CN202351703U - Single-wheel self-balancing robot system - Google Patents
Single-wheel self-balancing robot system Download PDFInfo
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- CN202351703U CN202351703U CN2011203824310U CN201120382431U CN202351703U CN 202351703 U CN202351703 U CN 202351703U CN 2011203824310 U CN2011203824310 U CN 2011203824310U CN 201120382431 U CN201120382431 U CN 201120382431U CN 202351703 U CN202351703 U CN 202351703U
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Abstract
The utility model relates to a single-wheel self-balancing robot system, belonging to the technical field of intelligent robots, and particularly relates to a static unbalance robot capable of performing movement balance control independently so as to ride a monocycle independently. The single-wheel self-balancing robot system of the utility model comprises a mechanical body and an electric control system, wherein a vertically arranged flywheel capable of moving on the left and right sides is arranged on the upper part of the mechanical body for realizing horizontal balance control of the robot; a rotatable and horizontally arranged flywheel is arranged at the middle part of the mechanical body for realizing the steering of the robot; a single wheel capable of rotating back and forth is arranged on the lower part of the mechanical body for realizing the back-and-forth balance walking of the robot; and the electric control system is composed of a drive motor, a movement controller, and a posture sensor and a servo drive controller which are both connected with the movement controller. The system of the utility model has the advantages of providing a control platform relating to the fields of control science and intelligent control beside robotics, thereby meeting the demands of scientific research and teaching of multiple subjects.
Description
Technical field
The utility model belongs to category of intelligent robots, especially a kind ofly can independently carry out moving equilibrium control and then the wheelbarrow of independently riding is realized multi-functional mobile equilibrium robot system.
Background technology
Robotics is as very important technology of 21 century, and is the same with network technique, the communication technology, gene technology, virtual reality technology etc., belongs to new and high technology.In the Robotics evolution, moving equilibrium control problem is the ubiquitous problem of robot system.Simultaneously people to intelligent robot require increasingly high, performance such as intelligent robot can carry out man-machine interaction, has small and exquisite profile, and it is flexible in narrow space, to move.These requirements all are that the static balancing robot is difficult to reach, and therefore to some degree, the mobile equilibrium robot is the inevitable direction and the trend of Research on Intelligent Robots in the future.The one-wheel robot structure belongs to typical wheeled self-balance robot mobile robot, and its contact point with robot and ground is reduced to minimum, effectively reduces the influence of external environment to robot body, has expanded the range of application of robot.
The single wheel self-balance robot has the canonical form and the highest goal of artificial intelligence system: anthropomorphic dummy's intelligent behavior as a kind of technological system or manual system; Make mind over machine, make machine have intelligence.Concrete, be platform with the single wheel self-balance robot, research intelligent behavior pattern can be promoted the understanding to the biological intelligence behavior, for example: study, conditioned reflex mechanism even evolutionary process etc.; The intelligent behavior that simulation is biological: make the single wheel self-balance robot have abilities such as study, conditioned reflex mechanism even evolution.One-wheel robot is more obvious than general static balancing machine characteristics, has broad application prospects: utilize its mobile equilibrium characteristic, it is introduced the complex-terrain environment, transport, rescue and mineral survey; Utilize the very thin characteristic of its profile with it as supervisory-controlled robot, realize the monitoring in narrow place etc.
One-wheel robot is a high order, multiple coupled, incomplete NLS, and the balanced robot compares with general static, and the dynamic unbalance characteristic of one-wheel robot is more obvious.System and ground contact point will be arrived minimum, and receive dynamic disturbance few.Its instability proposes requirements at the higher level and challenge to control theory and method simultaneously, in automatic field, has prior theoretical value and more practical value, more can embody human controlling level.One-wheel robot is than the general static balancing robot that does not need moving equilibrium; One-wheel robot has following distinguishing feature: 1) see from bionical angle; The horizontal equicompartment system simulating human trunk of one-wheel robot; Especially waist structure about twisting action, single wheel self-balance robot system and model thereof are applicable to more that than other robot and model thereof research apery posture balancing controls.2) motion process of robot at first can be stablized uprightly, can carry out other motions, and this moving equilibrium process is a dynamic process; Robot ceaselessly changes near equilibrium point and regulates to keep balance.Though this has increased the ROBOT CONTROL difficulty, also make it can accomplish many complicated motion balance tasks simultaneously; 3) if on robot mechanism, add the steering mechanism of a level; Robot can realize corresponding task with a kind of mode of distinctive mobile equilibrium; As on utmost point narrow lane footpath, riding, rode very narrow balance beam, turning, original place and turn round, even can accomplish the exceedingly difficult movements of tight-wire walking.Control for one-wheel robot; Present many researchers are based on the Balance Control of flywheel rotation; Can independent ambulation but go back at present neither one at home, the wheelbarrow of turning, so the development of the utility model can be played crucial impetus to the research of wheelbarrow undoubtedly.
