Balancing device, method and two-wheeled robot

Abstract

The invention provides a balancing device used for keeping balanced a two-wheeled robot, which comprises a measurement module and a control module, wherein the measurement module measures an included angle between an oscillating bar on the two-wheeled robot and a vertical direction in real time; a container of the two-wheeled robot is connected with a box body of the two-wheeled robot by the oscillating bar, and is used for loading articles; and the control module regulates the armature voltages of drive motors corresponding to each wheel according to the included angle so as to keep balancedthe two-wheeled robot. The invention also provides a balancing method for keeping balanced the two-wheeled robot, and the automatic-balancing two-wheeled robot. By the technical scheme of the invention, the two-wheeled robot can dynamically keep balanced under the condition of variable loads.

Description

technical field [0001] The invention relates to the technical field of two-wheeled robots, in particular to a balancing device and method for maintaining the balance of a two-wheeled robot, and a two-wheeled robot for automatically maintaining balance. Background technique [0002] In restaurants, offices, hospitals, exhibition sites, large conference halls, stations and airport halls where people often move around, there is an urgent need for a small, mobile and flexible automatic operation tool that can transport food, goods, medicines, materials, etc. , for example, small wheeled mobile robots. [0003] At present, the wheeled mobile robots used in services are all multi-wheeled (three or more) mobile robots, which require at least three walking casters. The disadvantages are: ①The control system cannot control the drive system to turn in situ, which is not conducive to Perform tasks that require relatively high flexibility in a small space; ②When the center of gravity i...

AI Technical Summary

Problems solved by technology

[0003] At present, the wheeled mobile robots used in services are all multi-wheeled (three or more) mobile robots, which require at least three walking casters. The disadvantages are: ①The control system cannot control the drive system to turn in situ, which is not conducive to Perform tasks that require relatively high flexibility in a small space; ②When the center of gravity is higher than the support mechanism of the robot, the stability of the robot drops rapidly, and the center of gravity will jump out during the motion process, acceleration or deceleration. It is composed of the support mechanism Closed polygons, resulting in overall instability of the system, and then tipping over

In the prior art, the shortcoming of the balancing method applied to the robot structure is that the self-balancing of the two-wheeled robot cannot be realized under the condition of load changes

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