Self-balancing manned solowheel based on inertia balance wheel

An inertial balance and balance wheel technology, applied in the field of intelligent robots, can solve problems such as the inability to realize the control of a self-balancing vehicle with a single wheel, and the control steps are not fully disclosed, and achieve simple structure, convenient disassembly and replacement, and easy assembly and maintenance effects

Active Publication Date: 2012-12-12
BEIJING UNIV OF TECH
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Problems solved by technology

In our previous patent application "Self-balancing People-carrying Unicycle System and Control Method" (application number 201010579927.7), the connection relationship of the mechanical structure, the signal transmission process, the electromechanical connection, and the specific control steps have not been fully explained. It is open, and the sid

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  • Self-balancing manned solowheel based on inertia balance wheel
  • Self-balancing manned solowheel based on inertia balance wheel
  • Self-balancing manned solowheel based on inertia balance wheel

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Embodiment Construction

[0059] Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0060] Establish the spatial reference coordinate system of the manned self-balancing unicycle system as follows: figure 1 shown. In the figure, the left-handed coordinate system is established with the contact point between the wheel (9) of the unicycle and the ground as the origin of the spatial reference coordinate system, the positive direction of the Y-axis is the forward direction of the unicycle, the positive direction of the X-axis is the left direction of the unicycle, and the positive direction of the Z-axis The positive direction is the upward direction when the unicycle station is standing. The XOZ plane is the plane of the unicycle tilt angle in the left and right direction, and its roll angle is Φ; the YOZ plane is the plane of the unicycle tilt angle in the front and rear direction, and its pitch angle is θ. When the unicycle is balance...

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Abstract

The invention relates to a self-balancing manned solowheel based on an inertia balance wheel, belonging to the technical field of intelligent solowheel. The self-balancing manned solowheel based on the inertia balance wheel is characterized in that the solowheel comprises a plurality of sensors, the inertia balance wheel, a vehicle body, control handles and a controller; and a DSP (digital signal processor) in the controller conducts gradually accelerating and decelerating control by control step length according to a pitch angle in a front-to-rear direction, and conducts gradually changing balance torque control by step length according to a roll angle of a left-to-right direction, so as to achieve the goal of lateral balance. The self-balancing manned solowheel based on the inertia balance wheel has the characteristics of lateral balance control and gradual control, the self-balance and the acceleration and deceleration control of the manned solowheelare realized and the manned solowheel can stably run.

Description

technical field [0001] The invention belongs to the category of intelligent robots, and is a robot system that realizes stable walking of a unicycle (including a passenger) through autonomous motion balance control, and is also a transportation tool that is easy to operate and easy to use. Background technique [0002] The Segway series of two-wheeled people-carrying vehicles play an important role in airport security and other fields, but for some narrow areas, the two-wheeled people-carrying vehicles cannot reach, so Invenst has developed the solowheel one-wheeled people-carrying vehicle, the one-wheeling people-carrying vehicle Compared with the two-wheeled passenger car, it has the advantages of small size and convenient portability, so it is more convenient to use. As we all know, riding a unicycle is an activity that humans (or other highly intelligent animals) need to learn and train specially. Because the unicycle system (including the occupant) can be regarded as a...

Claims

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Application Information

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IPC IPC(8): B62K11/00
Inventor 阮晓钢朱晓庆龚道雄于乃功魏若岩侯旭阳马圣策
Owner BEIJING UNIV OF TECH
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