CN106249741A - A kind of dynamic equilibrium two-wheel robot automatically controlled and control method - Google Patents
A kind of dynamic equilibrium two-wheel robot automatically controlled and control method Download PDFInfo
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- CN106249741A CN106249741A CN201610828626.0A CN201610828626A CN106249741A CN 106249741 A CN106249741 A CN 106249741A CN 201610828626 A CN201610828626 A CN 201610828626A CN 106249741 A CN106249741 A CN 106249741A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 30
- 239000000523 sample Substances 0.000 claims description 21
- 230000005484 gravity Effects 0.000 claims description 20
- 238000012544 monitoring process Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000010276 construction Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 9
- 230000004888 barrier function Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000005303 weighing Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 238000002366 time-of-flight method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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Abstract
The invention discloses a kind of dynamic equilibrium two-wheel robot automatically controlled and control method, mainly include that forward horizontal stand plate, rear wobble-plate, front idler wheel, rear idle pulley, screw mandrel, screw mandrel fix seat, lead screw motor, reducing motor, contiguous block, sensor group, set of cells and controller.Control method includes: first passes through environment detection sensor and detects and collect the information of surrounding, generates mobile route optimum under current environment；Then driving forward horizontal stand plate and rear wobble-plate to swing toward contrary direction by reducing motor, robot keeps balance and travels forward；When needs are turned, controller drives lead screw motor to move to the left or to the right, makes forward horizontal stand plate tilt to the left or to the right, reducing motor coordinate lead screw motor to drive after wobble-plate inclined in opposite directions lock a period of time, until after robot completes to turn, lead screw motor and reducing motor just reset.The simple in construction of the present invention, control clear logic, have autobalance, the high and mobile advantage flexibly of turning efficiency.
Description
Technical field
The present invention relates to amusement and robotics, particularly relate to one and can realize dynamically putting down by automatically controlling
The two-wheel robot of weighing apparatus and control method thereof.
Background technology
The double-wheel self-balancing dolly occurred at present is all left and right arrangement with two-wheeled, and the vehicle-width of this arrangement is relatively big, its
Arrangement mode moves in being not particularly suited for narrow zone flexibly.Although and before and after existing bicycle machines people's two-wheeled arrange, but
It only relies on front-wheel and turns to, and trailing wheel is passively turned, it is difficult to the turning demand of high efficient and flexible in adaptation narrow zone.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of turning efficiency is high, can be with autobalance
And can in narrow zone the two-wheel robot of flexible movement.
Another object of the present invention is to overcome the deficiencies in the prior art, it is provided that a kind of control based on above-mentioned two-wheel robot
Method processed.
The purpose of the present invention is achieved through the following technical solutions:
A kind of dynamic equilibrium two-wheel robot automatically controlled, mainly include forward horizontal stand plate, rear wobble-plate, front idler wheel, after
Idle pulley, screw mandrel, screw mandrel fix seat, lead screw motor, reducing motor, contiguous block, sensor group, set of cells and controller.Before described
Idle pulley is connected with forward horizontal stand plate, can rotate around forward horizontal stand plate, and described rear idle pulley is connected with rear wobble-plate, can turn around rear wobble-plate
Dynamic.Described screw mandrel is fixed seat by screw mandrel and is arranged on forward horizontal stand plate, and the axis of screw mandrel is vertical with the direction of advance of robot, institute
State lead screw motor to be arranged on screw mandrel, be connected with screw rod transmission, lead screw motor can be made at screw mandrel by the rotating of lead screw motor
On move back and forth, owing to lead screw motor self is with certain weight, when lead screw motor moves on screw mandrel, flat before changing
The position of centre of gravity of weighing apparatus plate, makes forward horizontal stand plate tilt to the left or to the right, thus realizes reaching to turn by the center of gravity changing forward horizontal stand plate
Curved purpose.Described reducing motor and set of cells are arranged on rear wobble-plate, and contiguous block is arranged on forward horizontal stand plate, described deceleration
The output shaft of motor is fixed with contiguous block, makes forward horizontal stand plate set up with rear wobble-plate and is connected, and shakes under the driving of reducing motor
Pendulum advances.Described controller is arranged on forward horizontal stand plate, respectively with lead screw motor, reducing motor, sensor group and set of cells even
Connect, be used for controlling reducing motor, and receive the feedback data of sensor group.
