CN202362674U - One-wheel robot capable of being self-balanced - Google Patents

One-wheel robot capable of being self-balanced Download PDF

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Publication number
CN202362674U
CN202362674U CN2011205092779U CN201120509277U CN202362674U CN 202362674 U CN202362674 U CN 202362674U CN 2011205092779 U CN2011205092779 U CN 2011205092779U CN 201120509277 U CN201120509277 U CN 201120509277U CN 202362674 U CN202362674 U CN 202362674U
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wheel
controller
motor
driver
angle sensor
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CN2011205092779U
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Chinese (zh)
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高丙团
包宇庆
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Southeast University
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Southeast University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/18—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
    • B60L58/21—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules having the same nominal voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/16—Single-axle vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/22—Yaw angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/463—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Manipulator (AREA)

Abstract

The utility model discloses a one-wheel robot capable of being self-balanced. The one-wheel robot comprises a bracket, a balanced rod, a balanced rod rotary shaft, a wheel, a wheel shaft, a belt, a code disc, a wheel motor, a battery pack, a controller, a driver, an inclination angle sensor, a balanced rod rotary shaft motor and a balanced rod angle sensor, wherein the wheel motor, the battery pack, the controller, the driver, the inclination angle sensor, the balanced rod rotary shaft motor and the balanced rod angle sensor are fixed on the bracket; the wheel shaft is connected with the wheel motor through the belt; the wheel motor is connected with the driver; the driver is connected with the controller; the balanced rod is connected to the upper part of the bracket; one end of the balanced rod rotary shaft is connected with the balanced rod rotary shaft motor; the balanced rod rotary shaft motor is connected with the driver; the code disc is fixedly connected to a rotary shaft of the wheel motor; and the inclination angle sensor and the balanced rod angle sensor are respectively connected with the controller. The one-wheel robot can be balanced in front-and-back direction and in left-and-right direction and has the characteristics of flexibility in acceleration and deceleration and high steering performance.

