CN110001839A - A kind of self-balancing mobile robot - Google Patents
A kind of self-balancing mobile robot Download PDFInfo
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- CN110001839A CN110001839A CN201910157605.4A CN201910157605A CN110001839A CN 110001839 A CN110001839 A CN 110001839A CN 201910157605 A CN201910157605 A CN 201910157605A CN 110001839 A CN110001839 A CN 110001839A
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- precursor
- rear body
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- self
- mobile robot
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Classifications
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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
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to mobile robot technology fields, more specifically, it is related to a kind of self-balancing mobile robot, including precursor and rear body, the precursor and rear body are rotatablely connected, and are each provided at least one universal wheel on the precursor and rear body, are further included drive module, the drive module is separately connected precursor and rear body, controls precursor and rear body with respect to reciprocally swinging；For adjusting the balance module of robot balance, the balance module is arranged in precursor or rear body；For acquiring the sensing module of motion information, the sensing module is arranged in precursor or rear body；Controller, the controller are electrically connected with balance module, drive module and sensing module；Power supply, the power supply are electrically connected with controller, drive module, balance module and sensing module.Move active and intelligent, the ability with dynamic self-balance and autonomous.
Description
Technical field
The present invention relates to mobile robot technology fields, more particularly, to a kind of self-balancing mobile robot.
Background technique
Currently, although occurring various two wheel mobile robots on the market, the mobile machine of existing two-wheeled
The essential characteristic of people is all two wheels in left and right arrangement, and the axis collinear of two wheels.Currently, wheeled coaxial mobile machine
People has the characteristics that structure is simple, at low cost, capacity usage ratio is high, is one of important directions of robot research.But it is wheeled
It is difficult to adapt to encounter situations such as road is narrow, space is limited, road conditions are complicated during coaxial mobile work robot.
Summary of the invention
The present invention in order to overcome at least one of the drawbacks of the prior art described above, provides a kind of self-balancing mobile robot,
Move active and intelligent, the ability with dynamic self-balance and autonomous.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of self-balancing mobile robot, including it is preceding
Body and rear body, the precursor and rear body are rotatablely connected, and are each provided at least one universal wheel on the precursor and rear body,
It further include drive module, the drive module is separately connected precursor and rear body, controls precursor and rear body is relatively past
Physical pendulum is dynamic；
For adjusting the balance module of machine balance, the balance module is arranged in precursor or rear body；
For acquiring the sensing module of motion information, the sensing module is arranged in precursor or rear body；
Controller, the controller are electrically connected with balance module, drive module and sensing module；
Power supply, the power supply are electrically connected with controller, drive module, balance module and sensing module.
In the present apparatus, precursor and rear body are driven by drive module, keep precursor and rear body relatively regularly past
Physical pendulum is dynamic, allows the robot to automatically snakelike forward travel by swinging, and during the motion, sensing module is used for machine
The motion information of people is acquired, and controller sends out balance module after collecting the sensing data of sensing module that is disposed
Control instruction is out to adjust the moving equilibrium of machine, the ability for making robot have dynamic self-balance and autonomous.
Further, the drive module includes that torsion motor and axle bed, the torsion motor and axle bed divide respectively
It opens and is fixed on precursor and rear body, the output shaft of the torsion motor is connect with axle bed.The output shaft for reversing motor turns
The dynamic rotation for driving the precursor connecting with axle bed or rear body to carry out within the scope of certain angle, to realize between precursor and rear body
Opposite reciprocally swinging, to drive robot to advance.
Further, the balance module includes flywheel and fly-wheel motor, and the fly-wheel motor is electrically connected with controller
It connects, the fly-wheel motor is connect with flywheel.Wherein, the rotation axis between the rotation axis of flywheel and precursor and rear body is flat
Row, flywheel are mounted on the output shaft of fly-wheel motor, and fly-wheel motor starting drives flywheel turns, and robot is kept using angular momentum
Permanent principle by regulating and controlling revolving speed and the starting direction of fly-wheel motor, and then controls the rotary acceleration size and rotation of flywheel
Turn direction, to be adjusted to robot balance.
Further, the sensing module includes speed measuring coder, angle-position encoder, attitude transducer and visual sensing
Device, at least one visual sensor are set on precursor or rear body, and the attitude transducer is respectively arranged at precursor and rear body
On, the speed measuring coder and angle-position encoder are set on universal wheel.Speed measuring coder is used to measure the revolving speed of universal wheel, turns
Angular encoder is used to measure the corner of universal wheel, and passes through the athletic posture of attitude transducer real-time measurement precursor and rear body.