The most of power wheel that relies on of existing one-wheel robot seesaws, and the front and back of control robot are stable.This method is direct, simple, easy to be realized, leans on vertical flywheel to rotate simultaneously and controls the side direction balance.For example California, USA university succeeds in developing single wheel self-equilibrating machine Unibot; It has combined famous " wheeled inverted pendulum " and " flying wheel inverted pendulum " two kinds of thoughts; The technology of having used similar Segway is with the attitude of being kept upright: the Inclination Angle Measurement System that this robot adopts add displacement meter and gyroscope; And the vertical flywheel of LQR control and the road wheel control algolithm of bottom, successfully realize himself balance.But Unibot does not have steering mechanism, and simultaneously the kind of drive is a linked transmission, comparatively complicated, do not have can flexible expansion debugging with castor assembly etc.
The utility model content
The utility model has designed a kind of system of the single wheel self-balance robot based on flywheel balancing control.This system not only can be used as a kind of research platform of controlling in the science, for the research and teaching in fields such as robotics, artificial intelligence provides experimental subjects, can also become the instrument that has characteristic of amusement, displaying.
To achieve these goals, the utility model has adopted following technical scheme:
A kind of single wheel self-balance robot system comprises vertical flywheel (1), vertically flywheel connection bearing (2), the vertically motor (3) of flywheel, the vertically servo-driver (4) of the motor of flywheel; Upper body support (5), horizontal flywheel (6), the motor of horizontal flywheel (7), the servo-driver of the motor of horizontal flywheel (8), inertial navigation sensor (9); Motion controller (10), power supply (11), Power conversion board (12), single wheel motor (13); The servo-driver of single wheel motor (14), single wheel motor connection bearing (15), lower part of the body support (16), single wheel (17); Protective cradle (18) is regulated support (19), castor (20), emulator (21); Agent structure is made up of upper body support (5), lower part of the body support (16) and protective cradle (18), and lower part of the body support (16) upper end is fixedly connected with upper body support (5), and lower part of the body support (16) both sides are fixedly connected with protective cradle (18); Vertically the motor (3) of flywheel (1) and vertical flywheel links together through vertical flywheel connection bearing (2), and vertically flywheel connection bearing (2) is fixed on above the upper body support (5); Motor (7), inertial navigation sensor (9) and the power supply (11) of horizontal flywheel (6), horizontal flywheel are housed successively, and motor (7), inertial navigation sensor (9) and the power supply (11) of horizontal flywheel (6), horizontal flywheel are fixedly connected with upper body support (5) all below vertical flywheel (1); In the both sides of upper body support, motion controller (10), three servo-drivers (4,8,14), Power conversion board (12), emulator (21) are housed; Single wheel links together through single wheel motor connection bearing (15) and lower part of the body support (16); An adjusting support (19) is respectively installed in the both sides, front and back of protective cradle (18), and each is regulated support (19) and goes up an installation castor (20), at protective cradle (18) castor (20) is installed each side simultaneously; The output terminal of motion controller (10) is connected with the servo-driver (8) of the motor of the servo-driver (4) of the motor of vertical flywheel, horizontal flywheel and servo-driver (14), inertial navigation sensor (9), power source conversion plate (12), the emulator (21) of single wheel motor respectively; Vertically the output terminal of the servo-driver (4) of the motor of flywheel is connected with the motor (3) of vertical flywheel, and vertically the motor (3) of flywheel drives the rotation of vertical flywheel (1); The output terminal of the servo-driver of the motor of horizontal flywheel (8) is connected with the motor (7) of horizontal flywheel, and the motor of horizontal flywheel (7) drives the rotation of horizontal flywheel (6); The output terminal of the servo-driver of single wheel motor (14) is connected with single wheel motor (13), and single wheel motor (13) drives the rolling of single wheel (17); Motor (3), the motor (7) of horizontal flywheel, the single wheel motor (13) of the servo-driver (8) of the servo-driver (4) of the motor of the servo-driver of single wheel motor (14), vertical flywheel, the motor of horizontal flywheel, vertical flywheel are directly supplied power by power supply (11) respectively, the power voltage supply after inertial navigation sensor (9) and motion controller (10) are changed through Power conversion board (12) by power supply.
