction opposite to the toppling direction to a first preset rotating speed and then suddenly stopping to enable the single-wheel or double-wheel vehicle to turn over to a second preset inclination angle; the second preset inclination angle is an angle at which the single-wheel or double-wheel vehicle is in a balanced state; the purpose of enabling the toppled single wheel or two-wheel vehicle to automatically overturn and stand up is achieved, the technical effect of improving the intelligent level is achieved, and the technical problem that the intelligent level is low due to the fact that the toppled single wheel or two-wheel vehicle cannot automatically overturn and stand up is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a flow chart diagram of a method of controlling a single wheel or two-wheel vehicle according to an embodiment of the present application;
FIG. 2 is a flow chart illustrating a method of controlling a single or two-wheeled vehicle according to a preferred embodiment of the present application;
FIG. 3 is a flow chart illustrating a method of controlling a single or two-wheeled vehicle according to another preferred embodiment of the present application;
FIG. 4 is a schematic flow chart of a method of controlling a single or two-wheeled vehicle according to yet another preferred embodiment of the present application;
FIG. 5 is a schematic structural diagram of a control device of a single wheel or two-wheel vehicle according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a control device for a single-wheel or two-wheel vehicle according to a preferred embodiment of the present application;
FIG. 7 is a schematic structural diagram of a control device for a single-wheel or two-wheel vehicle according to another preferred embodiment of the present application;
fig. 8 is a schematic structural view of a control device for a single-wheel or two-wheel vehicle according to still another preferred embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
According to an embodiment of the present invention, there is provided a method for controlling a single wheel or a two-wheel vehicle, as shown in fig. 1, the method including steps S101 to S102 as follows:
step S101, judging whether a first detected inclination angle of the single-wheel or two-wheel vehicle is the same as a first preset inclination angle; the first preset inclination angle is an angle at which the single-wheel or double-wheel vehicle is in a toppling state;
although the single wheel or the two-wheel vehicle is provided with a self-balancing mechanism to adjust the single wheel or the two-wheel vehicle to a balanced state, the single wheel or the two-wheel vehicle generates an increased inclination angle through a slope surface with a larger gradient, so that the single wheel or the two-wheel vehicle is out of the adjustable range of the self-balancing mechanism; the single wheel or the double-wheel vehicle is required to be turned and erected manually. In view of this, in the embodiment, the controller method of turning and standing the single-wheel or two-wheel vehicle is adopted to realize automatic turning and standing. Specifically, the first inclination angle is angle information detected in real time; the first preset inclination angle is preset angle information, and in the embodiment, particularly refers to an angle of the single-wheel or two-wheel vehicle in a toppling state; a six-axis acceleration sensor and a processor are arranged in the single wheel or the double-wheel vehicle, and the six-axis acceleration sensor can detect the inclination angle of the single wheel or the double-wheel vehicle in each direction in real time, namely a first inclination angle; the processor compares the first inclination angle with a first preset inclination angle, and if the first inclination angle is the same as the first preset inclination angle, the single-wheel or two-wheel vehicle is considered to be in a toppling state; the judgment of whether the single wheel or the two-wheel vehicle accidentally topples over in the moving process is realized, and the guarantee is provided for subsequent overturning and standing.
Step S102, if yes, controlling a flywheel in the single wheel or the double-wheel vehicle to rotate in the direction opposite to the toppling direction to a first preset rotating speed and then suddenly stopping to enable the single wheel or the double-wheel vehicle to turn over to a second preset inclination angle; the second preset inclination angle is an angle at which the single-wheel or two-wheel vehicle is in a balanced state.
In a self-balancing mechanism, a balance adjusting device is configured and mainly comprises a flywheel and a steering engine which are positioned in a single wheel or a double-wheel vehicle; the flywheel is a momentum wheel, after the flywheel rotating at high speed is suddenly stopped, the flywheel can transfer momentum to a single wheel or a two-wheel vehicle to realize reverse rotation in the direction of an inclination angle, the smaller the angle of the inclination angle is, the smaller the influence of braking response time and braking loss on the momentum is, the larger the angle of the inclination angle is, the larger the influence of braking response time, braking loss and the like on the momentum is, and self-balancing cannot be easily achieved, so that a self-balancing mechanism can only realize self-balancing in a small-range angle range, and once the self-balancing mechanism exceeds the range due to accidents, the self-balancing cannot be realized.