In addition, the visual sensor of setting can acquire the information of robot, above-mentioned as avoidance and the needs of navigation
Sensor information collected is all transmitted in controller, and carries out integration processing to data by controller, coordinates driving
Module and balance module, so that robot has the ability of dynamic self-balance and autonomous.
Further, the universal wheel includes wheel carrier and idler wheel, and the idler wheel is rotatably arranged on wheel carrier, described
Wheel carrier and precursor or rear body are rotatablely connected.
Further, between the pivot center between the pivot center of the wheel carrier and precursor (11) He Houti (1)
Angle is 23 °~27 °.
Further, the power supply, torsion motor and balance module are co-located on precursor or rear body, specifically
Ground, power supply and balance module are set to precursor or rear body close to the side of rotating joint.Power supply preferably uses mobile power source, can
Disassembly is mounted in robot, be can be convenient to disassemble power supply when needing to charge and be charged, replacement maintenance
It is more convenient, in addition, the medium position that they are set to robot is attached since the quality of power supply and balance module is larger
Whole stability closely can be improved.
Further, the described torsion motor is set to the near the ground of precursor or rear body.It is larger to reverse motor quality, therefore will
The integral central near the ground that can reduce robot is arranged in it, moves more steady.
It further, further include protection cap (5) for separating flywheel and external environment, the flywheel setting is being protected
In protecting cover.Flywheel is isolated from the outside and comes by protection cap, and the safety of protection staff improves the safety of robot.
Further, the visual sensor, which upwardly extends, is set on precursor or the remote ground of rear body close to rotation connection
The side of point, the visual sensor are set on the precursor or rear body of installation balance module.The setting can be such that vision passes
Sensor keeps relative stability, and can preferably acquire the environment around robot, in addition the setting can also reduce visual sensor
Setting quantity, robot can be carried out by visual information by one universal spherical visual sensor of setting and be adopted
Collection, visual sensor, which upwardly extends setting, makes it be higher by remaining equipment installed on precursor and rear body, can not in order to avoid being blocked
Ambient condition information is acquired.
Compared with prior art, beneficial effect is: robot movement is active and intelligent, has autonomous and dynamic certainly flat
The ability of weighing apparatus, can be used for small space, in addition, robot is equipped with sensing module, can motion state to robot and
Surrounding enviroment carry out data acquisition, therefore are adapted to different road conditions.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is the schematic diagram of half disassembly status of protection cap of the present invention；
Fig. 3 is the schematic diagram of the complete disassembly status of protection cap of the present invention.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing
Illustrate, should not be understood as the limitation to this patent.
As shown in Figure 1-3, a kind of self-balancing mobile robot, including precursor 11 and rear body 1, in precursor 11 and rear body 1
Portion position is mutually rotatablely connected, and is respectively arranged at least one universal wheel, in the present embodiment, precursor on precursor 11 and rear body 1
11 and rear body 1 be respectively arranged a universal wheel, two universal wheels are not coaxial.
In robot, drive module is provided with for power source drive precursor 11 and rear body 1 with respect to reciprocally swinging, is driven
Dynamic model block can install and use demand setting on precursor 11 or rear body 1 according to actual, specifically, in the present embodiment, driving
Module includes torsion motor 14 and axle bed 13, and torsion motor 14 is fixedly mounted on rear body 1 by fixed frame 7, and axle bed 13 is fixed
It is arranged on precursor 11, the output shaft of torsion motor 14 is fixedly connected with axle bed 13, reverses 14 output shaft of motor in some cycles
Interior reciprocation cycle positive and negative rotation, precursor 11 do positive and negative rotation movement around the axis of torsion motor 14, and precursor 11 and rear body 1 are opposite
Reciprocally swinging realizes that the twisting of robot is advanced and turning, advanced speed can be by adjusting the rotation speed of torsion motor 14
Rate is adjusted.
In addition, the dynamic self-balance in order to realize robot, guarantees the moving equilibrium of robot during the motion with suitable
Different pavement behavior is answered, therefore is also provided with balance module, sensing module and controller 9 in robot, each sensor is to machine
Real-time motion data and perimeter data when device people moves are acquired, and the collected related data of institute is transmitted to controller
It is handled in 9, controller 9 issues control instruction after collecting and having handled each data, to balance module to adjust robot
Moving equilibrium can also be timely by balance module even if robot encounters surface conditions and changes or External force interference
The balance of robot is adjusted, guarantees that it will not fall partially.It is controlled in addition, controller 9 can also send drive module simultaneously
It instructs so that robot twisting is advanced.