Be provided with one and be enclosed within single wheel (17) but the adjusting support (19) that has four dismountable castors (20) of all around up-down adjustment.
Castor (20) on the described debugging support (19) is dismountable.
The single wheel self-balance robot system comprises basic machine and control system: the basic machine bottom be one can before and after the single wheel (17) that rotates, at single wheel (17) but be with the adjusting support (19) and the protective cradle (18) of a up-down adjustment all around; Basic machine contains rotating vertical flywheel (1) and horizontal flywheel (6); Single wheel (17) and flywheel turn round under the control of balance control system, keep the robot balance, move and turn to; Control system is made up of motion controller (10), sensor (9) and 3 servo-drivers and power-supply system.Motion controller receives attitude, displacement, the rate signal of inertial navigation sensor acquisition; Under control program, signal is handled; Thereby the steering order of sending; Three servomechanism slave controllers receive instruction, through single wheel motor (13), vertically motor (3) and motor (7) the control single wheel (17) of horizontal flywheel and the rotation of flywheel of flywheel, the attitude of robot are controlled respectively.
The system based on the single wheel self-balance robot of flywheel balancing control of the utility model can be divided into 5 critical pieces by functional structure:
1. side direction balance exercise mechanism assembly: comprise the vertical flywheel (1) and the vertical motor of flywheel.The vertical vertical flywheel of Electric Machine Control of flywheel is realized the Balance Control of robot left and right directions, for the balance of robot system provides moment.
2. anterior-posterior balance motion assembly: comprise single wheel (17) and single wheel motor (13), single wheel motor selected control system single wheel is realized the Balance Control of robot fore-and-aft direction, for the balance of robot system provides moment.
3. divertical motion mechanism assembly: comprise the motor (7) of horizontal flywheel (6) and horizontal flywheel, the horizontal flywheel of the Electric Machine Control of horizontal flywheel is realized robot divertical motion control, is the turning moment that provides of robot system.
4. body bracket component: comprise upper body support (5), lower part of the body support (16), single wheel (17), motion controller (10), 3 servo-drivers (4,8,14), inertial navigation sensor (9), power supply (11), Power conversion board (12) and emulator (21).
5. bottom bracket protection mechanism assembly: comprise protective cradle (18), regulate support (19) and castor (20).Protective cradle plays and prevents robot because control is failed and occurrence of tilting.Adjusting support robot for ease carries out position control in the middle of different experiments.
Principle of design: modular overall design philosophy, each assembly all are an integral body, can dismantle easily, change, as long as different module meet interface standard just can be general fully.Flywheel, single wheel, debugging support etc. all are designed to can dismantle, change, perhaps the conversion height.
The utlity model has following advantage:
The first, the utility model can be used as the synthetic study object that robotics, control science and field of intelligent control are intersected as a kind of intelligent robot, satisfies the needs of multidisciplinary research and teaching.
Second; The novel single wheel self-balance robot control system that the utility model designed because of it has particular shape, structure and control method, has new using value; Be that a kind of and engineering problem are got in touch closely research, teaching, displaying, amusement equipment that practical value is higher.And, in some practical applications,, there is the control problem of center of gravity on fulcrum like rocket launching, native system has well been simulated this type problem, can be used as the desirable object of this type of research particular system control problem.
The 3rd, the coupling of the three degree of freedom in the utility model makes and the non-linear and uncertain increase of system is fit to the research of nonlinear Control, robust control, Based Intelligent Control and Learning Control more.
