CN211055294U - Two-wheeled self-balancing mobile robot - Google Patents
Two-wheeled self-balancing mobile robot Download PDFInfo
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- CN211055294U CN211055294U CN201921442321.1U CN201921442321U CN211055294U CN 211055294 U CN211055294 U CN 211055294U CN 201921442321 U CN201921442321 U CN 201921442321U CN 211055294 U CN211055294 U CN 211055294U
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Abstract
The utility model discloses a two-wheeled self-balancing mobile robot, which comprises a front connecting plate, a rear connecting plate, a front wheel, a rear wheel, a steering device, a detection device and a control device, wherein the front wheel and the rear wheel are respectively arranged on the front connecting plate and the rear connecting plate, and a power device, a transmission device and a braking device are arranged in the front wheel and the rear wheel; the control device compares the motion state data obtained by the detection device in real time with the control target data set by the user, and if the motion state data is consistent with the control target data set by the user, the control device keeps controlling the power device, the brake device and the steering device; if the motion state data does not accord with the control target data set by the user, the control device outputs a control command to control the working state change of the power device, the braking device and the steering device, so that the robot realizes the balanced movement in the motion process, and the robot has the advantages of full-automatic detection and feedback adjustment, high stability and convenient use.
Description
Technical Field
The utility model relates to a robot especially indicates a two-wheeled self-balancing mobile robot.
Background
Currently, although various two-wheeled mobile robots are available on the market, the existing two-wheeled mobile robots are basically configured such that two wheels are arranged side to side and the axes of the two wheels are collinear. Because two wheels are arranged from left to right, and the steering of the robot with collinear axes of the two wheels can only be steered by the differential speed between the two wheels, the steering speed is slow, and the flexibility and the balance are poor.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to above-mentioned problem, provide a full automated inspection and feedback control, high and convenient to use's two-wheeled self-balancing mobile robot of stability.
The purpose of the utility model can be achieved by adopting the following technical scheme:
a two-wheeled self-balancing mobile robot and a control method thereof comprise a front connecting plate, a rear connecting plate, front wheels, rear wheels, a steering device, a detection device and a control device, wherein the front wheels and the rear wheels are respectively arranged on the front connecting plate and the rear connecting plate through supporting frames, and power devices, transmission devices and braking devices are arranged in the front wheels and the rear wheels; the steering device comprises a first motor, a second motor and a third motor, wherein the first motor and the second motor are respectively arranged on the front connecting plate and the rear connecting plate, rotating shafts of the first motor and the second motor are respectively and fixedly connected with supporting frames on the front connecting plate and the rear connecting plate to drive the supporting frames to rotate, the third motor is fixedly arranged on the rear connecting plate, and a rotating shaft of the third motor is fixedly connected with the front connecting plate to drive the front connecting plate to rotate; the detection device detects the rotating speeds and the rotating angles of the front wheel, the rear wheel, the first motor, the second motor and the third motor, and detects the moving postures of the front connecting plate and the rear connecting plate; the input end of the control device is connected with the output end of the detection device, and the output end of the control device is connected with the power device, the braking device and the steering device;
the control device compares the motion state data obtained by real-time measurement of the detection device with the control target data set by the user, and if the motion state data conforms to the control target data set by the user, the control device keeps the control of the power device, the brake device and the steering device unchanged; if the motion state data does not accord with the control target data set by the user, the control device outputs a control command to control the working state change of the power device, the braking device and the steering device, so that the robot realizes the balance movement in the motion process.
Further, detection device is including locating on the support frame and being used for detecting the rotational speed and the first encoder of corner of front wheel and rear wheel, locate in first motor, second motor and the third motor and be used for detecting the second encoder of its rotational speed and corner to and be used for detecting the gesture sensor of the motion gesture of preceding connecting plate and back connecting plate, first encoder, second encoder and gesture sensor are connected with controlling means electricity.
Furthermore, the front connecting plate and the rear connecting plate are respectively detachably covered with a front cover and a rear cover.
Further, be equipped with the draw-in groove on preceding connecting plate and the back connecting plate, be equipped with the buckle on preceding cover and the back cover, the buckle joint will be in the draw-in groove and will be preceding connecting plate and back connecting plate on can dismantle the lid respectively and close preceding cover and back cover.
Furthermore, a screen for display and touch control is arranged on the control device.
Furthermore, a rechargeable battery is arranged on the rear connecting plate.
Further, the front wheel and the rear wheel are hub motors.
Further, the control device is a single chip microcomputer or P L C.
