A self-balancing unicycle robot

Abstract

The invention discloses a self-balancing unicycle robot, which includes a wireless module, a gyroscope, a motion controller, and a servo driver. , waist plate and single wheel; the swing rod servo drive, waist plate servo drive and single wheel servo drive are respectively connected to the motion controller through wires. The signal is processed under the control program, so as to send control commands to the swing rod servo driver, waist disc servo driver and single wheel servo driver, and then respectively control the rotation of the swing rod, waist disc and single wheel, and adjust and control the attitude of the robot. The invention can adjust the moment of inertia of the pendulum rod and the waist plate on-line, enhances the balance and steering adjustment ability of the unicycle robot, and enhances the adaptability of the robot to the dynamic and complex environment.

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, Jaschavan 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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