The 4th, all component of the utility model all adopts idea of modular, and certain assembly can dismounting and change, and this provides great convenience for the maintenance of system and upgrading.
The 5th, the adjustable bottom bracket of the utility model not only can change the bottom support height according to the needs of robot debugging, and as the protective device of robot, avoids the accident of robot in debug process to topple over and break.
Below in conjunction with description of drawings and embodiment the utility model is further believed explanation.
Description of drawings
Fig. 1 is based on single wheel self-balance robot system physical construction isogonism shaft side figure;
Fig. 2 is based on single wheel self-balance robot system physical construction front view;
Fig. 3 is based on single wheel self-balance robot system physical construction rear view;
Fig. 4 is based on single wheel self-balance robot system physical construction right view;
Fig. 5 is based on the protective cradle side view of single wheel self-balance robot system physical construction;
Fig. 6 is based on single wheel self-balance robot system electrical system schematic diagram;
Fig. 7 is based on single wheel self-balance robot system electrical system wiring diagram;
Among the figure: the vertical flywheel of 1-, the vertical flywheel connection bearing of 2-, the motor of the vertical flywheel of 3-, the servo-driver of the motor of the vertical flywheel of 4-; 5-upper body support, the horizontal flywheel of 6-, the motor of the horizontal flywheel of 7-, the servo-driver of the motor of the horizontal flywheel of 8-; 9-inertial navigation sensor, 10-motion controller, 11-power supply, 12-Power conversion board; 13-single wheel motor, the servo-driver of 14-single wheel motor, 15-single wheel motor connection bearing, 16-lower part of the body support; The 17-single wheel, the 18-protective cradle, 19-regulates support, 20-castor, 21-emulator.
Embodiment
Below in conjunction with Fig. 1～Fig. 7 the utility model is elaborated:
Introduce concrete system embodiment below.
1. electrical system type selecting
The single wheel motor 13 of robot and the motor 3 of vertical flywheel are selected the dc brushless motor external member of Maxon company for use, the 24V power supply, and 90W power, 14: 1 planetary reducer GP32C, motor is furnished with incremental optical-electricity encoder RE35, and precision is 500 lines.Horizontal fly-wheel motor 7 adopts the disc type dc brushless motor external member EC90 of Maxon company, 3.5: 1 planetary reducer GP52C, and motor is furnished with incremental optical-electricity encoder, and precision is 500 lines.3 servo-drivers are selected ACJ-55-18 for use, and the inertial navigation sensor is selected INNALABS AHRS for use.
Motion controller is selected hurricane digital display circuit (Beijing) MSK2812 of company limited system board 10 for use.The processor adopting TI company's T MS320F2812DSP of this system, system is 5V direct current supply.
The emulator of MSK2812 is selected the XDS510USB of hurricane digital display circuit (Beijing) company limited, USB2.0 interface for use.The servo-drive controller is selected the servo-driver ACJ-55-18 of Copley Motion company for use.Sensor is selected the high performance SINS of INNALABS AHRS for use.
Charging cell module is selected LBS-100C standard lithium battery 11 for use, nominal voltage: 29.6V, working range: 33.6V-24V, nominal capacity: 150Wh, holding circuit: built-inly overcharge, cross put, overcurrent and short-circuit protection, integrated electric weight monitoring.
Power supply transfer card 12 is selected the PW-4512 power module of North China industry control for use, to controller and other power electronic equipment, and input voltage: 16-40V DC, output voltage: ATX:+3.3V5A ,+5V/+5VSB5A ,+12V5A ,-12V0.8A.