Implement the utility model discloses, following beneficial effect has:
1. the utility model discloses a user input data to controlling means, controlling means simultaneously through the motion state data that detection device real-time measurement obtained with the control target data that the user set for combine together, reachs the controlled variable of front wheel, rear wheel, first motor, second motor and third motor, then controlling means output corresponding controlled variable to control the corresponding moment of torsion of front wheel, rear wheel, first motor, second motor and third motor output; and finally, the control device compares the robot motion state data obtained by real-time measurement with control target data given by a user to judge whether the robot system reaches a control target, if the robot system reaches the control target, the control device finishes the control, and if the robot system does not reach the control target, the control device outputs a control command to control the working states of the power device, the braking device and the steering device to change, so that the robot realizes balanced movement in the motion process, and a feedback regulation system is formed. The utility model discloses a robot passes through detection device to the rotational speed and the corner of front wheel and rear wheel to and the motion gesture of front connecting plate and back connecting plate carries out real-time detection, and output control to power device, arresting gear and turn to the device, with the rotational speed and the corner of adjusting front wheel and rear wheel, and the motion gesture of front connecting plate and back connecting plate, realize full automated inspection and feedback control, have full automatic control, stability height and convenient to use's advantage.
2. The utility model discloses a buckle joint to the draw-in groove in and can dismantle the lid respectively and close preceding cover and back cover on connecting plate and the back connecting plate before will. When needs are dismantled, only need manually deviate from the draw-in groove with the buckle, can dismantle preceding cover and back cover respectively from connecting plate and back connecting plate and get off, have the installation with dismantle simple, convenient and quick advantage.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a two-wheeled self-balancing mobile robot of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 with the front and rear covers removed;
fig. 3 is a block diagram of the control method of the two-wheeled self-balancing mobile robot of the present invention;
fig. 4 is a flow chart of a control method of the two-wheeled self-balancing mobile robot of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
Referring to fig. 1 and 2, the present embodiment relates to a two-wheeled self-balancing mobile robot, which includes a front connecting plate 1, a rear connecting plate 2, a front wheel 3, a rear wheel 4, a steering device, a detecting device and a control device 7, wherein the front wheel 3 and the rear wheel 4 are respectively mounted on the front connecting plate 1 and the rear connecting plate 2 through a support frame 8, and a power device, a transmission device and a braking device are arranged in the front wheel 3 and the rear wheel 4; the steering device comprises a first motor 51, a second motor 52 and a third motor 53, wherein the first motor 51 and the second motor 52 are respectively installed on the front connecting plate 1 and the rear connecting plate 2, rotating shafts of the first motor 51 and the second motor 52 are respectively and fixedly connected with supporting frames 8 on the front connecting plate 1 and the rear connecting plate 2 to drive the supporting frames 8 to rotate, the third motor 53 is fixedly installed on the rear connecting plate 2, and a rotating shaft of the third motor 53 is fixedly connected with the front connecting plate 1 to drive the front connecting plate 1 to rotate; the detection device detects the rotating speed and the rotating angle of the front wheel 3, the rear wheel 4, the first motor 51, the second motor 52 and the third motor 53, and detects the moving postures of the front connecting plate 1 and the rear connecting plate 2; the input end of the control device 7 is connected with the output end of the detection device, and the output end of the control device 7 is connected with the power device, the braking device and the steering device;
the control device 7 compares the motion state data obtained by real-time measurement of the detection device with the control target data set by the user, and if the motion state data is consistent with the control target data set by the user, the control device 7 keeps the control of the power device, the brake device and the steering device unchanged; if the motion state data does not accord with the control target data set by the user, the control device 7 outputs a control command to control the working states of the power device, the braking device and the steering device to change, so that the robot realizes the balance movement in the motion process.
The user inputs data to the control device 7, meanwhile, the control device 7 combines the motion state data obtained by real-time measurement of the detection device with the control target data set by the user to obtain the control quantities of the front wheel 3, the rear wheel 4, the first motor 51, the second motor 52 and the third motor 53, and then the control device 7 outputs corresponding control quantities to control the output of corresponding torques to the front wheel 3, the rear wheel 4, the first motor 51, the second motor 52 and the third motor 53; and finally, the control device 7 compares the robot motion state data obtained by real-time measurement with control target data given by a user to judge whether the robot system reaches a control target, if the robot system reaches the control target, the control device is finished, and if the robot system does not reach the control target, the control device 7 outputs a control command to control the working states of the power device, the braking device and the steering device to change, so that the robot realizes balanced movement in the motion process, and a feedback regulation system is formed. The utility model discloses a robot passes through detection device to the rotational speed and the corner of front wheel 3 and rear wheel 4 to and the motion gesture of front connecting plate 1 and rear connecting plate 2 carries out real-time detection, and output control to power device, arresting gear and turn to the device, with rotational speed and the corner of adjusting front wheel 3 and rear wheel 4, and the motion gesture of front connecting plate 1 and rear connecting plate 2, realize full automated inspection and feedback control, have full automatic control, stable high and convenient to use's advantage.