Description

Single-wheel robot capable of realizing self-balancing
Technical Field
The utility model relates to a single-wheel robot particularly, relates to a single-wheel robot that can realize the self-balancing.
Background
In recent years, a great deal of research has been conducted on two-wheeled self-balancing robots at home and abroad. The two-wheeled self-balancing robot is independently driven by two coaxial wheels, and the gravity center of the two-wheeled self-balancing robot is arranged above the wheel shaft. The balance control principle of the inverted pendulum is adopted to automatically keep the dynamic balance of the vehicle body; the two wheels are driven by different motors independently, so that functions such as turning are realized. The robot can adapt to complex terrain changes, is flexible in movement, and can work in complex environments.
According to the structure, the Dean Kamen utility model of Segway LLC company in America has disclosed the first self-balancing two-wheeled vehicle Segway in the world, Segway does not have arresting gear, engine, transmission and steering wheel, and the appearance is small and exquisite, the motion is nimble, follows the shape with the driver like the shadow.
A series of foreign researches on self-balancing single-wheel robots are carried out, and Jascha van Pommeren et al of California university successfully develop a single-wheel driven robot Unit, which combines an inverted pendulum and a driving mode of an inertia balance system to automatically keep balance. A robot "village maiden" riding a unicycle developed by village manufactures keeps left-right balance by rotating an inertia wheel equipped in the center of the robot body. Domestic research on self-balancing single-wheel robots is still rare.
Compared with a two-wheel robot, the single-wheel robot is driven by only one wheel, and has the advantages of saving materials, reducing weight and saving energy; meanwhile, the contact area between the movable table and the ground is reduced, so that the movable table is more flexible in movement. However, the single-wheel robot is a multivariable, strongly coupled, nonlinear complex dynamic system, and the lateral balance and turning of the system are more difficult to control.
Disclosure of Invention
The technical problem is as follows:the utility model discloses the technical problem that will solve is: the single-wheel robot can keep front-back balance and lateral balance, and has the characteristics of flexible acceleration and deceleration and good steering performance.
The technical scheme is as follows:in order to solve the technical problem, the utility model discloses a technical scheme is:
a single-wheel robot capable of realizing self-balancing comprises a support, a balancing rod rotating shaft, wheels, a wheel shaft, a belt, a code disc, a wheel motor, a battery pack, a controller, a driver, an inclination angle sensor, a balancing rod rotating shaft motor and a balancing rod angle sensor, wherein the wheel motor, the battery pack, the controller, the driver, the inclination angle sensor, the balancing rod rotating shaft motor and the balancing rod angle sensor are fixed on the support; wherein,
the wheel is positioned at the lower part of the bracket and is connected with the bracket through a wheel shaft, the wheel shaft is connected with a wheel motor through a belt, the wheel motor is connected with a driver through a lead, and the driver is connected with the controller through a lead;
the balance rod is connected to the upper part of the bracket through a balance rod rotating shaft, one end of the balance rod rotating shaft is connected with a balance rod rotating shaft motor, and the balance rod rotating shaft motor is connected with the driver through a lead;
the balance bar angle sensor is close to a rotating shaft of the balance bar rotating shaft motor; the coded disc is fixedly connected to a rotating shaft of the wheel motor; the output end of the inclination angle sensor and the output end of the balance rod angle sensor are respectively connected with the input end of the controller; the balance bar angle sensor, the balance bar rotating shaft motor, the coded disc, the wheel motor, the controller, the driver and the inclination angle sensor are respectively connected with the battery pack through leads.
Further, can realize single round robot of self-balancing, its characterized in that still includes the camera, the camera is located the upper portion of support, the input of camera is connected with the output of group battery, the output of camera is connected with the input of controller.
Further, can realize single round robot of self-balancing, its characterized in that still includes wireless receiver, and wireless receiver is located the upper portion of support, and wireless receiver's input is connected with the output of group battery, and wireless receiver's output is connected with the input of controller.
Has the advantages that:compared with the prior art, the utility model discloses following beneficial effect has:
1. the single-wheel robot can keep front-back balance and lateral balance. The utility model discloses a single round robot can keep the front and back balance: and detecting the longitudinal inclination angle of the bracket through an inclination angle sensor, and transmitting the longitudinal inclination angle to a controller. The controller calculates the longitudinal tilt angle from the desired longitudinal angle and generates a control signal. The controller transmits the control signal to the driver. The driver controls the torque of the wheel motor in accordance with the control signal. The wheel motor drives the wheels to rotate through the belt, so that the single-wheel robot performs acceleration or deceleration movement, and the longitudinal inclination angle of the single-wheel robot is changed accordingly. The utility model discloses a single round robot can keep the side direction balanced: the tilt sensor measures the lateral tilt angle of the bracket and transmits the lateral tilt angle to the controller. The coded disc measures the rotating speed of the wheel motor and calculates the advancing speed of the single-wheel robot. The code wheel transmits the forward speed to the controller. The balance bar angle sensor measures the relative rotation angle between the balance bar and the support and transmits a relative rotation angle signal to the controller. And after receiving the lateral inclination angle, the advancing speed and the relative rotation angle signal, the controller obtains a control signal through calculation. The controller transmits the control signal to the driver. The driver controls the torque of the balance bar rotating shaft motor according to the control signal, so that the balance bar rotates around the balance bar rotating shaft, and the lateral inclination angle and the turning radius of the single-wheel robot are changed.