As the preferred version of the present invention, described screw mandrel and lead screw motor are installed in the bottom position of forward horizontal stand plate, this
Sample be designed with three effects: one is to increase the weight of forward horizontal stand plate so that it is center of gravity reduces, and improves rubbing of front idler wheel and ground
Wiping power, is effectively improved the stability that two-wheel robot turns；Two is the mobile center of gravity that can change forward horizontal stand plate of lead screw motor, makes
Forward horizontal stand plate tilts to the left or to the right, and after reducing motor drives, wobble-plate tilts i.e. can realize efficiently turning toward contrary direction
Operation；Three is by controlling lead screw motor position on screw mandrel, it is possible to controls the side-play amount of forward horizontal stand plate center of gravity, thus controls
The radius of turn of two-wheel robot processed, can be effectively improved the turning efficiency of two-wheel robot so that it is can spirit at narrow zone
Live, move freely, during straight ahead, the amplitude of fluctuation of reducing motor can also be coordinated to increase the power advanced by lead screw motor,
Simultaneously can also be time-consuming, improve the control efficiency of controller.
Further, described screw mandrel and lead screw motor can also be arranged on rear wobble-plate, it is achieved identical function, expand
The range of application of two-wheel robot, reduces the installation requirement of two-wheel robot.
Concrete, described sensor group includes the first gyroscope for monitoring robot posture and the second gyroscope, use
In measuring the first rotary angle transmitter and second rotary angle transmitter of idle pulley steering angle and being used for measuring the first of idle pulley speed
Speed probe and the second speed probe.Described first gyroscope and the second gyroscope be separately mounted to forward horizontal stand plate and after shake
In wobble plate, operationally, for monitoring the roll attitude of two-wheel robot.Described first rotary angle transmitter and the second rotation angular sensing
Device is separately mounted to the junction of the junction of forward horizontal stand plate and front idler wheel and rear wobble-plate and rear idle pulley, monitoring front idler wheel and after
The rotational angle of idle pulley, for the auxiliary judgment turned.Described first speed probe and the second speed probe are respectively mounted
In the rotating shaft of front idler wheel and rear idle pulley, detection front idler wheel and the rotating speed of rear idle pulley, for judge the current speed of robot and
Adjust the rotational frequency of reducing motor.Described controller respectively with the first gyroscope, the second gyroscope, the first rotary angle transmitter,
Second rotary angle transmitter, the first speed probe and the second speed probe connect, and receive the feedback data of sensor, are used for advising
Draw the motion path of two-wheel robot, and coordinate the output of lead screw motor and reducing motor.
Further, in order to make two-wheel robot freely and efficiently can move in narrow zone, described sensor group is also
Including for location and the environment detection sensor of navigation, described environment detection sensor is arranged on above forward horizontal stand plate, with
Controller connects, and this environment detection sensor is positioned at the front end of robot, it is simple to quickly identify the barrier of direction of advance.This ring
The barrier that border detection sensor is mainly used in around sniffing robot, by analysis and the process of controller, it is thus achieved that work as front ring
It is available for the region of movement under border, and the position that robot itself is in moving area positions, by analyzing and planning
Thus obtain two-wheel robot optimal path of movement in this region further.As the preferred version of the present invention, this environment
Detection sensor can use the depth camera information to surrounding, and feeds back to process at controller.
As the preferred version of the present invention, described screw mandrel, lead screw motor, reducing motor, contiguous block and set of cells are respectively mounted
In the lower section of robot, so design reduces the center of gravity of complete machine, is conducive to improving two-wheel robot stability under steam
And balance, leave more operational space to the top of two-wheel robot simultaneously.
Further, the installation site of described reducing motor and contiguous block is interchangeable, equally realizes identical function,
Play identical effect.