The detection device comprises a first encoder 61, a second encoder and an attitude sensor 62, wherein the first encoder 61 is arranged on the support frame 8 and used for detecting the rotating speed and the rotating angle of the front wheel 3 and the rear wheel 4, the second encoder is arranged in the first motor 51, the second motor 52 and the third motor 53 and used for detecting the rotating speed and the rotating angle of the first motor, the second motor 52 and the third motor 53, the attitude sensor 62 is used for detecting the moving attitude of the front connecting plate 1 and the rear connecting plate 2, and the first encoder 61, the second encoder and the attitude sensor 62 are electrically connected with the control device 7. The first motor 51, the second motor 52 and the third motor 53 are motors with built-in second encoders, such as stepping motors. The control device 7 can obtain the rotation speeds and rotation angles of the front wheel 3, the rear wheel 4, the first motor 51 to the third motor 53 in real time through the first encoder 61 and the second encoder, and can obtain the movement attitude between the front link plate 1 and the rear link plate 2 through the attitude sensor 62.
The front connecting plate 1 and the rear connecting plate 2 are respectively detachably covered with a front cover 12 and a rear cover 13. The front cover 12 and the rear cover 13 can play a role in dust prevention and water prevention, so that parts mounted between the front connecting plate 1 and the front cover 12 and between the rear connecting plate 2 and the rear cover 13 are protected, the service life is prolonged, and the safety of the parts is improved.
Be equipped with the draw-in groove on preceding connecting plate 1 and the back connecting plate 2, be equipped with the buckle on preceding cover 12 and the back cover 13, the buckle joint is to the draw-in groove and with preceding connecting plate 1 and back connecting plate 2 go up respectively can dismantle the lid and close preceding cover 12 and back cover 13. When needs are dismantled, only need manually deviate from the draw-in groove with the buckle, can dismantle preceding cover 12 and back cover 13 respectively from preceding connecting plate 1 and back connecting plate 2 get off, have the installation with dismantle simple, convenient and quick advantage.
And a screen for display and touch control is arranged on the control device 7. The motion parameters and the state of the robot can be checked at any time through the screen, and control commands and related setting data can be input through the screen.
The rear connecting plate 2 is provided with a rechargeable battery 21. The rechargeable battery 21 supplies electrical energy to the detection means and the steering means, the control means 7, the front wheels 3 and the rear wheels 4.
The front wheel 3 and the rear wheel 4 are hub motors. The front wheel 3 and the rear wheel 4 adopt hub motors, so that the overall size of the robot is reduced, the transmission distance is shortened, the transmission steps are simplified, and the transmission efficiency is improved.
The control device 7 is a single chip microcomputer or P L C, of course, the control device 7 can also be an embedded computer.
The embodiment also discloses a control method based on the two-wheel self-balancing mobile robot, as shown in fig. 3 and 4, the method comprises the following steps:
step 1: when the robot is started, the robot electrical system is powered on, system initialization operation and fault diagnosis are carried out, if a fault occurs, the relevant fault is displayed through a screen, and if the system is normal, the next step is carried out;
step 2: a user inputs control target data through a screen, the control target data being input parameters of the control device 7 of the robot;
and step 3: a first encoder 61 on the robot measures the rotation angles and the rotation speeds of the front wheels 3 and the rear wheels 4 in real time, second encoders in the first motor 51 and the second motor 52 measure the rotation angles and the rotation speeds of the first motor 51 to the third motor 53 in real time, an attitude sensor 62 measures attitude parameters of the front connecting plate 1 and the rear connecting plate 2 in real time, and a second encoder in the third motor 53 measures the relative rotation angles and the rotation speeds between the front connecting plate 1 and the rear connecting plate 2 so as to obtain data describing the state of the robot system;
and 4, step 4: the control device 7 combines the measured real-time motion data with the control target data input by the user to obtain the control quantities of the front wheel 3, the rear wheel 4, the first motor 51, the second motor 52 and the third motor 53;
and 5: the control device 7 outputs corresponding control quantities to control the output of corresponding torques to the front wheels 3, the rear wheels 4, the first motor 51, the second motor 52 and the third motor 53;
step 6: and the control device 7 judges whether the robot system reaches a control target or not according to the comparison between the robot motion state data obtained by real-time measurement and the control target data given by the user, if so, the control is finished, and if not, the control output is continued to form a feedback regulation system.
