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Two-wheeled vertical type self balancing robot based on infrared posture detection and control method thereof

A robot and upright technology, applied in the direction of manipulators, manufacturing tools, etc., can solve problems such as being easily affected by temperature, not being popularized, and zero point drift, so as to achieve cost saving, overcome zero point drift, and effective and accurate detection.

Inactive Publication Date: 2009-09-23
BEIJING UNIV OF TECH
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Problems solved by technology

However, due to the use of advanced solid-state gyroscopes, this method is relatively expensive and cannot be popularized.
[0004] The attitude detection system of the traditional two-wheeled self-balancing robot mostly uses the combination of inclinometer, accelerometer and gyroscope to achieve the measurement purpose. effect, resulting in zero drift

Method used

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  • Two-wheeled vertical type self balancing robot based on infrared posture detection and control method thereof
  • Two-wheeled vertical type self balancing robot based on infrared posture detection and control method thereof
  • Two-wheeled vertical type self balancing robot based on infrared posture detection and control method thereof

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Embodiment Construction

[0029] The present invention will be further described below in conjunction with accompanying drawing:

[0030] combine first figure 1 The mechanical part of the present invention will be described. The mechanical structure of the present invention is relatively simple, low in cost and easy to realize. The robot includes two independent wheels. The wheel 1 of the robot is made of hard plastic, and the outer ring of the plastic is covered with a tire made of rubber. Compared with ordinary standard wheels, this can not only greatly reduce the weight of the robot, but also greatly reduce Reduced the burden of motor 5, thereby reduced the power of motor 5. In turn, the cost of the motor can be reduced.

[0031] Motor bracket 3 (see Figure 8 ) adopts an aluminum material, and the motor 5 is fixed to the motor bracket 3 by two fixing screws up and down. The motor support 3 is fixed to the lower end of the robot main body support 2 by 4 left and right screws, which ensures that...

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Abstract

The invention relates to a two-wheeled vertical type self balancing robot based on infrared posture detection and a control method thereof, belonging to the field of robot control. The robot mainly comprises two wheels which are mutually independent, two DC motors, two infrared reflection type sensors and a main body framework of the robot. Meanwhile, the robot also comprises an information processing system and a power supply system. By adopting the method, an infrared sensor is arranged at the upper part of the robot to detect the distance between the robot and the ground, so as to obtain posture signals; the obtained posture signals are processed to generate motor control signals for driving the motors, so that the robot can be kept to be balanced. The method is simple and easy, can accurately master the posture information of the robot, is seldom affected by environment and is not easy to have null drift, and the invention has low cost.

Description

technical field [0001] The invention relates to a two-wheel upright self-balancing robot and a control method based on attitude detection by an infrared sensor, belonging to the field of robot control. Background technique [0002] The two-wheeled self-balancing robot is a new type of robot that appears under the trend of continuous in-depth research on mobile robots. The wheeled robot has low cost, simple mechanism and control algorithm, high-speed and stable movement, and high power utilization. At the same time, it can learn by itself, and learn tasks that could not be completed before through self-intensive learning. The biggest feature of this kind of robot is that it can be self-balancing, which expands its ability to adapt to changes in the environment. At the same time, it can accelerate or decelerate, and realize turning in place and turning with any radius. The moving track is more flexible and changeable, which greatly compensates Disadvantages of traditional thr...

Claims

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Application Information

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IPC IPC(8): B25J5/04B25J19/00B25J13/00
Inventor 阮晓钢刘航武卫霞胡静敏
Owner BEIJING UNIV OF TECH
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