As the preferred version of the present invention, the steer axis of described front idler wheel tilts with forward horizontal stand board plane, described rear lazy
The steer axis of wheel and rear wobble-plate planar tilt.This incline structure can realize forward horizontal stand plate and rear wobble-plate swing time,
Front and back idle pulley is rotated to specific direction by compressing, can improve the purpose of the rotational efficienty of two-wheel robot.
As the preferred version of the present invention, the employing of described reducing motor is stable, control accuracy is high, anti-overload ability is strong
Servomotor as driving.
Another object of the present invention is achieved through the following technical solutions:
The control method of a kind of dynamic equilibrium two-wheel robot automatically controlled, the method mainly comprises the steps:
Step S1: two-wheel robot electrifying startup, lead screw motor and reducing motor reset, and make forward horizontal stand plate and after wave
Plate returns to level.
Step S2: controller and sensor communication also detect all the sensors (gyroscope, rotary angle transmitter, revolution speed sensing
Device, environment detection sensor) the most normal, if breaking down, lead screw motor and reducing motor do not work, until fault restoration
Till.
Step S3: servomotor and lead screw motor start, according to the instruction works of controller, makes two-wheel robot keep flat
Weighing apparatus, and perform advance, acceleration and cornering operation.
Wherein, described step S3 also comprises the steps:
Step S31: when controller detects that present speed is less than setting value, then adjust the output of reducing motor, accelerates
The wobble frequency of two-wheel robot and raising amplitude of fluctuation, improve the speed of two-wheel robot with this.Meanwhile, by screw mandrel electricity
Machine adjusts the position of centre of gravity of forward horizontal stand plate and coordinates reducing motor, contribute to two-wheel robot realize faster, the adding of higher efficiency
Speed.
Step S32: when environment detection sensor detects that there is barrier in front, when needing to perform cornering operation, controller
Then drive lead screw motor to move to the side that turns to, make forward horizontal stand plate to turning lopsidedness, wobble-plate after driven by servomotor
Tilt to the opposite side that turns to, and lock servomotor and make the attitude of forward horizontal stand plate and rear wobble-plate keep certain time, until
Turning terminates.
Work process and the principle of the present invention be: two-wheel robot provided by the present invention first passes through environment detection sensing
Device detects and collects the information of surrounding, and these signals are analyzed and processed, and generates mobile road optimum under current environment
Footpath, or the motion path fixed by program setting；Then controller drives forward horizontal stand plate and rear wobble-plate by reducing motor
Swing toward contrary direction, make robot keep balance and travel forward；When needs are turned, controller drive lead screw motor to
Left or move right, make forward horizontal stand plate tilt to the left or to the right, reducing motor coordinate lead screw motor to drive after wobble-plate on the contrary
Direction tilts and locks a period of time, until after robot completes to turn, lead screw motor and reducing motor just reset.The present invention's
Simple in construction, control clear logic, have autobalance, the high and mobile advantage flexibly of turning efficiency.
Compared with prior art, it also have the advantage that
(1) the two-wheel robot center of gravity that the present invention provides is low, it is possible to is effectively improved stability during swing, significantly improves machine
The counterbalance effect of device people.
(2) present invention monitors the swing state of two-wheel robot by gyroscope, and the controller moment is analyzed and adjusts and subtracts
The output of speed motor, allows two-wheel robot keep poised state.
(3) present invention use depth camera as the sensor of detection surrounding, can the barrier of effective perception surrounding
Hindering thing, the planning for robot mobile route provides well help.
(4) present invention use lead screw motor change the method for forward horizontal stand plate center of gravity to realize two-wheel robot and efficiently turn,
The purpose of straight line speed-raising.
(5) present invention is by changing lead screw motor position on the forward horizontal stand plate i.e. center of gravity of adjustable forward horizontal stand plate, silk
The controller that is displaced through of bar motor controls, and can realize high accuracy and control.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the bottom of two-wheel robot provided by the present invention.
Fig. 2 is the axonometric chart of two-wheel robot provided by the present invention.
Fig. 3 is two-wheel robot provided by the present invention control block diagram.
Fig. 4 is the control flow chart of two-wheel robot provided by the present invention.