2. The single-wheel robot has flexible acceleration and deceleration and good steering performance. The utility model discloses a single-wheel robot is under the control of controller, and single-wheel robot's vertical inclination is controllable completely. To accelerate the single-wheel robot, the longitudinal inclination angle theta is controlledf >0; to keep the single-wheel robot moving at a constant speed or at a standstill, the longitudinal inclination angle θ should be controlledf = 0; to decelerate the single-wheel robot forward, brake or backward, the longitudinal inclination angle theta is controlledf <0. The turning of the single-wheel robot is controlled by the inclination of the gravity center of the single-wheel robot, the turning with very small radius can be finished in a fast running state without turning over, and the turning is more flexible.
3. Simple structure and flexible operation. Compared with a two-wheel structure and a multi-wheel structure, the single-wheel robot of the utility model has more simplified structure and reduced cost; meanwhile, the size is smaller, the weight is reduced, and the energy is saved. The utility model discloses a single-wheel robot passes through the focus and moves backward and realizes quick steady speed reduction, need not braking system. The starting, stopping and backing operations are realized by changing the longitudinal inclination angle of the single-wheel robot, and the operation is more flexible. The single-wheel robot can replace human beings to do special work on complex terrains, can also be used as a simple and portable travel tool or amusement facility, and has wide application.
4. The camera is arranged on the upper portion of the single-wheel robot, so that the track of the ground can be shot, and the single-wheel robot can drive according to a well drawn path on the ground.
5. It is convenient to obtain the desired operating signal. The utility model discloses a single-wheel robot can set up camera or wireless receiver on single-wheel robot's upper portion. The camera can automatically find the ground track to obtain the expected turning radius. The one-wheel robot can be made to follow a predetermined route under the control of the controller. Through receiving the radio, the person can use the remote controller to control the single-wheel robot at a distance. The expected turning radius of the single-wheel robot is given by the remote control signal, thereby controlling the driving route of the single-wheel robot.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a perspective view of the present invention.
Fig. 3 is a side view of the single-wheel robot of the present invention when it moves forward.
Fig. 4 is a longitudinal inclination angle control structure diagram of the single-wheel robot when it inclines forward.
Fig. 5 is a front view of the single-wheel robot of the present invention when turning.
Fig. 6 is the side direction inclination angle control structure diagram of the single-wheel robot of the utility model.
The figure shows that: 1. the device comprises a support, 2, a balance rod, 3, a balance rod rotating shaft, 4, a balance rod rotating shaft motor, 5, a wheel, 6, a wheel motor, 7, a wheel shaft, 8, a belt, 9, a code disc, 10, a battery pack, 11, a controller, 12, a driver, 13, an inclination angle sensor, 14, a balance rod angle sensor, 15, a camera and 16, and a wireless receiver.
Detailed Description
The technical solution of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the utility model discloses a can realize single round robot of self-balancing, including support 1, balancing pole 2, balancing pole pivot 3, wheel 5, axletree 7, belt 8, code wheel 9, wheel motor 6, group battery 10, controller 11, driver 12, inclination sensor 13, balancing pole pivot motor 4 and balancing pole angle sensor 14. The wheel motor 6, the battery pack 10, the controller 11, the driver 12, the inclination angle sensor 13, the balance bar rotating shaft motor 4 and the balance bar angle sensor 14 are fixedly connected to the bracket 1. The wheel 5 is located at the lower portion of the carrier 1, and the wheel 5 is connected to the carrier 1 by a wheel shaft 7. The wheel 5 can rotate about a wheel axis 7. The wheel shaft 7 is connected with the wheel motor 6 through a belt 8, the wheel motor 6 is connected with the driver 12 through a lead, and the driver 12 is connected with the controller 11 through a lead. The balance bar 2 is connected to the upper part of the bracket 1 through a balance bar rotating shaft 3. The stabilizer bar 2 can be rotated about the stabilizer bar pivot axis 3. One end of the balance bar rotating shaft 3 is connected with a balance bar rotating shaft motor 4, and the balance bar rotating shaft motor 4 is connected with a driver 12 through a lead. The balance bar angle sensor 14 is located close to the axis of rotation of the balance bar axis of rotation motor 4. The stabilizer bar angle sensor 14 is used for measuring the relative angle theta between the stabilizer bar 2 and the support 1p. The coded disc 9 is fixedly connected to a rotating shaft of the wheel motor 6. The code wheel 9 is used for measuring the rotation speed of the wheel 5. The output end of the inclination angle sensor 13 and the output end of the balance bar angle sensor 14 are respectively connected with the input end of the controller 11. The tilt sensor 13 is used for measuring the longitudinal tilt angle theta of the bracket 1fAnd a lateral tilt angle thetal. The balance bar angle sensor 14, the balance bar rotating shaft motor 4, the code disc 9, the wheel motor 6, the controller 11, the driver 12 and the inclination angle sensor 13 are respectively connected with the battery pack 10 through leads. The battery pack 10 respectively supplies power to the balance bar angle sensor 14, the balance bar rotating shaft motor 4, the code disc 9, the wheel motor 6, the controller 11, the driver 12 and the tilt angle sensor 13.
The self-balancing process of the single-wheel robot with the structure in the driving process is as follows:
longitudinal balance and acceleration and deceleration control of the single-wheel robot: balance control of single-wheel robot through inverted pendulumThe principle is to achieve longitudinal balance. As shown in fig. 3 and 4, the tilt sensor 13 detects the longitudinal tilt angle θ of the bracket 1fAnd applying the longitudinal inclination angle thetafIn the transfer controller 11. The controller 11 receives the longitudinal inclination angle thetafSignal and apply the longitudinal inclination angle thetafAt a desired longitudinal angle thetafMaking a comparison, i.e. thetafAnd thetafSubtracting to obtain eθf. E is to beθf Difference operation is carried out to obtain deθf Dt, then deθf The control signal u is generated by a control algorithm, such as a proportional-integral-derivative control algorithm (i.e., a PID control algorithm), a fuzzy control algorithm, or a sliding mode control algorithm, dt as an input signalf. The controller 11 sends the control signal ufTo the driver 12. The driver 12 is in accordance with the control signal ufThe torque of the wheel motor 6 is controlled. The wheel motor 6 drives the wheel 5 to rotate through the belt 8, so that the single-wheel robot does acceleration or deceleration motion, thereby the longitudinal inclination angle theta of the single-wheel robotfAs well as changes.
Under the control of the controller 11, the longitudinal inclination angle of the single-wheel robot is fully controllable, and the acceleration, deceleration and uniform motion states of the single-wheel robot can be controlled by controlling the longitudinal inclination angle of the single-wheel robot. To accelerate the single-wheel robot, the longitudinal inclination angle theta is controlledf >0, at wheel torque ufUnder the action of the single-wheel robot, the single-wheel robot can do forward accelerated motion; to keep the single-wheel robot moving at a constant speed or at a standstill, the longitudinal inclination angle θ should be controlledf = 0; to decelerate the single-wheel robot forward, brake or backward, the longitudinal inclination angle theta is controlledf < 0。
Lateral balance and turning control of the single-wheel robot: the schematic diagram of the single-wheel robot when turning is shown in fig. 5. When the lateral inclination angle of the single-wheel robot is thetalMeanwhile, the lateral acceleration of the single-wheel robot is used for providing the centripetal acceleration required by the single-wheel robot to turn. Turning radius r and lateral inclination angle theta of single-wheel robotlAnd v exists between the speed v of the single-wheel robot2/r=g*sinθl cosθlThe relationship (2) of (c).
As shown in FIG. 6, the turning radius of the single-wheel robot is controlled by a set of closed-loop control system. The turning radius of the single-wheel robot cannot be directly obtained, but needs to be determined by the lateral inclination angleθ l And speed of the one-wheel robotvAnd (5) conversion is carried out. The inclination sensor 13 measures the lateral inclination of the bracket 1θ l And will incline sidewaysθ l To the controller 11. The code wheel 9 measures the rotational speed of the wheel motor 6 and transmits the rotational speed of the wheel motor 6 to the controller 11. The controller 11 calculates the forward speed v of the one-wheel robot from the rotation speed of the wheel motor 6 and the diameter of the wheel. Combining the forward speed v and the lateral inclination θ received by the controller 11lSignal, controller 11 passes the formula r = v2/g*sinθl cosθlAnd calculating to obtain the turning radius r of the single-wheel robot. The controller 11 calculates the turning radius r of the single-wheel robot and the desired turning radius r of the single-wheel robot* Make a comparison, i.e. r and r*Are subtracted to obtain er. The balance bar angle sensor 14 measures the relative rotation angle theta between the balance bar 2 and the bracket 1pAnd will make a relative rotation angle thetapThe signal is transmitted to the controller 11. The controller 11 receives the relative rotation angle θpSignals and will make a relative rotation angle thetapAnd erDifference operation is carried out to obtain derDt and d θpDt, d isr、der/dt、θp、dθpThe control signal u is generated by a control algorithm, such as a proportional-integral-derivative control algorithm (i.e., a PID control algorithm), a fuzzy control algorithm, or a sliding mode control algorithm, dt as an input signall. The controller 11 sends the control signal ulTo the driver 12. The driver 12 is in accordance with the control signal u1Controlling the torque of the balance bar rotating shaft motor 4 to rotate the balance bar 2 around the balance bar rotating shaft 3, thereby changing the lateral inclination angle theta of the single-wheel robotlAnd a turning radius r.
Furthermore, the single-wheel robot capable of realizing self-balancingThe portable battery pack further comprises a camera 15, the camera 15 is located on the upper portion of the support 1, the input end of the camera 15 is connected with the output end of the battery pack 10, and the output end of the camera 15 is connected with the input end of the controller 11. The camera 15 can automatically search the ground track to obtain the expected turning radiusr * . The one-wheeled robot can be made to follow a predetermined route under the control of the controller 11.
Further, the single-wheel robot capable of realizing self-balancing further comprises a wireless receiver 16, the wireless receiver 16 is located at the upper part of the support 1, the input end of the wireless receiver 16 is connected with the output end of the battery pack 10, and the output end of the wireless receiver 16 is connected with the input end of the controller 11. The wireless receiver 16 can receive the remote control command of the person, and the expected turning radius of the single-wheel robot is given by the remote control signalr * Thereby controlling the driving route of the single-wheel robot. As shown in FIG. 6, the desired turning radius of the single-wheel robotr * The desired turning radius may be sent to the controller 11 by the wireless receiver 16 or may be sent by the camera 15r * To the controller 11. As shown in fig. 4, a desired longitudinal angle θ of the unicycle robotfBy a person via a remote control, the wireless receiver 16 can be remotely controlled to receive and transmit the desired longitudinal angle θfTo the controller 11.
Further, a cavity is formed in the middle of the support 1, and the wheel motor 6, the battery pack 10, the controller 11, the driver 12 and the tilt sensor 13 are fixed in the cavity of the support 1. A cavity is provided in the bracket 1, and the wheel motor 6, the battery pack 10, the controller 11, the driver 12, and the tilt sensor 13 are disposed in the cavity, so that these components can be protected from being exposed to the outside. Simultaneously, the middle part of the bracket 1 is provided with a cavity, so that the structural layout of the single-wheel robot is more reasonable. Wherein the tilt sensor 13 is fixed in the middle of the floor of the cavity. This is advantageous for the tilt sensor 13 to accurately measure the longitudinal tilt angle θ of the bracket 1fAnd a lateral tilt angle thetal。