In the embodiment, the first preset rotating speed is preset speed information which can enable a single-wheel or multi-wheel vehicle to overturn to a position close to a balance position; specifically, whether a first inclination angle of the single-wheel or multi-wheel vehicle is the same as a first preset inclination angle is directly judged, the first preset inclination angle is defined as an angle when the single-wheel or multi-wheel vehicle is in a dumping state, whether the single-wheel or multi-wheel vehicle is dumped is determined, only when the single-wheel or multi-wheel vehicle is dumped, the flywheel is controlled to rotate to a first preset rotating speed in the opposite direction of the dumping direction and then is braked, the generated momentum is enough to enable the inclination angle to be reduced to a range controllable by a balance mechanism, the single-wheel or two-wheel vehicle is rotated to a position near a second preset inclination angle (influenced by brake response time, brake loss and the like), self-overturning and setting-up of the single-wheel or multi-wheel vehicle are achieved, a guarantee is provided for correcting the single-wheel or two-wheel vehicle to the balance state by a self-balance mechanism, and the intelligentization level is improved.
From the above description, it can be seen that the present invention achieves the following technical effects:
in the embodiment of the application, the method of judging and controlling the inclination angle is adopted, and whether the detected first inclination angle of the single-wheel or two-wheel vehicle is the same as a first preset inclination angle is judged; the first preset inclination angle is an angle at which the single-wheel or double-wheel vehicle is in a toppling state; if so, controlling a flywheel in the single-wheel or double-wheel vehicle to rotate in the direction opposite to the toppling direction to a first preset rotating speed and then suddenly stopping to enable the single-wheel or double-wheel vehicle to turn over to a second preset inclination angle; the second preset inclination angle is an angle at which the single-wheel or double-wheel vehicle is in a balanced state; the purpose of enabling the toppled single wheel or two-wheel vehicle to automatically overturn and stand up is achieved, the technical effect of improving the intelligent level is achieved, and the technical problem that the intelligent level is low due to the fact that the toppled single wheel or two-wheel vehicle cannot automatically overturn and stand up is solved.
According to the embodiment of the present invention, as shown in fig. 2, if yes, the controlling the flywheel in the single wheel or the two-wheel vehicle to rotate in the opposite direction of the toppling direction to the first preset rotation speed and then suddenly stop to make the single wheel or the two-wheel vehicle overturn to the second preset inclination further includes:
judging whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle or not;
if so, controlling the single wheel or the double wheel to move.
In the embodiment, the situation that the single-wheel or two-wheel vehicle directly reaches the second preset inclination angle after the emergency stop is not eliminated; that is, no further correction by a self-balancing mechanism or other balancing algorithm is required. Therefore, after the single-wheel or two-wheel vehicle is turned over and stands up, the six-axis acceleration sensor is required to be controlled to detect the second inclination angle again, if the inclination angle is judged to be consistent with the second preset inclination angle, the single-wheel or two-wheel vehicle is directly at the second preset inclination angle, no deviation correction is required, and the single-wheel or two-wheel vehicle can be controlled to move in the next step.
According to the embodiment of the present invention, as shown in fig. 3, if yes, the controlling the flywheel in the single wheel or two-wheel vehicle to rotate in the opposite direction of the tilting direction to the first preset rotation speed and then suddenly stop to make the single wheel or two-wheel vehicle turn over to the second preset inclination further includes:
judging whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle or not;
if not, determining a second preset rotating speed in the preset balance deviation correction table according to the second inclination angle;
and controlling a flywheel in the single wheel or the double-wheel vehicle to rotate in the direction opposite to the inclination direction of the second inclination angle to the second preset rotating speed and then suddenly stopping to enable the single wheel or the double-wheel vehicle to rotate to the second preset inclination angle.
If the inclination angle is judged to be inconsistent with the second preset inclination angle, the single wheel or the double-wheel vehicle is directly not at the second preset inclination angle, and further deviation correction is needed. In this embodiment, a balance deviation rectification table is preset, wherein one preset rotation speed corresponds to a group of inclination angle ranges, when a second inclination angle falls within a certain inclination angle range, the preset rotation speed corresponding to the range is taken as a second preset rotation speed, and then the flywheel in the single wheel or the two-wheel vehicle is controlled to rotate in the opposite direction of the inclination direction of the second inclination angle to the second preset rotation speed and then suddenly stops, so that balance adjustment in a self-balancing mechanism is realized, and the single wheel or the two-wheel vehicle which is turned over and stands can rotate to the second preset inclination angle, that is, a balance state.