Label declaration in above-mentioned accompanying drawing:
1-screw mandrel fixes seat, 2-lead screw motor, 3-screw mandrel, 4-forward horizontal stand plate, 5-the first rotary angle transmitter, 6-front idler wheel,
7-the first speed probe, 8-set of cells, 9-controller, 10-the first gyroscope, 11-reducing motor, 12-motor cabinet, 13-are even
Connect after block, 14-the second gyroscope, 15-idle pulley after wobble-plate, 16-the second rotary angle transmitter, 17-, 18-the second speed probe,
19-environment detection sensor.
Detailed description of the invention
For making the purpose of the present invention, technical scheme and advantage clearer, clear and definite, develop simultaneously embodiment pair referring to the drawings
The present invention is described further.
TOF (Time of flight writes a Chinese character in simplified form, the meaning into the flight time of the literal translating) depth camera that this programme is used
System utilizes single chip CMOS technology direct detection 3D information, and system bulk is small and exquisite, and scanning speed is fast, can be applicable to game and consumption
The fields such as electronics, multimedia and advertisement, mobile robot, factory automation, safety monitoring, automobile assistant driving.This system
Principle is to use the imaging of time-of-flight method 3D, i.e. by continuously transmitting light pulse to target, then receives from object with sensor
The light returned, obtains object distance by flight (coming and going) time of detecting optical pulses.This technology is with 3D laser sensing
Device principle is substantially similar, and only 3D laser sensor is point by point scanning, and TOF camera is then simultaneously obtain entire image deep
Degree information.
Embodiment 1:
As shown in Figure 1, Figure 2 and Figure 3, a kind of dynamic equilibrium two-wheel robot automatically controlled, mainly include forward horizontal stand plate
4, rear wobble-plate 15, front idler wheel 6, rear idle pulley 17, screw mandrel 3, screw mandrel fix seat 1, lead screw motor 2, reducing motor 11, contiguous block
13, sensor group, set of cells 8 and controller 9.Described front idler wheel 6 is connected with forward horizontal stand plate 4, can rotate around forward horizontal stand plate 4, institute
State rear idle pulley 17 to be connected with rear wobble-plate 15, can rotate around rear wobble-plate 15.Described screw mandrel 3 is fixed seat 1 by screw mandrel and is arranged on
On forward horizontal stand plate 4, the axis of screw mandrel 3 is vertical with the direction of advance of robot, and described lead screw motor 2 is arranged on screw mandrel 3, with silk
Bar 3 is in transmission connection, and lead screw motor 2 can be made to move back and forth on screw mandrel 3 by the rotating of lead screw motor 2, due to lead screw motor 2
Self, with certain weight, when lead screw motor 2 moves on screw mandrel 3, can change the position of centre of gravity of forward horizontal stand plate 4, before making
Balance plate 4 tilts to the left or to the right, thus realizes being reached the purpose of turning by the center of gravity changing forward horizontal stand plate 4.Described deceleration
Motor 11 is arranged on rear wobble-plate 15, and contiguous block 13 and set of cells 8 are arranged on forward horizontal stand plate 4, described reducing motor 11
Output shaft is fixed with contiguous block 13, makes forward horizontal stand plate 4 set up with rear wobble-plate 15 and is connected, and shakes under the driving of reducing motor 11
Pendulum advances.Described controller 9 is arranged on forward horizontal stand plate 4, respectively with lead screw motor 2, reducing motor 11, sensor group and battery
Group 8 connection, is used for controlling reducing motor 11, receives the feedback data of sensor group.
As the preferred version of the present invention, described screw mandrel 3 and lead screw motor 2 are installed in the bottom position of forward horizontal stand plate 4,
Such it is designed with two effects: one is to increase the weight of forward horizontal stand plate 4 so that it is center of gravity reduces, and improves front idler wheel 6 and ground
Frictional force, be effectively improved two-wheel robot turn stability；Two is that the mobile of lead screw motor 2 can change forward horizontal stand plate 4
Center of gravity, makes forward horizontal stand plate 4 tilt to the left or to the right, and after reducing motor 11 drives, wobble-plate 15 is the most permissible toward contrary direction inclination
Realize cornering operation；Three is by controlling the lead screw motor 2 position on screw mandrel 3, it is possible to control the inclined of forward horizontal stand plate 4 center of gravity
Shifting amount, thus control the radius of turn of two-wheel robot, the turning efficiency of two-wheel robot can be effectively improved so that it is narrow
Region can move freely, before the amplitude of fluctuation of reducing motor 11 can also being coordinated to increase by lead screw motor 2 during straight ahead
The power entered, simultaneously can also be time-consuming, improves the control efficiency of controller 9.