The control method judges whether the robot system reaches a control target or not by comparing the control device 7 with the control target data given by a user according to the robot motion state data obtained by real-time measurement, if the robot system reaches the control target, the control device is finished, and if the robot system does not reach the control target, the control device 7 outputs a control command to control the working states of the power device, the braking device and the steering device to change, so that the robot realizes balanced movement in the motion process, and a feedback regulation system is formed. The utility model discloses a robot passes through detection device to the rotational speed and the corner of front wheel 3 and rear wheel 4 to and the motion gesture of front connecting plate 1 and rear connecting plate 2 carries out real-time detection, and output control to power device, arresting gear and turn to the device, with rotational speed and the corner of adjusting front wheel 3 and rear wheel 4, and the motion gesture of front connecting plate 1 and rear connecting plate 2, realize full automated inspection and feedback control, have full automatic control, stable high and convenient to use's advantage.
The above disclosure is only a preferred embodiment of the present invention, and certainly should not be taken as limiting the scope of the invention, which is defined by the claims and their equivalents.
Claims (8)
1. A two-wheeled self-balancing mobile robot is characterized by comprising a front connecting plate, a rear connecting plate, front wheels, rear wheels, a steering device, a detection device and a control device, wherein the front wheels and the rear wheels are respectively arranged on the front connecting plate and the rear connecting plate through supporting frames, and power devices, transmission devices and braking devices are arranged in the front wheels and the rear wheels; the steering device comprises a first motor, a second motor and a third motor, wherein the first motor and the second motor are respectively arranged on the front connecting plate and the rear connecting plate, rotating shafts of the first motor and the second motor are respectively and fixedly connected with supporting frames on the front connecting plate and the rear connecting plate to drive the supporting frames to rotate, the third motor is fixedly arranged on the rear connecting plate, and a rotating shaft of the third motor is fixedly connected with the front connecting plate to drive the front connecting plate to rotate; the detection device detects the rotating speeds and the rotating angles of the front wheel, the rear wheel, the first motor, the second motor and the third motor, and detects the moving postures of the front connecting plate and the rear connecting plate; the input end of the control device is connected with the output end of the detection device, and the output end of the control device is connected with the power device, the braking device and the steering device;
the control device compares the motion state data obtained by real-time measurement of the detection device with the control target data set by the user, and if the motion state data conforms to the control target data set by the user, the control device keeps the control of the power device, the brake device and the steering device unchanged; if the motion state data does not accord with the control target data set by the user, the control device outputs a control command to control the working state change of the power device, the braking device and the steering device, so that the robot realizes the balance movement in the motion process.
2. The two-wheeled self-balancing mobile robot of claim 1, wherein the detection device includes a first encoder disposed on the support frame and used for detecting the rotational speed and rotational angle of the front wheel and the rear wheel, a second encoder disposed in the first motor, the second motor, and the third motor and used for detecting the rotational speed and rotational angle of the first motor, the second motor, and the third motor, and an attitude sensor for detecting the movement attitude of the front connecting plate and the rear connecting plate, and the first encoder, the second encoder, and the attitude sensor are electrically connected to the control device.
3. The two-wheeled self-balancing mobile robot of claim 2, wherein the front and rear connection plates are detachably covered with a front cover and a rear cover, respectively.
4. The two-wheeled self-balancing mobile robot of claim 3, wherein the front connecting plate and the rear connecting plate are provided with clamping grooves, the front cover and the rear cover are provided with buckles, the buckles are clamped into the clamping grooves, and the front cover and the rear cover are respectively detachably covered on the front connecting plate and the rear connecting plate.
5. The two-wheeled self-balancing mobile robot of claim 1, wherein the control device is provided with a screen for display and touch control.
6. The two-wheeled self-balancing mobile robot of claim 1, wherein the rear connecting plate is provided with a rechargeable battery.
7. The two-wheeled self-balancing mobile robot of claim 1, wherein the front and rear wheels are in-wheel motors.
8. The two-wheeled self-balancing mobile robot of claim 5, wherein the control device is a single chip microcomputer or P L C.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921442321.1U CN211055294U (en) | 2019-08-30 | 2019-08-30 | Two-wheeled self-balancing mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921442321.1U CN211055294U (en) | 2019-08-30 | 2019-08-30 | Two-wheeled self-balancing mobile robot |
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| CN211055294U true CN211055294U (en) | 2020-07-21 |
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| CN201921442321.1U Active CN211055294U (en) | 2019-08-30 | 2019-08-30 | Two-wheeled self-balancing mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696952A (en) * | 2019-08-30 | 2020-01-17 | 广东工业大学 | Two-wheeled self-balancing mobile robot and control method thereof |
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- 2019-08-30 CN CN201921442321.1U patent/CN211055294U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696952A (en) * | 2019-08-30 | 2020-01-17 | 广东工业大学 | Two-wheeled self-balancing mobile robot and control method thereof |
| CN110696952B (en) * | 2019-08-30 | 2024-05-10 | 广东工业大学 | Two-wheel self-balancing mobile robot and control method thereof |
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