According to the embodiment of the present invention, as shown in fig. 4, if yes, the controlling the flywheel in the single wheel or the two-wheel vehicle to rotate in the opposite direction of the tilting direction to the first preset rotation speed and then suddenly stop to make the single wheel or the two-wheel vehicle turn over to the second preset inclination further includes:
judging whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle or not;
if not, controlling a flywheel in the single wheel or the double-wheel vehicle to rotate in the direction opposite to the inclination direction of the second inclination angle to a third preset rotating speed and then suddenly stopping to enable the single wheel or the double-wheel vehicle to slightly rotate to the second preset inclination angle;
and circularly executing the steps until the single wheel or the double-wheel vehicle rotates to a second preset inclination angle.
Even if a self-balancing mechanism in a large-range angle range is adopted, the self-balancing mechanism cannot be turned to a second preset inclination angle position due to the influence of braking response time, braking loss and the like, correction needs to be performed through an algorithm, the braking response time and the braking loss are influenced by factors in all aspects, the deviation can be corrected through modeling difficultly, different models need to be established for different factors, the algorithm is very complex, and the requirement on standardized processing is high.
Specifically, if the inclination angle is determined to be inconsistent with the second preset inclination angle, it indicates that the single-wheel or two-wheel vehicle is not directly at the second preset inclination angle, and further deviation correction is required. In this embodiment, a third preset rotation speed which is small enough is adopted, when the second inclination angle is judged to be different from the second preset inclination angle, the flywheel is controlled to rotate to the third preset rotation speed and then suddenly stop, then the six-axis acceleration sensor is controlled to detect to obtain a second inclination angle a, when the inclination angle is judged to be different from the second preset inclination angle, the flywheel is controlled to rotate to the third preset rotation speed and then suddenly stop, and the operation is repeated in this way until the single-wheel or two-wheel vehicle rotates to the second preset inclination angle. The single-wheel or two-wheel vehicle is rotated to a balanced state by adopting a circulating judgment algorithm, and the brake response time, the brake loss and the like can be ignored due to the fact that the preset third preset rotating speed is very small.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
According to an embodiment of the present invention, there is also provided an apparatus for implementing the method for controlling a single-wheel or two-wheel vehicle described above, as shown in fig. 5, the apparatus including:
the first judging module 10 is used for judging whether the detected first inclination angle of the single wheel or the double-wheel vehicle is the same as a first preset inclination angle; the first preset inclination angle is an angle at which the single-wheel or double-wheel vehicle is in a toppling state;
although the single wheel or the two-wheel vehicle is provided with a self-balancing mechanism to adjust the single wheel or the two-wheel vehicle to a balanced state, the single wheel or the two-wheel vehicle generates an increased inclination angle through a slope surface with a larger gradient, so that the single wheel or the two-wheel vehicle is out of the adjustable range of the self-balancing mechanism; the single wheel or the double-wheel vehicle is required to be turned and erected manually. In view of this, in the embodiment, the controller method of turning and standing the single-wheel or two-wheel vehicle is adopted to realize automatic turning and standing. Specifically, the first inclination angle is angle information detected in real time; the first preset inclination angle is preset angle information, and in the embodiment, particularly refers to an angle of the single-wheel or two-wheel vehicle in a toppling state; a six-axis acceleration sensor and a processor are arranged in the single wheel or the double-wheel vehicle, and the six-axis acceleration sensor can detect the inclination angle of the single wheel or the double-wheel vehicle in each direction in real time, namely a first inclination angle; the processor compares the first inclination angle with a first preset inclination angle, and if the first inclination angle is the same as the first preset inclination angle, the single-wheel or two-wheel vehicle is considered to be in a toppling state; the judgment of whether the single wheel or the two-wheel vehicle accidentally topples over in the moving process is realized, and the guarantee is provided for subsequent overturning and standing.