Further, described screw mandrel 3 and lead screw motor 2 can also be arranged on rear wobble-plate 15, it is achieved identical function.
Concrete, described sensor group includes the first gyroscope 10 and the second gyroscope for monitoring robot posture
14, it is used for measuring the first rotary angle transmitter 5 of idle pulley steering angle and the second rotary angle transmitter 16 and for measuring idle pulley speed
First speed probe 7 and the second speed probe 18 of degree.Described first gyroscope 10 and the second gyroscope 14 are respectively mounted
On forward horizontal stand plate 4 and rear wobble-plate 15, operationally, for monitoring the roll attitude of two-wheel robot.Described first corner
Sensor 5 and the second rotary angle transmitter 16 be separately mounted to the junction of forward horizontal stand plate 4 and front idler wheel 6 and rear wobble-plate 15 with after
The junction of idle pulley 17, monitoring front idler wheel 6 and the rotational angle of rear idle pulley 17, for the auxiliary judgment turned.Described first turn
Speed sensor 7 and the second speed probe 18 are separately mounted in the rotating shaft of front idler wheel 6 and rear idle pulley 17, detect front idler wheel 6 He
The rotating speed of rear idle pulley 17, is used for judging speed and the rotational frequency of adjustment reducing motor 11 that robot is current.Described controller 9
Respectively with first gyroscope the 10, second gyroscope the 14, first rotary angle transmitter the 5, second rotary angle transmitter the 16, first revolution speed sensing
Device 7 and the second speed probe 18 connect, and receive the feedback data of sensor, for planning the motion path of two-wheel robot,
And coordinate lead screw motor 2 and the output of reducing motor 11.
Further, in order to make two-wheel robot freely and efficiently can move in narrow zone, described sensor group is also
Including for location and the environment detection sensor 19 of navigation, described environment detection sensor 19 is arranged on the upper of forward horizontal stand plate 4
Face, is connected with controller 9, and this environment detection sensor 19 is positioned at the front end of robot, it is simple to quickly identify the barrier of direction of advance
Hinder thing.The barrier that this environment detection sensor 19 is mainly used in around sniffing robot, by analysis and the place of controller 9
Reason, it is thus achieved that be available for the region of movement in this environment, and the position that robot itself is in moving area positions, and passes through
Analyze and planning thus obtain robot optimal path of movement in this region further.As the preferred version of the present invention,
This environment detection sensor 19 can use the depth camera information to surrounding, and feeds back at controller 9
Process.
As the preferred version of the present invention, described screw mandrel 3, lead screw motor 2, reducing motor 11, contiguous block 13 and set of cells 8
Being installed in the lower section of robot, so design reduces the center of gravity of complete machine, is conducive to improving two-wheel robot under steam
Stability and balance.
Further, the installation site of described reducing motor 11 and contiguous block 13 is interchangeable, equally realizes identical
Function, plays identical effect.
As the preferred version of the present invention, the steer axis of described front idler wheel 6 and forward horizontal stand plate 4 planar tilt, described after
The steer axis of idle pulley 17 and rear wobble-plate 15 planar tilt.When this incline structure realizes wobble-plate swing, idle pulley is oppressed
Rotate to specific direction, the rotational efficienty of two-wheel robot can be improved.
As the preferred version of the present invention, described reducing motor 11 can use stable, control accuracy is high, overload-resistant
The servomotor that ability is strong.
As shown in Figure 4, the invention also discloses the control method of a kind of dynamic equilibrium two-wheel robot automatically controlled, should
Method mainly comprises the steps:
Step S1: two-wheel robot electrifying startup, lead screw motor 2 and reducing motor 11 reset make forward horizontal stand plate 4 and after shake
Wobble plate 15 returns to level.
