Unicycle robot with function of self-balancing realization

Abstract

The invention discloses a unicycle robot with the function of self-balancing realization. The unicycle robot comprises a wireless module, a gyroscope, a motion controller, and a servo driver. The servo driver includes an oscillating bar servo driver, a waist plate servo driver, a wheel servo driver, an oscillating bar, a waist plate, and a wheel; and the oscillating bar servo driver, the waist plate servo driver, and the wheel servo driver are respectively connected with the motion controller by leads. The gyroscope and an oscillating bar encoder collect a unicycle body gesture; a signal is fed back to the motion controller; the signal is processed by the control program and thus a control instruction is sent to the oscillating bar servo driver, the waist plate servo driver, and the wheel servo driver, so that the oscillating bar, the waist plate, and the wheel are controlled to rotate to adjust and control the gesture of the robot. According to the invention, the rotation inertia of the oscillating bar and the waist plate can be adjusted by an on-line way; the adjusting capability of the balancing and turning of the unicycle robot can be enhanced; and the aadaptability to the dynamic complex environment, of the robot can be improved.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a self-balancing unicycle robot. Background technique [0002] The unicycle robot is a robot system designed according to the mechanical mechanism of humans riding a unicycle. It has attracted the attention of robotics researchers because of its small size and high energy efficiency. Different from the general static balance robot, the unicycle robot is a mechanical system that is statically unstable and dynamically stable, and has broad application prospects: using its dynamic balance characteristics, it can be introduced into complex terrain environments for transportation and rescue; using its shape The feature of slim and flexible steering can realize the monitoring and detection of narrow environment. [0003] A series of studies have been carried out abroad on self-balancing unicycle robots. In the early days, Jascha van Pommeren and others at the University of...

AI Technical Summary

Problems solved by technology

For example, the Chinese invention patent with the publication number CN102445944A is a self-balancing robot system with one wheel. The upper part of the robot system contains a vertically placed waist plate that can rotate left and right to realize the horizontal balance control of the robot; There is a rotatable horizontal waist plate in the middle, which is used to realize the turning of the robot; the lower part of the fuselage is a single wheel that can rotate back and forth, which is used to realize the front and rear balance system of the robot. The vertical waist plate and the horizontal The lumbar discs are placed to achieve the balance control of the fuselage through the overall steering, but there is no direct force on the yaw direction of the fuselage, and the moment of inertia of the rotor remains unchanged, and the waist rotation and upper body mass when riding a unicycle are not considered. The influence of distribution dynamic changes on the control of turning balance, so the ability to deal with complex and variable environments is weak, and it is difficult to control the heading, and because the waist plate rotates as a whole, its control accuracy is low

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