Specifically, in the present embodiment, sensing module includes speed measuring coder 16, angle-position encoder 10, attitude transducer 8
With visual sensor 6, at least one visual sensor 6 is set on precursor 11 or rear body 1, and the attitude transducer 8 is distinguished
It is set on precursor 11 and rear body 1, the speed measuring coder 16 and angle-position encoder 10 are set on universal wheel.Speed measuring coder
16 for measuring the revolving speed of universal wheel, and angle-position encoder 10 is used to measure the corner of universal wheel, and real by attitude transducer 8
When measure precursor 11 and rear body 1 athletic posture.In addition, the visual sensor 6 of setting can as avoidance and the needs of navigation
To acquire the information of robot, the sensor information collected is all transmitted in controller 9, and passes through control
Device 9 processed carries out integration processing to data, coordinates drive module and balance module, so that robot is with dynamic self-balance and certainly
The ability of main movement.Visual sensor 6, which upwardly extends, to be set on precursor 11 or the rear remote ground of body 1 close to the one of rotating joint
Side.The setting can reduce the quantity setting of visual sensor 6, can be incited somebody to action by one universal spherical visual sensor 6 of setting
Robot carries out visual information acquisition, and visual sensor 6, which upwardly extends setting, is higher by it on precursor 11 and rear body 1
Remaining equipment of installation, in case ambient condition information can not be acquired by being blocked.
Balance module includes flywheel 4 and fly-wheel motor 3, and the fly-wheel motor 3 is electrically connected with controller 9, and described flies
Turbin generator 3 is connect with flywheel 4, and the rotation axis of flywheel 4 is parallel with the rotation axis between precursor 11 and rear body 1.Flywheel 4 is installed
On the output shaft of fly-wheel motor 3, the starting of fly-wheel motor 3 drives flywheel 4 to rotate, and robot utilizes the original of the conservation of angular momentum
Reason by regulating and controlling rotation and the direction of rotation of fly-wheel motor 3, and then controls rotation and the direction of rotation of flywheel 4, thus to machine
People's balance controls.
In the present embodiment, universal wheel includes wheel carrier 15 and idler wheel 12, and the idler wheel 12 is rotatably arranged on wheel carrier 15,
The wheel carrier 15 and precursor 11 or rear body 1 are rotatablely connected, the rotary shaft between the pivot center and precursor and rear body of wheel carrier 15
Angle between line is 23 °~27 °.Above-mentioned speed measuring coder 16 and angle-position encoder 10 is arranged on wheel carrier 15 to be used for
Measure the revolving speed of idler wheel 12 and the corner of wheel carrier 15.
As one of the present embodiment preferred arrangement, power supply 2, torsion motor 14 and balance module are arranged jointly
On precursor 11 or rear body 1.Power supply 2 and balance module are set to precursor 11 or rear body 1 close to the side of rotating joint.Power supply
2 preferably use mobile power source, are removably mounted in robot, are can be convenient under dismantling power supply 2 when needing to charge
It charges, replacement maintenance is also more convenient, in addition, set them since the quality of power supply 2 and balance module is larger
Whole stability nearby can be improved in the medium position for being placed in robot.It reverses motor 14 and is set to the close of precursor 11 or rear body 1
Ground.It is larger to reverse 14 mass of motor, therefore is disposed at the whole center of gravity near the ground that can reduce robot, improves machine
People's stability moves more steady.
In order to guarantee the safety of user, protection cap 5 is also provided in robot, flywheel 4 is arranged in protection cap 5
It is interior.Flywheel 4 is isolated from the outside and comes by protection cap 5, and the safety of protection staff improves the safety of robot.
In robot, precursor 11 and rear body 1 are driven by reversing motor 14, make 1 phase of precursor 11 and rear body
To regularly reciprocally swinging, automatically snakelike forward travel, during the motion, sensing module are allowed the robot to by swinging
It is acquired for the motion information to robot, controller 9 is right after collecting the sensing data of sensing module that is disposed
Balance module issues control instruction to adjust the moving equilibrium of machine, and robot is made to have the energy of dynamic self-balance and autonomous
Power.Robot has the characteristics that occupied area is small and it is active and intelligent to move, and can be used for narrow space, furthermore, this machine
People's traveling forms of motion is special, can be used as Interesting toy.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (10)
1. a kind of self-balancing mobile robot, including precursor (11) He Houti (1), the precursor (11) He Houti (1) rotation
It connects, is each provided at least one universal wheel on the precursor (11) He Houti (1), it is characterised in that:
It further include drive module, the drive module is separately connected precursor (11) He Houti (1), controls precursor (11) He Houti
(1) opposite reciprocally swinging；
For adjusting the balance module of machine balance, the balance module setting is in precursor (11) or rear body (1)；
For acquiring the sensing module of motion information, the sensing module setting is in precursor (11) or rear body (1)；
Controller (9), the controller (9) are electrically connected with balance module, drive module and sensing module；
Power supply (2), the power supply (2) are electrically connected with controller (9), drive module, balance module and sensing module.