Step S2: controller 9 and sensor communication also detect all the sensors (gyroscope, rotary angle transmitter, revolution speed sensing
Device, environment detection sensor 19) the most normal, if breaking down, lead screw motor 2 and reducing motor 11 do not work, until therefore
Till barrier is repaired.
Step S3: servomotor and lead screw motor 2 start, and according to the instruction works of controller 9, make two-wheel robot protect
Maintain an equal level weighing apparatus, performs advance, acceleration and cornering operation.
Wherein, described step S3 also comprises the steps:
Step S31: when controller 9 detects that present speed is less than setting value, then adjust the output of reducing motor 11, add
The wobble frequency of fast two-wheel robot and raising amplitude of fluctuation, improve the speed of two-wheel robot with this.Meanwhile, screw mandrel is passed through
Motor 2 adjusts the position of centre of gravity of forward horizontal stand plate 4 to coordinate reducing motor 11, contributes to two-wheel robot and realizes accelerating faster.
Step S32: when environment detection sensor 19 detects that there is barrier in front, when needing to perform cornering operation, controls
Device 9 then drives lead screw motor 2 to move to the side turned to, and makes forward horizontal stand plate 4 to turning lopsidedness, shakes after driven by servomotor
Wobble plate 15 tilts to the opposite side that turns to, and locks servomotor and make the attitude of forward horizontal stand plate 4 and rear wobble-plate 15 keep certain
Time, terminate until turning.
Work process and the principle of the present invention be: two-wheel robot provided by the present invention first passes through environment detection sensing
Device 19 detects and collects the information of surrounding, and these signals are analyzed and processed, and generates movement optimum under current environment
Path；Then controller 9 drives forward horizontal stand plate 4 and rear wobble-plate 15 to swing toward contrary direction by reducing motor 11, machine
People keeps balance and travels forward；When needs are turned, controller 9 drives lead screw motor 2 to move to the left or to the right, makes forward horizontal stand
Plate 4 tilts to the left or to the right, reducing motor 11 coordinate lead screw motor 2 to drive after wobble-plate 15 inclined in opposite directions lock
The section time, until after robot completes to turn, lead screw motor 2 and reducing motor 11 just reset.The simple in construction of the present invention, control
Clear logic, has autobalance, the high and mobile advantage flexibly of turning efficiency.
Embodiment 2:
As shown in Figures 1 to 3, self-balancing two-wheeled two-wheel robot is by forward horizontal stand plate 4, lead screw motor 2, and screw mandrel 3, screw mandrel is fixed
Seat 1, rear wobble-plate 15, front idler wheel 6, rear idle pulley 17, reducing motor 11, set of cells 8, motor cabinet 12, contiguous block 13, idle pulley rotating speed
Sensor, idle pulley steering angle sensor, environment detection sensor 19 and controller 9 etc. form.
Forward horizontal stand plate 4 and rear wobble-plate 15 fixedly mount front idler wheel 6 and rear idle pulley 17 separately below.Front idler wheel 6 and rear lazy
The steering spindle of wheel 17 tilts an angle (out of plumb) with the plate face of forward horizontal stand plate 4 and rear wobble-plate 15 respectively.Reducing motor 11
It is arranged on the plate face of forward horizontal stand plate 4 by motor cabinet 12.By reducing motor 11 between forward horizontal stand plate 4 and rear wobble-plate 15
Axle connects, it is possible to the axis around reducing motor 11 makees relative torsion, reducing motor 11 controlled by controller 9 and realize,
And then realize the advance of two-wheel robot, turning and dynamic equilibrium.Lead screw motor 2 is installed in forward horizontal stand plate 4 bottom surface, utilizes screw mandrel electricity
Machine 2 change in location adjusts the attitude of balance plate, coordinates reducing motor 11 to realize two-wheel robot simultaneously and advances, turns and dynamic
Balance.It is each that forward horizontal stand plate 4 and rear wobble-plate 15 are respectively mounted with that gyroscope detects on its attitude information, front idler wheel 6 and rear idle pulley 17
Speed probe is installed, picks up the rotary speed of the roller of idle pulley 17 before and after survey respectively.The steering angle sensing of idle pulley 17 front and back
Device detects the steering angle of before and after's idle pulley 17, the most around angle position during rotation respectively.Environment detection sensor 19 detects
Ambient condition information.Controller 9 receives these heat transfer agents, by reducing motor 11 control after wobble-plate 15 wobble amplitude and
Frequency, and then vacillated now to the left, now to the right by idle pulley 17 after the drive of rear wobble-plate 15, provide advance, turning power for two-wheel robot, and
Keep dynamic equilibrium.