2. physical construction and electrical equipment layout
Present embodiment general assembly (TW) 13kg, height 130cm, width 30cm, length 22cm, the diameter 210mm of single wheel 17.The physical construction of robot and electric elements layout are following:
As shown in Figure 1, the artificial aluminum alloy frame of entire machine, vertically flywheel passes through bearing fixing in the upper body support with vertical fly-wheel motor.The upper body support is uncovered all around column supporting structural, is convenient to installation and flywheel, motor, driver fixing of various electron devices.The outside preceding facade of upper body support utilizes acrylic board to fix servo-driver, emulator and the motion controller of the motor of vertical flywheel from top to bottom respectively, and the power source conversion plate is fixed on the emulator surface.The outside back facade of upper body support, the servo-driver of the motor of fixing horizontal flywheel and the servo-driver of single wheel motor respectively from top to bottom.Vacate sufficient space in the middle of the upper body support, below vertical flywheel, install a plurality of fixed heads successively additional, motor, inertial navigation sensor, the power supply with horizontal flywheel, horizontal flywheel is fixed on the upper body support respectively.Power supply is pluggable block battery, and is quite convenient in actual use, when dead battery; As long as click the switch on battery block next door, battery just can be taken off smoothly, need not twist and get any one screw; When more renewing battery,, only need passable once pushing away gently along slot.Upper body support fixed-link is in lower part of the body support upper end, and lower part of the body support both sides are fixedly connected protective cradle, and single wheel links together through single wheel motor connection bearing and lower part of the body support.An adjusting support is respectively installed in the both sides, front and back of protective cradle, and each is regulated a castor is installed on the support, at protective cradle a castor is installed each side simultaneously.
3. electrical system connects
As shown in Figure 7, the method for attachment of electrical system each several part is following:
MSK2812 plate (Fig. 7,10) by PW-4512 power module (Fig. 7,11)+5V exports power supply, 36,35 pin of its J7 interface, i.e. A/D conversion input channel, 38,39 pin, promptly the SPI pin is connected with sensor SPI signal output part respectively; Inertial navigation sensor (Fig. 7,9) by the J7 interface of MSK2812 provide+5V exports power supply; The JTAG mouth of emulator (Fig. 7,21) and MSK2812 is connected, and written program writes in the Flash of DSP through emulator (Fig. 7,21), can read the real time data among the RAM simultaneously.
Connection between MSK2812 plate (Fig. 7,10) and three servo-driver ACJ-55-18 (Fig. 7,4,8,14) comprises control signal wire and encoder feedback signal wire.Control signal comprises motor enable signal, direction of motor rotation signal and PWM spin rate control quantity signal.Wherein, 3,7,9 pin of the J5 interface of MSK2812 respectively with servo-driver (Fig. 7 of single wheel motor; 14), servo-driver (Fig. 7 of the motor of vertical flywheel; 4), 3 pin of the J5 interface of the servo-driver (Fig. 7,8) of the motor of horizontal flywheel connect, as the enable signal line of servo-driver ACJ-55-18; 5,1,11 pin of the J5 interface of MSK2812 respectively with servo-driver (Fig. 7 of single wheel motor; 14), servo-driver (Fig. 7 of the motor of vertical flywheel; 4), 6 pin of the J5 interface of the servo-driver (Fig. 7,8) of the motor of horizontal flywheel connect, and select signal wire as direction of motor rotation; J7 interface 17,18,19 pin of MSK2812 are PWM output; Control servo-driver (Fig. 7 of single wheel motor respectively; 14), servo driver of motor (Fig. 7 of vertical flywheel; 4), 20 pin of the J5 interface of servo-driver (Fig. 7, the 8) ACJ-55-18 of the motor of horizontal flywheel connect, as the spin rate control quantity signal wire.The feedback signal of flywheel, single wheel motor encoder is connected to MSK2812 behind servo-driver ACJ-55-18 buffer memory; Concrete wiring is 10,11 pin of J5 interface of servo-driver ACJ-55-18 of servo-driver, the single wheel motor of flywheel, connects 27,28 pin and 13,14,15,16 pin of J6 interface of the J7 interface of MSK2812 respectively.
3,4,5 pin of the J3 interface of three servo-driver ACJ-55-18 are power input, connect respectively power supply output+24V and GND; 3,4 pin of J2 interface are the output terminal of control voltage, respectively with motor+/-input end is connected, and wherein is connected in series a motor switch between 3 pin and the motor+input end; 4,6 of J4 interface is respectively+5V and GND; Be connected with 2,3 lines of scrambler winding displacement respectively; 1,8,2,9,3,10 pin of J4 interface are the common mode input end of scrambler A channel, B passage and zero signal, connect 5,6,7,8,9,10 lines of scrambler winding displacement respectively.