Claims (5)

1. A single-wheel robot capable of realizing self-balancing is characterized by comprising a support (1), a balancing rod (2), a balancing rod rotating shaft (3), wheels (5), wheel shafts (7), a belt (8), a coded disc (9), a wheel motor (6), a battery pack (10), a controller (11), a driver (12), an inclination angle sensor (13), a balancing rod rotating shaft motor (4) and a balancing rod angle sensor (14), wherein the wheel motor, the battery pack (10), the controller (11), the driver (12), the inclination angle sensor (13), the balancing rod rotating shaft motor and the coded disc are fixed on the support (1; wherein,
the wheel (5) is positioned at the lower part of the bracket (1), the wheel (5) is connected with the bracket (1) through a wheel shaft (7), the wheel shaft (7) is connected with a wheel motor (6) through a belt (8), the wheel motor (6) is connected with a driver (12) through a lead, and the driver (12) is connected with a controller (11) through a lead;
the balance bar (2) is connected to the upper part of the bracket (1) through a balance bar rotating shaft (3), one end of the balance bar rotating shaft (3) is connected with a balance bar rotating shaft motor (4), and the balance bar rotating shaft motor (4) is connected with the driver (12) through a lead;
the balance bar angle sensor (14) is close to a rotating shaft of the balance bar rotating shaft motor (4); the coded disc (9) is fixedly connected to a rotating shaft of the wheel motor (6); the output end of the inclination angle sensor (13) and the output end of the balance rod angle sensor (14) are respectively connected with the input end of the controller (11); the balance bar angle sensor (14), the balance bar rotating shaft motor (4), the coded disc (9), the wheel motor (6), the controller (11), the driver (12) and the inclination angle sensor (13) are respectively connected with the battery pack (10) through leads.
2. The self-balancing single-wheel robot according to claim 1, further comprising a camera (15), wherein the camera (15) is located at the upper part of the support (1), the input end of the camera (15) is connected with the output end of the battery pack (10), and the output end of the camera (15) is connected with the input end of the controller (11).
3. The self-balancing unicycle robot according to claim 1, further comprising a wireless receiver (16), wherein the wireless receiver (16) is located at the upper part of the support (1), the input of the wireless receiver (16) is connected to the output of the battery pack (10), and the output of the wireless receiver (16) is connected to the input of the controller (11).
4. The self-balancing single-wheel robot according to claim 1, wherein the support (1) has a cavity in the middle, and the wheel motor (6), the battery pack (10), the controller (11), the driver (12) and the tilt sensor (13) are fixed in the cavity of the support (1).
5. The self-balancing unicycle robot according to claim 4, wherein said tilt sensor (13) is fixed to the middle of the floor of the cavity.
CN2011205092779U 2011-12-09 2011-12-09 One-wheel robot capable of being self-balanced Expired - Lifetime CN202362674U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102520720A (en) * 2011-12-09 2012-06-27 东南大学 Single-wheel robot capable of realizing self balance
CN104326047A (en) * 2014-10-17 2015-02-04 柳州惠林科技有限责任公司 Single-balancing-weight electric wheelbarrow
CN108327840A (en) * 2018-04-13 2018-07-27 京东方科技集团股份有限公司 Autonomic balance system, bicycle and the bicycle intelligent control method of bicycle

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102520720A (en) * 2011-12-09 2012-06-27 东南大学 Single-wheel robot capable of realizing self balance
CN102520720B (en) * 2011-12-09 2013-10-09 东南大学 Single-wheel robot capable of realizing self balance
CN104326047A (en) * 2014-10-17 2015-02-04 柳州惠林科技有限责任公司 Single-balancing-weight electric wheelbarrow
CN104326047B (en) * 2014-10-17 2016-08-31 柳州惠林科技有限责任公司 A kind of singly balanced block electric unicycle
CN108327840A (en) * 2018-04-13 2018-07-27 京东方科技集团股份有限公司 Autonomic balance system, bicycle and the bicycle intelligent control method of bicycle

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