Screw mandrel 3 is fixed seat 1 by screw mandrel and is arranged on bottom forward horizontal stand plate 4, and lead screw motor 2 reciprocating linear on screw mandrel 3 moves
Dynamic, two-wheel robot changes forward horizontal stand plate 4 attitude by adjusting lead screw motor 2 position of centre of gravity.Certainly, lead screw motor 2 can also
Fix seat 1 by screw mandrel 3 and screw mandrel to be arranged on rear wobble-plate 15, it is achieved same function.Header board gyroscope and back plate gyro
Instrument is separately fixed on forward horizontal stand plate 4 and rear wobble-plate 15.Reducing motor 11 is arranged on forward horizontal stand plate 4 times by motor cabinet 12
Side, to reduce the center of gravity of complete machine, the beneficially stability of two-wheel robot and the control of balance.Contiguous block 13 shakes after being fixed on
In wobble plate 15.Forward horizontal stand plate 4 and rear wobble-plate 15 are connected with each other with the form of series connection by reducing motor 11 and contiguous block 13, shape
Become relatively rotating around motor shaft.Certainly, reducing motor 11 can also be arranged on by motor cabinet 12 and connect on rear wobble-plate 15
Connect block 13 to be fixed on forward horizontal stand plate 4, it is achieved same function.Before and after front and back idle pulley 17 steering angle sensor is tightly placed in respectively
On idle pulley 17 and wheel shaft, shell is also separately mounted on before and after's idle pulley 17 support, the steering angle of perception idle pulley runner.The most lazy
Take turns 17 speed probes to be respectively arranged on before and after's idle pulley 17 rotating disk, the rotating speed of perception idle pulley.Front and back idle pulley 17 fixes axle respectively
Fixing be connected with forward horizontal stand plate 4 and rear wobble-plate 15, its fixing axle tilts an angle (out of plumb) with wobble-plate respectively.Environment
Detection sensor 19 is arranged on forward horizontal stand plate 4, is used for detecting surrounding.
In conjunction with shown in Fig. 1 to Fig. 4, the signal of detection signal, front and back the idle pulley steering angle sensor of front and rear panel gyroscope
Front and back the detection signal of the signal of idle pulley steering angle sensor passes to controller 9 as feedback information.Controller 9 accepts this
After a little signals, control speed and direction that reducing motor 11 rotates, to control direction and speed that lead screw motor 2 moves simultaneously.From
And the attitude and the frequency of reciprocally swinging of rear wobble-plate 15, amplitude, direction to forward horizontal stand plate 4 is adjusted, it is achieved twin turbo
The actions such as device people advance and turning, and keep balance.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-described embodiment
Limit, the change made under other any spirit without departing from the present invention and principle, modify, substitute, combine, simplify,
All should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (9)
1. one kind automatically controls dynamic equilibrium two-wheel robot, it is characterised in that include forward horizontal stand plate, rear wobble-plate, front lazy
Wheel, rear idle pulley, screw mandrel, screw mandrel fix seat, lead screw motor, reducing motor, contiguous block, sensor group, set of cells and controller；Institute
Stating front idler wheel to be connected with forward horizontal stand plate, can rotate around forward horizontal stand plate, described rear idle pulley is connected with rear wobble-plate, can be around rear wobble-plate
Rotate；Described screw mandrel is fixed seat by screw mandrel and is arranged on forward horizontal stand plate, vertical with the direction of advance of robot, described screw mandrel electricity
Machine is arranged on screw mandrel, can move back and forth along screw mandrel, and realizes cornering operation by the center of gravity changing forward horizontal stand plate；Described subtract
Speed motor and set of cells are arranged on forward horizontal stand plate, and contiguous block is arranged on rear wobble-plate, the output shaft of described reducing motor with
Contiguous block is fixed, and makes forward horizontal stand plate set up with rear wobble-plate and is connected, and waves advance under the driving of reducing motor；Described control
Device is arranged on forward horizontal stand plate, is connected with lead screw motor, reducing motor, sensor group and set of cells respectively；
Described sensor group includes turning for the first gyroscope of monitoring robot posture and the second gyroscope, for measuring idle pulley
To the first rotary angle transmitter of angle and the second rotary angle transmitter and for measure idle pulley speed the first speed probe and
Second speed probe；Described first gyroscope and the second gyroscope are separately mounted on forward horizontal stand plate and rear wobble-plate；Described
First rotary angle transmitter and the second rotary angle transmitter be separately mounted to the junction of forward horizontal stand plate and front idler wheel and rear wobble-plate with
The junction of rear idle pulley；Described first speed probe and the second speed probe are separately mounted to turning of front idler wheel and rear idle pulley
On axle；Described controller respectively with the first gyroscope, the second gyroscope, the first rotary angle transmitter, the second rotary angle transmitter, first
Speed probe and the second speed probe connect, and receive the feedback data of sensor.