The first control module 20 is used for controlling the flywheel in the single wheel or the double-wheel vehicle to rotate in the opposite direction of the toppling direction to a first preset rotating speed and then suddenly stop so as to enable the single wheel or the double-wheel vehicle to overturn towards a second preset inclination angle if the flywheel in the single wheel or the double-wheel vehicle rotates in the opposite direction of the toppling direction to the first preset rotating speed; the second preset inclination angle is an angle at which the single-wheel or two-wheel vehicle is in a balanced state.
In a self-balancing mechanism, a balance adjusting device is configured and mainly comprises a flywheel and a steering engine which are positioned in a single wheel or a double-wheel vehicle; the flywheel is a momentum wheel, after the flywheel rotating at high speed is suddenly stopped, the flywheel can transfer momentum to a single wheel or a two-wheel vehicle to realize reverse rotation in the direction of an inclination angle, the smaller the angle of the inclination angle is, the smaller the influence of braking response time and braking loss on the momentum is, the larger the angle of the inclination angle is, the larger the influence of braking response time, braking loss and the like on the momentum is, and self-balancing cannot be easily achieved, so that a self-balancing mechanism can only realize self-balancing in a small-range angle range, and once the self-balancing mechanism exceeds the range due to accidents, the self-balancing cannot be realized.
In the embodiment, the first preset rotating speed is preset speed information which can enable a single-wheel or multi-wheel vehicle to overturn to a position close to a balance position; specifically, whether a first inclination angle of the single-wheel or multi-wheel vehicle is the same as a first preset inclination angle is directly judged, the first preset inclination angle is defined as an angle when the single-wheel or multi-wheel vehicle is in a dumping state, whether the single-wheel or multi-wheel vehicle is dumped is determined, only when the single-wheel or multi-wheel vehicle is dumped, the flywheel is controlled to rotate to a first preset rotating speed in the opposite direction of the dumping direction and then is braked, the generated momentum is enough to enable the inclination angle to be reduced to a range controllable by a balance mechanism, the single-wheel or two-wheel vehicle is rotated to a position near a second preset inclination angle (influenced by brake response time, brake loss and the like), self-overturning and setting-up of the single-wheel or multi-wheel vehicle are achieved, a guarantee is provided for correcting the single-wheel or two-wheel vehicle to the balance state by a self-balance mechanism, and the intelligentization level is improved.
From the above description, it can be seen that the present invention achieves the following technical effects:
in the embodiment of the application, the method of judging and controlling the inclination angle is adopted, and whether the detected first inclination angle of the single-wheel or two-wheel vehicle is the same as a first preset inclination angle is judged; the first preset inclination angle is an angle at which the single-wheel or double-wheel vehicle is in a toppling state; if so, controlling a flywheel in the single-wheel or double-wheel vehicle to rotate in the direction opposite to the toppling direction to a first preset rotating speed and then suddenly stopping to enable the single-wheel or double-wheel vehicle to turn over to a second preset inclination angle; the second preset inclination angle is an angle at which the single-wheel or double-wheel vehicle is in a balanced state; the purpose of enabling the toppled single wheel or two-wheel vehicle to automatically overturn and stand up is achieved, the technical effect of improving the intelligent level is achieved, and the technical problem that the intelligent level is low due to the fact that the toppled single wheel or two-wheel vehicle cannot automatically overturn and stand up is solved.
According to the embodiment of the present invention, as shown in fig. 6, it is preferable that:
the second judging module 30 is configured to judge whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle;
and a second control module 40 for controlling the movement of the single wheel or the two-wheel vehicle if the single wheel or the two-wheel vehicle is the single wheel or the two-wheel vehicle.
In the embodiment, the situation that the single-wheel or two-wheel vehicle directly reaches the second preset inclination angle after the emergency stop is not eliminated; that is, no further correction by a self-balancing mechanism or other balancing algorithm is required. Therefore, after the single-wheel or two-wheel vehicle is turned over and stands up, the six-axis acceleration sensor is required to be controlled to detect the second inclination angle again, if the inclination angle is judged to be consistent with the second preset inclination angle, the single-wheel or two-wheel vehicle is directly at the second preset inclination angle, no deviation correction is required, and the single-wheel or two-wheel vehicle can be controlled to move in the next step.