LBS-100C standard lithium battery (Fig. 7,13) connects through the ship type switch and the PW-4512 power module (Fig. 7,14) of a DPDT.The PW-4512 power module+/-input end connection LBS-100C standard lithium battery+/-hold, connect the feeder ear of each corresponding device respectively.
4. the principle of work of electrical system
The major function of present embodiment robot is under the prerequisite that keeps fuselage pitch attitude balance and left and right sides posture balancing, can realize that control robot realizes that front and back are to reaching the motion of turning.Thus; Robot electrical system principle of work is as shown in Figure 6: the motion controller 10 of robot obtains attitude, angle, the rate signal that inertial navigation sensor 9 collects; Read the encoder feedback signal through servo-driver; Comprehensive then controlled order and the feedback signal of receiving calculates the torque controlled quentity controlled variable of motor by predetermined moving equilibrium control algolithm, sends corresponding pwm signal and carries out for the servo-drive controller; Servo-drive controller 14 control single wheel motors 13 motions of single wheel motor, single wheel motor 13 drives the motion that single wheel 17 keeps the balance of robot fore-and-aft direction and realizes fore-and-aft direction.The motor 3 of the vertical flywheel of servo-drive controller 4 controls of the motor of the vertical flywheel of side direction balance makes vertical fly-wheel motor 3 drive vertical flywheel 1 and makes robot keep the balance of fuselage left and right directions.The mode of balance is that the inertial navigation sensor will detect current pitch angle information and give control module; Control module rotates according to pid control algorithm or other intelligent algorithms control flywheel; As when the left side is swung to by robot; At this moment vertically flywheel 1 rotates toward the left side, and vertically flywheel 1 can produce a moment to the right to robot, and robot is swung to the right down about this moment.When swing to after the robot overshoot when right-hand vertical flywheel 1 more to the right edge direction rotate, robot is produced the moment to left direction makes robot regulate body to left side balance.Robot just has been balanced on left and right directions like this.The motor 7 of the motor servo-drive controller 8 controlling level flywheels of horizontal flywheel rotatablely moves, and the horizontal flywheel 6 of motor 7 drives of horizontal flywheel is turned the robot fuselage.
Claims (2)
1. a single wheel self-balance robot system comprises vertical flywheel (1), vertically flywheel connection bearing (2), the vertically motor (3) of flywheel, the vertically servo-driver (4) of the motor of flywheel; Upper body support (5), horizontal flywheel (6), the motor of horizontal flywheel (7), the servo-driver of the motor of horizontal flywheel (8), inertial navigation sensor (9); Motion controller (10), power supply (11), Power conversion board (12), single wheel motor (13); The servo-driver of single wheel motor (14), single wheel motor connection bearing (15), lower part of the body support (16), single wheel (17); Protective cradle (18) is regulated support (19), castor (20), emulator (21); It is characterized in that: agent structure is made up of upper body support (5), lower part of the body support (16) and protective cradle (18), and lower part of the body support (16) upper end is fixedly connected with upper body support (5), and lower part of the body support (16) both sides are fixedly connected with protective cradle (18); Vertically the motor (3) of flywheel (1) and vertical flywheel links together through vertical flywheel connection bearing (2), and vertically flywheel connection bearing (2) is fixed on above the upper body support (5); Motor (7), inertial navigation sensor (9) and the power supply (11) of horizontal flywheel (6), horizontal flywheel are housed successively, and motor (7), inertial navigation sensor (9) and the power supply (11) of horizontal flywheel (6), horizontal flywheel are fixedly connected with upper body support (5) all below vertical flywheel (1); In the both sides of upper body support, motion controller (10), three servo-drivers (4,8,14), Power conversion board (12), emulator (21) are housed; Single wheel links together through single wheel motor connection bearing (15) and lower part of the body support (16); An adjusting support (19) is respectively installed in the both sides, front and back of protective cradle (18), and each is regulated support (19) and goes up an installation castor (20), at protective cradle (18) castor (20) is installed each side simultaneously; The output terminal of motion controller (10) is connected with the servo-driver (8) of the motor of the servo-driver (4) of the motor of vertical flywheel, horizontal flywheel and servo-driver (14), inertial navigation sensor (9), power source conversion plate (12), the emulator (21) of single wheel motor respectively; Vertically the output terminal of the servo-driver (4) of the motor of flywheel is connected with the motor (3) of vertical flywheel, and vertically the motor (3) of flywheel drives the rotation of vertical flywheel (1); The output terminal of the servo-driver of the motor of horizontal flywheel (8) is connected with the motor (7) of horizontal flywheel, and the motor of horizontal flywheel (7) drives the rotation of horizontal flywheel (6); The output terminal of the servo-driver of single wheel motor (14) is connected with single wheel motor (13), and single wheel motor (13) drives the rolling of single wheel (17); Motor (3), the motor (7) of horizontal flywheel, the single wheel motor (13) of the servo-driver (8) of the servo-driver (4) of the motor of the servo-driver of single wheel motor (14), vertical flywheel, the motor of horizontal flywheel, vertical flywheel are directly supplied power by power supply (11) respectively, the power voltage supply after inertial navigation sensor (9) and motion controller (10) are changed through Power conversion board (12) by power supply.