The dynamic equilibrium two-wheel robot automatically controlled the most according to claim 1, it is characterised in that described sensor group
Also include that described environment detection sensor is arranged on forward horizontal stand plate, with control for location and the environment detection sensor of navigation
Device processed connects.
The dynamic equilibrium two-wheel robot automatically controlled the most according to claim 2, it is characterised in that described environment detection
Sensor is depth camera.
The dynamic equilibrium two-wheel robot automatically controlled the most according to claim 1, it is characterised in that described screw mandrel, silk
Bar motor, reducing motor, contiguous block and set of cells are installed in the lower section of two-wheel robot.
The dynamic equilibrium two-wheel robot automatically controlled the most according to claim 1, it is characterised in that described reducing motor
Interchangeable with the installation site of contiguous block.
The dynamic equilibrium two-wheel robot automatically controlled the most according to claim 1, it is characterised in that described front idler wheel
Steer axis tilts with forward horizontal stand board plane, the steer axis of described rear idle pulley and rear wobble-plate planar tilt.
7. according to the dynamic equilibrium two-wheel robot of automatically controlling described in claim 1 to 6, it is characterised in that described deceleration
Motor is set to servomotor.
8. the control method of one kind automatically controls dynamic equilibrium two-wheel robot, it is characterised in that comprise the steps:
Step S1: two-wheel robot electrifying startup, lead screw motor and reducing motor reset, and make forward horizontal stand plate and rear wobble-plate be in
Level；
Step S2: detection all the sensors is the most normal, if breaking down, quits work；
Step S3: reducing motor and lead screw motor start, according to the instruction works of controller, makes two-wheel robot keep balance also
Perform advance, acceleration and turning action.
The dynamic equilibrium two-wheel robot automatically controlled the most according to claim 8, it is characterised in that described step S3 is also
Comprise the steps:
Step S31: if present speed is less than setting value, controller then drives servomotor to accelerate wobble frequency and amplitude of fluctuation,
Two-wheel robot is made to accelerate to advance；
Step S32: if desired turn, controller then drives lead screw motor to move to the side turned to, and makes forward horizontal stand plate to turning
Lopsidedness, after driven by servomotor, wobble-plate tilts and locks servomotor until completing turning action to opposite side.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610828626.0A CN106249741A (en) | 2016-09-18 | 2016-09-18 | A kind of dynamic equilibrium two-wheel robot automatically controlled and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610828626.0A CN106249741A (en) | 2016-09-18 | 2016-09-18 | A kind of dynamic equilibrium two-wheel robot automatically controlled and control method |
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| CN109591938A (en) * | 2017-09-28 | 2019-04-09 | 陈瑞堂 | Intelligent electric balance car and its intelligent controlling device |
| CN109693747A (en) * | 2017-10-20 | 2019-04-30 | 深圳市亮点智控科技有限公司 | A kind of swing type balanced robot and balanced robot's control method |
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