According to the embodiment of the present invention, as shown in fig. 7, it is preferable that:
a third judging module 50, configured to judge whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle;
a determining module 60, configured to determine a second preset rotation speed in the preset balance deviation correction table according to the second inclination angle if the second preset rotation speed is not the second preset rotation speed;
and a third control module 70 for controlling the flywheel in the single wheel or the two-wheel vehicle to rotate in the direction opposite to the second inclination angle to the second preset rotation speed and then suddenly stopping to enable the single wheel or the two-wheel vehicle to rotate in the second preset inclination angle.
If the inclination angle is judged to be inconsistent with the second preset inclination angle, the single wheel or the double-wheel vehicle is directly not at the second preset inclination angle, and further deviation correction is needed. In this embodiment, a balance deviation rectification table is preset, wherein one preset rotation speed corresponds to a group of inclination angle ranges, when a second inclination angle falls within a certain inclination angle range, the preset rotation speed corresponding to the range is taken as a second preset rotation speed, and then the flywheel in the single wheel or the two-wheel vehicle is controlled to rotate in the opposite direction of the inclination direction of the second inclination angle to the second preset rotation speed and then suddenly stops, so that balance adjustment in a self-balancing mechanism is realized, and the single wheel or the two-wheel vehicle which is turned over and stands can rotate to the second preset inclination angle, that is, a balance state.
According to the embodiment of the present invention, as shown in fig. 8, it is preferable that:
a fourth judging module 80, configured to judge whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as the second preset inclination angle;
if not, the fourth control module 90 controls the flywheel in the single wheel or the two-wheel vehicle to rotate in the direction opposite to the inclination direction of the second inclination angle to a third preset rotation speed and then suddenly stops so that the single wheel or the two-wheel vehicle slightly rotates to the second preset inclination angle;
and the circulating module 100 is used for circularly executing the steps until the single wheel or the two-wheel vehicle rotates to a second preset inclination angle.
Even if a self-balancing mechanism in a large-range angle range is adopted, the self-balancing mechanism cannot be turned to a second preset inclination angle position due to the influence of braking response time, braking loss and the like, correction needs to be performed through an algorithm, the braking response time and the braking loss are influenced by factors in all aspects, the deviation can be corrected through modeling difficultly, different models need to be established for different factors, the algorithm is very complex, and the requirement on standardized processing is high.
Specifically, if the inclination angle is determined to be inconsistent with the second preset inclination angle, it indicates that the single-wheel or two-wheel vehicle is not directly at the second preset inclination angle, and further deviation correction is required. In this embodiment, a third preset rotation speed which is small enough is adopted, when the second inclination angle is judged to be different from the second preset inclination angle, the flywheel is controlled to rotate to the third preset rotation speed and then suddenly stop, then the six-axis acceleration sensor is controlled to detect to obtain a second inclination angle a, when the inclination angle is judged to be different from the second preset inclination angle, the flywheel is controlled to rotate to the third preset rotation speed and then suddenly stop, and the operation is repeated in this way until the single-wheel or two-wheel vehicle rotates to the second preset inclination angle. The single-wheel or two-wheel vehicle is rotated to a balanced state by adopting a circulating judgment algorithm, and the brake response time, the brake loss and the like can be ignored due to the fact that the preset third preset rotating speed is very small.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method of controlling a single-wheel or two-wheel vehicle, comprising:
judging whether the detected first inclination angle of the single-wheel or two-wheel vehicle is the same as a first preset inclination angle or not; the first preset inclination angle is an angle at which the single-wheel or double-wheel vehicle is in a toppling state;
if so, controlling a flywheel in the single-wheel or double-wheel vehicle to rotate in the direction opposite to the toppling direction to a first preset rotating speed and then suddenly stopping to enable the single-wheel or double-wheel vehicle to turn over to a second preset inclination angle; the second preset inclination angle is an angle at which the single-wheel or two-wheel vehicle is in a balanced state.
2. The control method of claim 1, wherein if yes, controlling the flywheel in the single wheel or two-wheel vehicle to rotate in the opposite direction of the toppling direction to the first preset rotation speed and then suddenly stopping to make the single wheel or two-wheel vehicle overturn towards the second preset inclination angle further comprises:
judging whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle or not;
if so, controlling the single wheel or the double wheel to move.