2. a kind of self-balancing mobile robot according to claim 1, which is characterized in that the drive module includes turning round
Rotating motor (14) and axle bed (13), the torsion motor and axle bed are separately fixed at precursor (11) He Houti (1) respectively
On, the output shaft of the torsion motor (14) is connect with axle bed (13).
3. a kind of self-balancing mobile robot according to claim 1, which is characterized in that the balance module includes flying
Wheel (4) and fly-wheel motor (3), the fly-wheel motor (3) are electrically connected with controller (9), the fly-wheel motor (3) and flywheel
(4) it connects.
4. a kind of self-balancing mobile robot according to claim 1, which is characterized in that the sensing module includes surveying
Fast encoder (16), angle-position encoder (10), attitude transducer (8) and visual sensor (6), at least one visual sensor
(6) it is set on precursor (11) or rear body (1), the attitude transducer (8) is respectively arranged at precursor (11) He Houti (1)
On, the speed measuring coder (16) and angle-position encoder (10) are set on universal wheel.
5. a kind of self-balancing mobile robot according to claim 1, which is characterized in that the universal wheel includes wheel carrier
(15) be rotatably arranged on wheel carrier (15) with idler wheel (12), the idler wheel (12), the wheel carrier (15) and precursor (11) or
Body (1) is rotatablely connected afterwards.
6. a kind of self-balancing mobile robot according to claim 5, which is characterized in that the rotation of the wheel carrier (15)
The angle of pivot center between axis and precursor (11) He Houti (1) is 23 °~27 °.
7. a kind of self-balancing mobile robot according to claim 1, which is characterized in that the power supply (2), torsion electricity
Machine (14) and balance module are co-located on precursor (11) or rear body (1).
8. a kind of self-balancing mobile robot according to claim 2, which is characterized in that the torsion motor (14) is set
In the near the ground of precursor (11) or rear body (1).
9. a kind of self-balancing mobile robot according to claim 3, which is characterized in that further include for by flywheel (4)
The protection cap (5) separated with external environment, the flywheel (4) setting is in protection cap (5).
10. a kind of self-balancing mobile robot according to claim 4, which is characterized in that the visual sensor (6)
It upwardly extends and is set on precursor (11) or the remote ground of rear body (1) close to the side of rotating joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910157605.4A CN110001839A (en) | 2019-03-01 | 2019-03-01 | A kind of self-balancing mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910157605.4A CN110001839A (en) | 2019-03-01 | 2019-03-01 | A kind of self-balancing mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN110001839A true CN110001839A (en) | 2019-07-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910157605.4A Pending CN110001839A (en) | 2019-03-01 | 2019-03-01 | A kind of self-balancing mobile robot |
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| Country | Link |
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| CN (1) | CN110001839A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116553450A (en) * | 2023-07-11 | 2023-08-08 | 江苏亚雄减速机械有限公司 | Intelligent regulation formula tilting hydraulic elevator is with preventing unbalanced load device |
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| CN106249741A (en) * | 2016-09-18 | 2016-12-21 | 广东工业大学 | A kind of dynamic equilibrium two-wheel robot automatically controlled and control method |
| CN106627894A (en) * | 2016-12-15 | 2017-05-10 | 广州中国科学院先进技术研究所 | Two-wheeled longitudinal self-balancing robot and control system |
| CN107728635A (en) * | 2017-11-13 | 2018-02-23 | 北京赛曙科技有限公司 | A kind of automatic balancing arrangement and method of motor cycle type robot |
| CN209795696U (en) * | 2019-03-01 | 2019-12-17 | 广东工业大学 | self-balancing mobile robot |
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2019
- 2019-03-01 CN CN201910157605.4A patent/CN110001839A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105068541A (en) * | 2015-08-31 | 2015-11-18 | 广州中国科学院先进技术研究所 | Self-balancing two-wheel robot |
| CN105539679A (en) * | 2016-02-19 | 2016-05-04 | 桂林电子科技大学 | Pull type multi-section modularized bicycle robot mechanism |
| CN106249741A (en) * | 2016-09-18 | 2016-12-21 | 广东工业大学 | A kind of dynamic equilibrium two-wheel robot automatically controlled and control method |
| CN106627894A (en) * | 2016-12-15 | 2017-05-10 | 广州中国科学院先进技术研究所 | Two-wheeled longitudinal self-balancing robot and control system |
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| CN116553450A (en) * | 2023-07-11 | 2023-08-08 | 江苏亚雄减速机械有限公司 | Intelligent regulation formula tilting hydraulic elevator is with preventing unbalanced load device |
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