Method and system for smooth parking of a two-wheeled robot
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A robot, stable technology, applied in general control systems, control/regulation systems, instruments, etc., to achieve smooth parking, ensure accuracy, and achieve the effect of intelligent control
Active Publication Date: 2019-08-02
GEER TECH CO LTD
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Problems solved by technology
[0004] In view of the problem that existing two-wheeled robots cannot realize intelligent and smooth parking on uneven road surfaces, a method and system for smooth parking of two-wheeled robots of the present invention is proposed to solve or at least partially solve the above-mentioned problems
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Embodiment 1
[0026] figure 1 It is a flow chart of a method for a two-wheeled robot to park smoothly provided by an embodiment of the present invention. refer to figure 1 , a method for smooth parking of a two-wheeled robot comprising:
[0027] Step S100, setting an accelerometer and a telescopic bracket in the two-wheeled robot, preset the length of the telescopic bracket and adjust the pop-up length;
[0028] Step S110, the two-wheeled robot reads the acceleration value of the accelerometer at this time after receiving the parking instruction on the inclined or uneven road, and calculates the center of gravity offset angle according to the acceleration value of the accelerometer;
[0029] Step S120, determining the pop-up length and pop-up direction of the telescopic support according to the calculated center-of-gravity offset angle and the preset length of the telescopic support;
[0030] Step S130, controlling the telescopic support to pop up according to the determined pop-up lengt...
Embodiment 2
[0037] image 3It is a schematic diagram of a two-wheeled robot smooth parking system provided by an embodiment of the present invention, refer to image 3 , a stable parking system for a two-wheeled robot, comprising an intelligent interaction unit 210, an accelerometer 220, a micro control unit 230 and a support control unit 240, wherein the support control unit 240 includes a support control steering gear 241 and a telescopic support 242, while the telescopic support 242 The length is preset, and the pop-up length can be adjusted;
[0038] The intelligent interaction unit 210 is used to receive the user's parking instruction and send it to the micro control unit 230;
[0039] The accelerometer 220 is used to detect the acceleration value of the two-wheeled robot on inclined and uneven road surfaces;
[0040] The micro control unit 230 is configured to read the acceleration value of the accelerometer 220 when receiving the parking instruction sent by the intelligent intera...
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Abstract
The invention discloses a stable double-wheeled robot parking method and system. A speedometer and a telescopic support are arranged in a double-wheeled robot, the length of the telescopic support is preset, and the putaway and popup length is adjustable. The stable double-wheeled robot parking method comprises the steps that firstly, after the double-wheeled robot receives a parking instruction on an oblique or uneven road surface, an acceleration value of the speedometer at the moment is read, and accordingly rapid, accurate and stable parking of the double-wheeled robot is ensured; a center-of-gravity shift included angle is calculated according to the acceleration value of the speedometer, and the accuracy of the center-of-gravity shift included angle is ensured; secondarily, according to the calculated center-of-gravity shift included angle and the preset length of the telescopic support, the popup length and popup direction of the telescopic support are determined, the accuracy of the popup length and popup direction of the telescopic support is ensured, and further stable parking of the double-wheeled robot is promoted; finally, the telescopic support is controlled to pop up according to the determined popup length and popup direction, and stable parking of the double-wheeled robot is achieved.
Description
technical field [0001] The invention relates to the field of two-wheel self-balancing robots, in particular to a method and system for stably parking a two-wheel robot. Background technique [0002] Existing smooth parking technology mainly realizes smooth parking by parking tripod. The parking stand is provided with two supporting legs, which are respectively located on both sides of the vehicle when parking. The length of the supporting legs can be adjusted, but can only be adjusted manually. This technology mainly uses the mechanical structure design and manual adjustment of the parking tripod itself to achieve smooth parking, and cannot intelligently control the retraction, pop-up direction and length of the parking tripod according to user instructions and road conditions. [0003] The two-wheeled robot is a special wheeled mobile robot, which is flexible in movement, low in cost, suitable for movement in a small space, and can turn with zero radius, so it has a wide r...
Claims
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Application Information
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