3. The control method of claim 1, wherein if yes, controlling the flywheel in the one-wheel or two-wheel vehicle to rotate in the opposite direction of the toppling direction to the first preset rotation speed and then suddenly stopping to make the one-wheel or two-wheel vehicle overturn towards the second preset inclination angle further comprises:
judging whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle or not;
if not, determining a second preset rotating speed in the preset balance deviation correction table according to the second inclination angle;
and controlling a flywheel in the single wheel or the double-wheel vehicle to rotate in the direction opposite to the inclination direction of the second inclination angle to the second preset rotating speed and then suddenly stopping to enable the single wheel or the double-wheel vehicle to rotate to the second preset inclination angle.
4. The control method of claim 1, wherein if yes, controlling the flywheel in the one-wheel or two-wheel vehicle to rotate in the opposite direction of the toppling direction to the first preset rotation speed and then suddenly stopping to make the one-wheel or two-wheel vehicle overturn towards the second preset inclination angle further comprises:
judging whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle or not;
if not, controlling a flywheel in the single wheel or the double-wheel vehicle to rotate in the direction opposite to the inclination direction of the second inclination angle to a third preset rotating speed and then suddenly stopping to enable the single wheel or the double-wheel vehicle to slightly rotate to the second preset inclination angle;
and circularly executing the steps until the single wheel or the double-wheel vehicle rotates to a second preset inclination angle.
5. A control device for a single-wheel or two-wheel vehicle, comprising:
the first judgment module is used for judging whether the detected first inclination angle of the single-wheel or two-wheel vehicle is the same as a first preset inclination angle or not; the first preset inclination angle is an angle at which the single-wheel or double-wheel vehicle is in a toppling state;
the first control module is used for controlling a flywheel in the single wheel or the double-wheel vehicle to rotate in the direction opposite to the toppling direction to a first preset rotating speed and then suddenly stop so as to enable the single wheel or the double-wheel vehicle to overturn to a second preset inclination angle if the flywheel in the single wheel or the double-wheel vehicle rotates to the first preset rotating speed; the second preset inclination angle is an angle at which the single-wheel or two-wheel vehicle is in a balanced state.
6. The control device according to claim 5, characterized by further comprising:
the second judgment module is used for judging whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle or not;
and the second control module is used for controlling the movement of the single-wheel or two-wheel vehicle if the single-wheel or two-wheel vehicle moves.
7. The control device according to claim 5, characterized by further comprising:
the third judgment module is used for judging whether the detected second inclination angle of the single-wheel or two-wheel vehicle is the same as a second preset inclination angle or not;
the determining module is used for determining a second preset rotating speed in the preset balance deviation correcting table according to the second inclination angle if the first preset rotating speed is not the second preset rotating speed;
and the third control module controls the flywheel in the single wheel or the double-wheel vehicle to rotate in the direction opposite to the inclination direction of the second inclination angle to the second preset rotating speed and then suddenly stops so as to enable the single wheel or the double-wheel vehicle to rotate to the second preset inclination angle.
8. The control device according to claim 5, characterized by further comprising:
the fourth judging module is used for judging whether the detected second inclination angle of the single wheel or the double-wheel vehicle is the same as the second preset inclination angle or not;
if not, the flywheel in the single wheel or the double-wheel vehicle is controlled to rotate to a third preset rotating speed in the direction opposite to the inclination direction of the second inclination angle and then suddenly stops, so that the single wheel or the double-wheel vehicle slightly rotates to the second preset inclination angle;
and the circulating module is used for circularly executing the steps until the single wheel or the double-wheel vehicle rotates to a second preset inclination angle.
9. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is arranged to execute the method of controlling a single-or two-wheeled vehicle of any one of claims 1 to 4 when executed.
10. An electronic device, comprising: memory and a processor, characterized in that the memory has stored therein a computer program, wherein the processor is arranged to run the computer program to perform the method of controlling a single-or two-wheeled vehicle according to any one of claims 1 to 4.
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| CN202110455312.1A CN113147974A (en) | 2021-04-26 | 2021-04-26 | Method and device for controlling two-wheeled vehicle, storage medium, and electronic device |
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| CN202110455312.1A CN113147974A (en) | 2021-04-26 | 2021-04-26 | Method and device for controlling two-wheeled vehicle, storage medium, and electronic device |
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Application publication date: 20210723 |