2. a kind of one-wheel robot system as claimed in claim 1 is characterized in that: be provided with one and be enclosed within single wheel (17) but the adjusting support (19) that has four dismountable castors (20) of all around up-down adjustment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203824310U CN202351703U (en) | 2011-10-10 | 2011-10-10 | Single-wheel self-balancing robot system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011203824310U CN202351703U (en) | 2011-10-10 | 2011-10-10 | Single-wheel self-balancing robot system |
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| CN202351703U true CN202351703U (en) | 2012-07-25 |
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| CN2011203824310U Withdrawn - After Issue CN202351703U (en) | 2011-10-10 | 2011-10-10 | Single-wheel self-balancing robot system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102445944A (en) * | 2011-10-10 | 2012-05-09 | 北京工业大学 | Single-wheel self-balancing robot system |
| CN103612687A (en) * | 2013-12-12 | 2014-03-05 | 昆山市工业技术研究院有限责任公司 | Self-balancing swing walking robot driven by axial and radial direction counter-force |
| CN104949653A (en) * | 2015-07-03 | 2015-09-30 | 王振环 | Level detection device |
| CN105197156A (en) * | 2015-10-13 | 2015-12-30 | 桂林电子科技大学 | Bicycle robot capable of being converted into monocycle |
| EP3339714A1 (en) * | 2016-12-20 | 2018-06-27 | Nokia Technologies Oy | An apparatus and associated methods for virtual reality image capture |
| CN108733045A (en) * | 2017-09-29 | 2018-11-02 | 北京猎户星空科技有限公司 | Robot and its barrier-avoiding method and computer readable storage medium |
-
2011
- 2011-10-10 CN CN2011203824310U patent/CN202351703U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102445944A (en) * | 2011-10-10 | 2012-05-09 | 北京工业大学 | Single-wheel self-balancing robot system |
| CN102445944B (en) * | 2011-10-10 | 2014-05-21 | 北京工业大学 | Single-wheel self-balancing robot system |
| CN103612687A (en) * | 2013-12-12 | 2014-03-05 | 昆山市工业技术研究院有限责任公司 | Self-balancing swing walking robot driven by axial and radial direction counter-force |
| CN103612687B (en) * | 2013-12-12 | 2015-12-02 | 昆山市工业技术研究院有限责任公司 | Utilize the anti-power-actuated self-balancing Rocking-walk robot of Axial and radial |
| CN104949653A (en) * | 2015-07-03 | 2015-09-30 | 王振环 | Level detection device |
| CN104949653B (en) * | 2015-07-03 | 2017-03-15 | 南陵旺科知识产权运营有限公司 | level detection device |
| CN105197156A (en) * | 2015-10-13 | 2015-12-30 | 桂林电子科技大学 | Bicycle robot capable of being converted into monocycle |
| EP3339714A1 (en) * | 2016-12-20 | 2018-06-27 | Nokia Technologies Oy | An apparatus and associated methods for virtual reality image capture |
| CN108733045A (en) * | 2017-09-29 | 2018-11-02 | 北京猎户星空科技有限公司 | Robot and its barrier-avoiding method and computer readable storage medium |
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